diff --git a/CMakeLists.txt b/CMakeLists.txt
index b4558d4546d3a00f37d8620a70875f752e3d4c3a..20dd4225a5854284cf96ed0cfb27126d285349f5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -111,6 +111,7 @@ include/${PROJECT_NAME}/capture/capture_point_feet_nomove.h
 SET(HDRS_FACTOR
 include/${PROJECT_NAME}/factor/factor_force_torque.h
 include/${PROJECT_NAME}/factor/factor_force_torque_inertial.h
+include/${PROJECT_NAME}/factor/factor_force_torque_inertial_dynamics.h
 include/${PROJECT_NAME}/factor/factor_force_torque_preint.h
 include/${PROJECT_NAME}/factor/factor_inertial_kinematics.h
 include/${PROJECT_NAME}/factor/factor_point_feet_nomove.h
@@ -123,6 +124,7 @@ include/${PROJECT_NAME}/feature/feature_inertial_kinematics.h
   )
 SET(HDRS_PROCESSOR
 include/${PROJECT_NAME}/processor/processor_force_torque_inertial_preint.h
+include/${PROJECT_NAME}/processor/processor_force_torque_inertial_preint_dynamics.h
 include/${PROJECT_NAME}/processor/processor_force_torque_preint.h
 include/${PROJECT_NAME}/processor/processor_inertial_kinematics.h
 include/${PROJECT_NAME}/processor/processor_point_feet_nomove.h
@@ -148,6 +150,7 @@ src/feature/feature_inertial_kinematics.cpp
 )
 SET(SRCS_PROCESSOR
 src/processor/processor_force_torque_inertial_preint.cpp
+src/processor/processor_force_torque_inertial_preint_dynamics.cpp
 src/processor/processor_force_torque_preint.cpp
 src/processor/processor_inertial_kinematics.cpp
 src/processor/processor_point_feet_nomove.cpp