diff --git a/include/sot-dynamic/angle-estimator.h b/include/sot-dynamic/angle-estimator.h
index 70153b372dfb6f3fabf4a8c322e3374a75df62b9..169d4389c238ff481415cbc69f806b0b7ea17754 100644
--- a/include/sot-dynamic/angle-estimator.h
+++ b/include/sot-dynamic/angle-estimator.h
@@ -66,6 +66,7 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator
 {
  public:
   static const std::string CLASS_NAME;
+  virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
 
  public: /* --- CONSTRUCTION --- */
 
diff --git a/include/sot-dynamic/dynamic.h b/include/sot-dynamic/dynamic.h
index 7aa63f10ad4d79791acf012697e88c0dfb6111f1..0f10f2962e6c559cb82bfddeb180d2d90c17d266 100644
--- a/include/sot-dynamic/dynamic.h
+++ b/include/sot-dynamic/dynamic.h
@@ -94,6 +94,7 @@ class SOTDYNAMIC_EXPORT Dynamic
 
  public:
   static const std::string CLASS_NAME;
+  virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
 
  protected:
  public:
diff --git a/include/sot-dynamic/force-compensation.h b/include/sot-dynamic/force-compensation.h
index bc7e72c8da14d2c1a42c964c02d2b4d9d767e93d..09fd8405e41721b0488c706f14633b0aaecc5545 100644
--- a/include/sot-dynamic/force-compensation.h
+++ b/include/sot-dynamic/force-compensation.h
@@ -136,6 +136,7 @@ namespace dynamicgraph { namespace sot {
     {
     public:
       static const std::string CLASS_NAME;
+      virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
       bool calibrationStarted;
 
 
diff --git a/include/sot-dynamic/integrator-force.h b/include/sot-dynamic/integrator-force.h
index 5b9af5ea826a2e21c82efe5af2033aaefa2a8016..6abc8e2edde5b26569a2b138d7e0e81f904db24c 100644
--- a/include/sot-dynamic/integrator-force.h
+++ b/include/sot-dynamic/integrator-force.h
@@ -67,6 +67,7 @@ class SOTINTEGRATORFORCE_EXPORT IntegratorForce
 {
  public:
   static const std::string CLASS_NAME;
+  virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
 
  protected:
   double timeStep;
diff --git a/include/sot-dynamic/mass-apparent.h b/include/sot-dynamic/mass-apparent.h
index e54fa65e1274ae2556b4c6e17cdc5f012617b0c7..0d5d77617006dbf77a3fa15053a3066dddd219a7 100644
--- a/include/sot-dynamic/mass-apparent.h
+++ b/include/sot-dynamic/mass-apparent.h
@@ -66,6 +66,7 @@ namespace dynamicgraph { namespace sot {
       {
       public:
 	static const std::string CLASS_NAME;
+	virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
 
       public: /* --- CONSTRUCTION --- */
 
diff --git a/include/sot-dynamic/waist-attitude-from-sensor.h b/include/sot-dynamic/waist-attitude-from-sensor.h
index 2a74e30dd7071a40fa091a3f414581076cf77f09..ee96d97a125648d6ec6fd3f83b202f2129af7ede 100644
--- a/include/sot-dynamic/waist-attitude-from-sensor.h
+++ b/include/sot-dynamic/waist-attitude-from-sensor.h
@@ -66,6 +66,7 @@ class SOTWAISTATTITUDEFROMSENSOR_EXPORT WaistAttitudeFromSensor
 {
  public:
   static const std::string CLASS_NAME;
+  virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
 
  public: /* --- CONSTRUCTION --- */
 
diff --git a/include/sot-dynamic/zmpreffromcom.h b/include/sot-dynamic/zmpreffromcom.h
index 2f75df546b4c2a9a343bdb1f27a266206a8d88c2..58e78e4aec7d0154f4504dd18787b6a1a491cbaa 100644
--- a/include/sot-dynamic/zmpreffromcom.h
+++ b/include/sot-dynamic/zmpreffromcom.h
@@ -64,6 +64,8 @@ class SOTZMPREFFROMCOM_EXPORT ZmprefFromCom
 {
  public:
   static const std::string CLASS_NAME;
+  virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
+ public:
   double dt;
   const static double DT_DEFAULT; // = 5e-3; // 5ms
   double footHeight;