diff --git a/include/sot-dynamic/dynamic-hrp2.h b/include/sot-dynamic/dynamic-hrp2.h
index 12f1a0d4118a3d4648f48df6471d506a1c5ed747..416016b900c4c00112c8664300c57e84a5ce9ee0 100644
--- a/include/sot-dynamic/dynamic-hrp2.h
+++ b/include/sot-dynamic/dynamic-hrp2.h
@@ -65,6 +65,10 @@ class SOTDYNAMICHRP2_EXPORT DynamicHrp2
 {
 
  public:
+  virtual const std::string& getClassName () const
+  {
+    return CLASS_NAME;
+  }
   static const std::string CLASS_NAME;
 
  public: /* --- CONSTRUCTION --- */
diff --git a/include/sot-dynamic/dynamic.h b/include/sot-dynamic/dynamic.h
index 7aa63f10ad4d79791acf012697e88c0dfb6111f1..20b5d496c5a15cf8ed3bede944a6c7ea5d4775f3 100644
--- a/include/sot-dynamic/dynamic.h
+++ b/include/sot-dynamic/dynamic.h
@@ -93,6 +93,10 @@ class SOTDYNAMIC_EXPORT Dynamic
   friend class sot::command::InitializeRobot;
 
  public:
+  virtual const std::string& getClassName () const
+  {
+    return CLASS_NAME;
+  }
   static const std::string CLASS_NAME;
 
  protected: