diff --git a/src/handle.cc b/src/handle.cc
index 2be785893610efd2a9f9f86c915defa8759bd898..e35376269043ffebaf17a83a7790caf2ecba8ec1 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -27,6 +27,7 @@
 
 #include <hpp/pinocchio/device.hh>
 #include <hpp/pinocchio/joint.hh>
+#include <hpp/pinocchio/joint-collection.hh>
 #include <hpp/pinocchio/gripper.hh>
 
 #include <hpp/constraints/generic-transformation.hh>
diff --git a/src/steering-method/cross-state-optimization.cc b/src/steering-method/cross-state-optimization.cc
index 53d025574066bc96abd13e10dbe717d54c339bda..cb5bfcca0bc7a5844a1761f4e9f9a2ba9e44788b 100644
--- a/src/steering-method/cross-state-optimization.cc
+++ b/src/steering-method/cross-state-optimization.cc
@@ -27,6 +27,7 @@
 #include <pinocchio/multibody/model.hpp>
 
 #include <hpp/pinocchio/configuration.hh>
+#include <hpp/pinocchio/joint-collection.hh>
 
 #include <hpp/constraints/locked-joint.hh>
 #include <hpp/constraints/solver/by-substitution.hh>