diff --git a/src/quadarm_task_priority_ctrl.h b/src/quadarm_task_priority_ctrl.h
index 34cb85cc6d7a5d3ad0cd9e615d0e6ada642472c1..6fb41dcd4e5a15754b585618ba030c354c192521 100644
--- a/src/quadarm_task_priority_ctrl.h
+++ b/src/quadarm_task_priority_ctrl.h
@@ -26,6 +26,8 @@
 #include <kdl/chainiksolvervel_wdls.hpp>
 #include <kdl/frames_io.hpp>
 
+#include <kdl/chainjnttojacsolver.hpp>
+
 #include <boost/scoped_ptr.hpp>
 #include <boost/shared_ptr.hpp>