diff --git a/eiquadprog/Makefile b/eiquadprog/Makefile
index 8b270f53e1704972c94f7fff88b5a9580564b364..6d4a9df96a743473b444deee745de03d2bf050f9 100644
--- a/eiquadprog/Makefile
+++ b/eiquadprog/Makefile
@@ -12,6 +12,7 @@ LICENSE=		gnu-lgpl-v3
 MAINTAINER=		gsaurel@laas.fr
 
 DEPEND_ABI.cmake+=	cmake>=3.0.0
+DEPEND_ABI.eigen3+=	eigen3>=3.2.98
 
 include ../../devel/jrl-cmakemodules/Makefile.common
 include ../../devel/boost-headers/depend.mk