diff --git a/bindings/python/geometry-data.hpp b/bindings/python/geometry-data.hpp
index b95ec75734b8d569db046cb6dcc1443c77cd5801..1510b6139f33bdcc04f15d12c9841cdad4d6e735 100644
--- a/bindings/python/geometry-data.hpp
+++ b/bindings/python/geometry-data.hpp
@@ -30,6 +30,7 @@
 
 namespace fcl
 {
+#ifdef WITH_HPP_FCL
   // This operator is defined here temporary, as it is needed by vector_indexing_suite
   // It has also been defined in hpp-fcl in a pending pull request.
   // Once it has been integrated in releases of hpp-fcl, please remove this operator
@@ -41,6 +42,7 @@ namespace fcl
         && dr1.nearest_points[0] == dr2.nearest_points[0]
         && dr1.nearest_points[1] == dr2.nearest_points[1];
   }
+#endif
 }
 namespace se3
 {
diff --git a/src/multibody/geometry.hxx b/src/multibody/geometry.hxx
index 7e3fba71f403435053c3493eb1e1f457aabbdeab..1d706b5939abc65116b69a865b0a9bd8e1bd7f46 100644
--- a/src/multibody/geometry.hxx
+++ b/src/multibody/geometry.hxx
@@ -130,6 +130,7 @@ namespace se3
   //     std::cout << "outer object already added" << std::endl;
   // }
 
+#ifdef WITH_HPP_FCL
   inline void GeometryData::fillInnerOuterObjectMaps(const GeometryModel & geomModel)
   {
     innerObjects.clear();
@@ -143,6 +144,7 @@ namespace se3
         outerObjects[geomModel.geometryObjects[pair.first].parentJoint].push_back(pair.second);
       }
   }
+#endif
 
   inline std::ostream & operator<< (std::ostream & os, const GeometryModel & geomModel)
   {