diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index 503966d203e49398acaacc427c68cee79d735d97..2921eb6585204086af39529b9449b5c6098826db 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -21,7 +21,7 @@
 # define HPP_MANIPULATION_FWD_HH
 
 # include <map>
-# include <hpp/constraints/fwd.hh>
+# include <hpp/core/fwd.hh>
 
 namespace fcl {
   class TriangleP;
diff --git a/include/hpp/manipulation/handle.hh b/include/hpp/manipulation/handle.hh
index 78019b8a98f727eb1563f6fcec0a23dcbdd379dc..84809e31b9890be86b3aabdfc6f9ff8c2ea77d84 100644
--- a/include/hpp/manipulation/handle.hh
+++ b/include/hpp/manipulation/handle.hh
@@ -20,7 +20,7 @@
 #ifndef HPP_MANIPULATION_HANDLE_HH
 # define HPP_MANIPULATION_HANDLE_HH
 
-# include <fcl/math/transform.h>
+# include <hpp/fcl/math/transform.h>
 # include <hpp/manipulation/config.hh>
 # include <hpp/manipulation/fwd.hh>
 
diff --git a/include/hpp/manipulation/object.hh b/include/hpp/manipulation/object.hh
index 6d6e3e0d023ba9f08f4ea1e211c23ba87ba562d3..72c216311f0c60978b20fa21df7e19b3af51804d 100644
--- a/include/hpp/manipulation/object.hh
+++ b/include/hpp/manipulation/object.hh
@@ -22,7 +22,7 @@
 
 # include <hpp/model/device.hh>
 # include <hpp/manipulation/handle.hh>
-# include <fcl/shape/geometric_shapes.h>
+# include <hpp/fcl/shape/geometric_shapes.h>
 
 namespace hpp {
   namespace manipulation {
diff --git a/src/axial-handle.cc b/src/axial-handle.cc
index a9490208842ad54463699b69ae8ea8254105e760..e76bbc64d030cbe443301163f566f15cd01c87e0 100644
--- a/src/axial-handle.cc
+++ b/src/axial-handle.cc
@@ -18,7 +18,7 @@
 // <http://www.gnu.org/licenses/>.
 
 #include <boost/assign/list_of.hpp>
-#include <fcl/math/transform.h>
+#include <hpp/fcl/math/transform.h>
 #include <hpp/model/joint.hh>
 #include <hpp/model/gripper.hh>
 #include <hpp/constraints/relative-transformation.hh>
diff --git a/src/handle.cc b/src/handle.cc
index 70e5b03dca1f67db0cf5e7b5bb474841cb7e12bf..e0a2b5316926d7c20864c1c50516d3ea0f678601 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -18,7 +18,7 @@
 // <http://www.gnu.org/licenses/>.
 
 #include <boost/assign/list_of.hpp>
-#include <fcl/math/transform.h>
+#include <hpp/fcl/math/transform.h>
 #include <hpp/model/joint.hh>
 #include <hpp/constraints/relative-position.hh>
 #include <hpp/constraints/relative-transformation.hh>