diff --git a/include/hpp/manipulation/graph-steering-method.hh b/include/hpp/manipulation/graph-steering-method.hh
index 688372ea74f3c0a19d50b3b799ade9bab894e32d..9f68f58ef083ceeac08598a381626e3e5a088957 100644
--- a/include/hpp/manipulation/graph-steering-method.hh
+++ b/include/hpp/manipulation/graph-steering-method.hh
@@ -18,11 +18,14 @@
 #ifndef HPP_MANIPULATION_GRAPH_STEERING_METHOD_HH
 # define HPP_MANIPULATION_GRAPH_STEERING_METHOD_HH
 
+# include <hpp/manipulation/config.hh>
+
 # include <hpp/core/steering-method.hh>
 # include <hpp/core/weighed-distance.hh>
 # include <hpp/model/device.hh>
 
 # include "hpp/manipulation/fwd.hh"
+# include "hpp/manipulation/graph/fwd.hh"
 
 namespace hpp {
   namespace manipulation {
diff --git a/src/axial-handle.cc b/src/axial-handle.cc
index e76bbc64d030cbe443301163f566f15cd01c87e0..f261c444954766295fc91b9e01c992fdda040b88 100644
--- a/src/axial-handle.cc
+++ b/src/axial-handle.cc
@@ -17,12 +17,17 @@
 // hpp-manipulation. If not, see
 // <http://www.gnu.org/licenses/>.
 
+#include <hpp/manipulation/axial-handle.hh>
+
 #include <boost/assign/list_of.hpp>
+
 #include <hpp/fcl/math/transform.h>
+
 #include <hpp/model/joint.hh>
 #include <hpp/model/gripper.hh>
+
 #include <hpp/constraints/relative-transformation.hh>
-#include <hpp/manipulation/axial-handle.hh>
+
 #include <hpp/manipulation/robot.hh>
 
 namespace hpp {
diff --git a/src/graph-steering-method.cc b/src/graph-steering-method.cc
index 0098cb74370292d203f5da2e7626f19eabf2c70a..93c7cba9a9c46db5571f1d653511c48ab5f78ba1 100644
--- a/src/graph-steering-method.cc
+++ b/src/graph-steering-method.cc
@@ -14,11 +14,12 @@
 // received a copy of the GNU Lesser General Public License along with
 // hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
 
+#include "hpp/manipulation/graph-steering-method.hh"
+
 #include <hpp/core/straight-path.hh>
 
 #include "hpp/manipulation/graph/graph.hh"
 #include "hpp/manipulation/graph/edge.hh"
-#include "hpp/manipulation/graph-steering-method.hh"
 
 namespace hpp {
   namespace manipulation {
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index c0b2386a0342782851c97de312c7611fea9d4fdd..22b65f80264437fc75d89431dfa24e57c1dfdb90 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -14,6 +14,8 @@
 // received a copy of the GNU Lesser General Public License along with
 // hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
 
+#include "hpp/manipulation/graph/edge.hh"
+
 #include <sstream>
 
 #include <hpp/core/straight-path.hh>
@@ -24,7 +26,6 @@
 #include <hpp/util/pointer.hh>
 
 #include "hpp/manipulation/robot.hh"
-#include "hpp/manipulation/graph/edge.hh"
 #include "hpp/manipulation/graph/statistics.hh"
 
 namespace hpp {
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index 0e33c87de6f095745abeaefa3a671a83e55fe870..d673280e2ddd4f6e871097d6a63db9d528a84df5 100644
--- a/src/graph/graph.cc
+++ b/src/graph/graph.cc
@@ -14,13 +14,14 @@
 // received a copy of the GNU Lesser General Public License along with
 // hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
 
+#include "hpp/manipulation/graph/graph.hh"
+
 #include <hpp/util/assertion.hh>
 
 #include "hpp/manipulation/robot.hh"
 #include "hpp/manipulation/graph/node-selector.hh"
 #include "hpp/manipulation/graph/node.hh"
 #include "hpp/manipulation/graph/edge.hh"
-#include "hpp/manipulation/graph/graph.hh"
 
 namespace hpp {
   namespace manipulation {
diff --git a/src/graph/node-selector.cc b/src/graph/node-selector.cc
index 82088236d67a69d8377b0fac3ba7eb09b7714351..def678fd70208ebffa1f535f8ccc6fd9824496b7 100644
--- a/src/graph/node-selector.cc
+++ b/src/graph/node-selector.cc
@@ -14,10 +14,10 @@
 // received a copy of the GNU Lesser General Public License along with
 // hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
 
-#include <cstdlib>
-
 #include "hpp/manipulation/graph/node-selector.hh"
 
+#include <cstdlib>
+
 namespace hpp {
   namespace manipulation {
     namespace graph {
diff --git a/src/graph/node.cc b/src/graph/node.cc
index 9c336b5c5782bfd2d5dcdee8da3ecf28dd2a6780..e67f8e229736d674eb60c6a5f52c0f1f335a06d2 100644
--- a/src/graph/node.cc
+++ b/src/graph/node.cc
@@ -14,10 +14,11 @@
 // received a copy of the GNU Lesser General Public License along with
 // hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
 
+#include "hpp/manipulation/graph/node.hh"
+
 #include "hpp/manipulation/robot.hh"
 #include "hpp/manipulation/graph/edge.hh"
 #include "hpp/manipulation/graph/graph.hh"
-#include "hpp/manipulation/graph/node.hh"
 
 namespace hpp {
   namespace manipulation {
diff --git a/src/handle.cc b/src/handle.cc
index e0a2b5316926d7c20864c1c50516d3ea0f678601..b1e028e332142148c3dbb5501fde24b437ca39f6 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -17,13 +17,18 @@
 // hpp-manipulation. If not, see
 // <http://www.gnu.org/licenses/>.
 
+#include <hpp/manipulation/handle.hh>
+
 #include <boost/assign/list_of.hpp>
+
 #include <hpp/fcl/math/transform.h>
+
 #include <hpp/model/joint.hh>
+#include <hpp/model/gripper.hh>
+
 #include <hpp/constraints/relative-position.hh>
 #include <hpp/constraints/relative-transformation.hh>
-#include <hpp/manipulation/handle.hh>
-#include <hpp/model/gripper.hh>
+
 #include <hpp/manipulation/robot.hh>
 
 namespace hpp {
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 12f1f1547756fcb08c65f768e5f03238138dd823..9bc05766f109572a10a35d0ba0ccf53939422d2c 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -14,7 +14,10 @@
 // received a copy of the GNU Lesser General Public License along with
 // hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
 
+#include "hpp/manipulation/manipulation-planner.hh"
+
 #include <hpp/util/assertion.hh>
+
 #include <hpp/core/path-validation.hh>
 #include <hpp/core/connected-component.hh>
 
@@ -24,7 +27,6 @@
 #include "hpp/manipulation/path-projector.hh"
 #include "hpp/manipulation/path-projector/dichotomy.hh"
 #include "hpp/manipulation/path-projector/progressive.hh"
-#include "hpp/manipulation/manipulation-planner.hh"
 #include "hpp/manipulation/graph/edge.hh"
 
 namespace hpp {
diff --git a/src/path-projector.cc b/src/path-projector.cc
index d81d0b26963f72131cac7ae3132089c421d65225..f2ec52d3f34239ce07dfb2166ab491bdae359c68 100644
--- a/src/path-projector.cc
+++ b/src/path-projector.cc
@@ -14,12 +14,12 @@
 // received a copy of the GNU Lesser General Public License along with
 // hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
 
+#include "hpp/manipulation/path-projector.hh"
+
 #include <hpp/util/pointer.hh>
 #include <hpp/core/path-vector.hh>
 #include <hpp/core/distance.hh>
 
-#include "hpp/manipulation/path-projector.hh"
-
 namespace hpp {
   namespace manipulation {
     PathProjector::PathProjector (const core::DistancePtr_t distance) :
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 864ae8d401d6d01069789379963d910cdcb7c525..c70949b2ad9e62d2aea0c1f1a667a8d2d2345613 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -15,9 +15,13 @@
 // hpp-manipulation-corba.  If not, see
 // <http://www.gnu.org/licenses/>.
 
+#include "hpp/manipulation/problem-solver.hh"
+
 #include <hpp/util/pointer.hh>
 #include <hpp/util/debug.hh>
+
 #include <hpp/model/gripper.hh>
+
 #include <hpp/core/roadmap.hh>
 
 #include "hpp/manipulation/object.hh"
@@ -27,8 +31,6 @@
 #include "hpp/manipulation/problem.hh"
 #include "hpp/manipulation/roadmap.hh"
 
-#include "hpp/manipulation/problem-solver.hh"
-
 namespace hpp {
   namespace manipulation {
     std::ostream& operator<< (std::ostream& os, const Robot& robot)
diff --git a/src/roadmap.cc b/src/roadmap.cc
index 6920d39e938f510dcfa77121ecd8c747398ae23d..f4b2ce8ffc0f10d2b3bc8645e515ba3672fdfb3c 100644
--- a/src/roadmap.cc
+++ b/src/roadmap.cc
@@ -14,10 +14,10 @@
 // received a copy of the GNU Lesser General Public License along with
 // hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
 
-#include <hpp/util/pointer.hh>
-
 #include "hpp/manipulation/roadmap.hh"
 
+#include <hpp/util/pointer.hh>
+
 namespace hpp {
   namespace manipulation {
     Roadmap::Roadmap (const core::DistancePtr_t& distance, const core::DevicePtr_t& robot) :
diff --git a/src/robot.cc b/src/robot.cc
index 923823b401be10bcc5fdb3f9b8fe0f4d32e9257c..fa38c796e934939700d293dce0214abd5817d3a6 100644
--- a/src/robot.cc
+++ b/src/robot.cc
@@ -17,12 +17,14 @@
 // hpp-manipulation. If not, see
 // <http://www.gnu.org/licenses/>.
 
+#include "hpp/manipulation/handle.hh"
+
 #include <hpp/util/debug.hh>
+
 #include <hpp/model/gripper.hh>
 #include <hpp/model/object-factory.hh>
 
 #include "hpp/manipulation/fwd.hh"
-#include "hpp/manipulation/handle.hh"
 #include "hpp/manipulation/object.hh"
 #include "hpp/manipulation/robot.hh"