diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 17635160d6079e1b4d0e8bf144180e686656fe57..0dddf02ba00cebe3370fe59cb2af43daaad0232d 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -26,6 +26,7 @@
 #include <hpp/core/connected-component.hh>
 #include <hpp/core/path-projector.hh>
 #include <hpp/core/projection-error.hh>
+#include <hpp/core/nearest-neighbor.hh>
 
 #include "hpp/manipulation/graph/statistics.hh"
 #include "hpp/manipulation/device.hh"