diff --git a/include/hpp/manipulation/axial-handle.hh b/include/hpp/manipulation/axial-handle.hh
index 7e8de9732381b50db1b37cd161727926b802734d..66c5ab1c62597db975eee4e9d0e6579d18363a24 100644
--- a/include/hpp/manipulation/axial-handle.hh
+++ b/include/hpp/manipulation/axial-handle.hh
@@ -26,7 +26,7 @@ namespace hpp {
   namespace manipulation {
     /// Handle symmetric around its z-axis. The constraint defined for a grasp
     /// by a gripper is free to rotate around z-axis.
-    class AxialHandle : public Handle
+    class HPP_MANIPULATION_DLLAPI AxialHandle : public Handle
     {
     public:
       /// Create constraint corresponding to a gripper grasping this object
diff --git a/src/axial-handle.cc b/src/axial-handle.cc
index 8ae20eaf94a5b144f2950bf76737e789d584ae59..e6451756e1135aece321c16418172c11441621b1 100644
--- a/src/axial-handle.cc
+++ b/src/axial-handle.cc
@@ -21,10 +21,8 @@
 
 #include <boost/assign/list_of.hpp>
 
-#include <hpp/fcl/math/transform.h>
-
-#include <hpp/model/joint.hh>
-#include <hpp/model/gripper.hh>
+#include <hpp/pinocchio/joint.hh>
+#include <hpp/pinocchio/gripper.hh>
 
 #include <hpp/constraints/generic-transformation.hh>