diff --git a/CMakeLists.txt b/CMakeLists.txt
index db44d18025e764dae7a2fbd0c206c4e269154c93..48b7d46b6f669818e729daba1a1dd7da018834aa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,17 +35,22 @@ IF(BUILD_PYTHON_INTERFACE)
   include_directories( ${Boost_INCLUDE_DIR} )
 ENDIF(BUILD_PYTHON_INTERFACE)
 
+SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/find-external/CDD")
 
 ADD_REQUIRED_DEPENDENCY(eigen3)
 ADD_REQUIRED_DEPENDENCY(hpp-centroidal-dynamics)
 ADD_REQUIRED_DEPENDENCY(hpp-spline)
+FIND_PACKAGE(CDD REQUIRED)
+INCLUDE_DIRECTORIES(${CDD_INCLUDE_DIRS})
+
 IF(USE_GLPK)
-  set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/find-external/glpk")
+  set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake/find-external/glpk")
   find_package (glpk REQUIRED)
   add_definitions ( -DUSE_GLPK_SOLVER=1)
   INCLUDE_DIRECTORIES(${glpk_INCLUDE_DIR})
 ENDIF(USE_GLPK)
 
+
 add_subdirectory(include/${CUSTOM_HEADER_DIR})
 add_subdirectory(src)
 add_subdirectory(tests)