diff --git a/bindings/python/eigen_container.hpp b/bindings/python/eigen_container.hpp
index 53abee0d65ebdb08c161dcb46e8671838fd9f6ad..30185369375e5f5e6dbc8faec584a4f3700672d2 100644
--- a/bindings/python/eigen_container.hpp
+++ b/bindings/python/eigen_container.hpp
@@ -1,5 +1,5 @@
 //
-// Copyright (c) 2015 CNRS
+// Copyright (c) 2015-2016 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -21,6 +21,7 @@
 #include <eigenpy/exception.hpp>
 #include <eigenpy/eigenpy.hpp>
 
+#include <vector>
 #include <boost/shared_ptr.hpp>
 #include <boost/python/return_internal_reference.hpp>
 
diff --git a/src/spatial/force.hpp b/src/spatial/force.hpp
index 0b7fd37ad9e464a734439e3c993749dbd8dc71ea..2763537c7bbcd7e0fd8edcf638514e40232fdbec 100644
--- a/src/spatial/force.hpp
+++ b/src/spatial/force.hpp
@@ -22,6 +22,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include "pinocchio/spatial/fwd.hpp"
+#include "pinocchio/spatial/se3.hpp"
 
 
 namespace se3
@@ -156,7 +157,7 @@ namespace se3
     /// af = aXb.act(bf)
     ForceTpl se3Action_impl(const SE3 & m) const
     {
-      Vector3 Rf (static_cast<Vector3>( (m.rotation()) * linear_impl() ) );
+      Vector3 Rf (m.rotation()*linear_impl());
       return ForceTpl(Rf,m.translation().cross(Rf)+m.rotation()*angular_impl());
     }
 
diff --git a/src/spatial/motion.hpp b/src/spatial/motion.hpp
index e18e342526804e5e919d3ea1a09f5e139fe68840..a01f584cc42b3ecba874a59975e3041f764604a3 100644
--- a/src/spatial/motion.hpp
+++ b/src/spatial/motion.hpp
@@ -22,6 +22,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include "pinocchio/spatial/fwd.hpp"
+#include "pinocchio/spatial/se3.hpp"
 #include "pinocchio/spatial/force.hpp"
 
 namespace se3
@@ -213,7 +214,7 @@ namespace se3
 
     MotionTpl se3Action_impl(const SE3 & m) const
     {
-      Vector3 Rw (static_cast<Vector3>(m.rotation() * angular_impl()));
+      Vector3 Rw (m.rotation()*angular_impl());
       return MotionTpl( m.rotation()*linear_impl() + m.translation().cross(Rw),
                         Rw);
     }