diff --git a/src/multibody/joint/joint-revolute-unbounded.hpp b/src/multibody/joint/joint-revolute-unbounded.hpp
index 4ce217e4e9c2506893ee86bfe692d90f0b003df9..3cd481f4880a496b043660e1d24e56b88dfde9ca 100644
--- a/src/multibody/joint/joint-revolute-unbounded.hpp
+++ b/src/multibody/joint/joint-revolute-unbounded.hpp
@@ -18,6 +18,7 @@
 #ifndef __se3_joint_revolute_unbounded_hpp__
 #define __se3_joint_revolute_unbounded_hpp__
 
+#include "pinocchio/math/fwd.hpp"
 #include "pinocchio/math/sincos.hpp"
 #include "pinocchio/spatial/inertia.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"