diff --git a/src/algorithm/jacobian.hpp b/src/algorithm/jacobian.hpp
index 0f2ebab3e43cf82b5f4a000a74b3eae5ba79690a..d5c3de8010ebf769b19645320449569f5c20ccbf 100644
--- a/src/algorithm/jacobian.hpp
+++ b/src/algorithm/jacobian.hpp
@@ -134,10 +134,10 @@ namespace se3
   };
 
   /* Compute the jacobian of the output frame of the joint <idx> in the local frame. */
-  const Eigen::MatrixXd&
+  inline const Eigen::MatrixXd&
   jacobian(const Model & model, Data& data,
-	   const Eigen::VectorXd & q,
-	   const Model::Index & idx )
+		  const Eigen::VectorXd & q,
+		  const Model::Index & idx )
   {
     data.iMf[idx] = SE3::Identity();
     for( Model::Index i=idx;i>0;i=model.parents[i] )
diff --git a/src/multibody/parser/urdf.hpp b/src/multibody/parser/urdf.hpp
index 2b2893b04b3c0dc71f5822563e706fe0e5d74901..74c8fbab410c6a71d92186099ecbbf6b4de7e380 100644
--- a/src/multibody/parser/urdf.hpp
+++ b/src/multibody/parser/urdf.hpp
@@ -41,7 +41,7 @@ namespace se3
 {
   namespace urdf
   {
-    Inertia convertFromUrdf( const ::urdf::Inertial& Y )
+    inline Inertia convertFromUrdf( const ::urdf::Inertial& Y )
     {
       const ::urdf::Vector3 & p = Y.origin.position;
       const ::urdf::Rotation & q = Y.origin.rotation;
@@ -55,7 +55,7 @@ namespace se3
       return Inertia(Y.mass,com,R*I*R.transpose());
     }
 
-    SE3 convertFromUrdf( const ::urdf::Pose & M )
+    inline SE3 convertFromUrdf( const ::urdf::Pose & M )
     {
       const ::urdf::Vector3 & p = M.position;
       const ::urdf::Rotation & q = M.rotation;
@@ -63,7 +63,7 @@ namespace se3
     }
 
     enum AxisCartesian { AXIS_X, AXIS_Y, AXIS_Z, AXIS_UNALIGNED };
-    AxisCartesian extractCartesianAxis( const ::urdf::Vector3 & axis )
+    inline AxisCartesian extractCartesianAxis( const ::urdf::Vector3 & axis )
     {
       if( (axis.x==1.0)&&(axis.y==0.0)&&(axis.z==0.0) )
 	return AXIS_X;
@@ -76,7 +76,8 @@ namespace se3
     }
 
 
-    void parseTree( ::urdf::LinkConstPtr link, Model & model, const SE3 & placementOffset = SE3::Identity()) throw (std::invalid_argument)
+
+inline void parseTree( ::urdf::LinkConstPtr link, Model & model, const SE3 & placementOffset = SE3::Identity()) throw (std::invalid_argument)
 {
 
 
@@ -289,7 +290,7 @@ namespace se3
       return model;
     }
 
-    Model buildModel( const std::string & filename)
+    inline Model buildModel( const std::string & filename)
     {
       Model model;