diff --git a/src/constraint_fix.h b/src/constraint_fix.h
index 0051911cdba9334d5143ecf7d23d8f933ca34054..37b77c226af7535c8b2458aac8e5deddc2a3ea42 100644
--- a/src/constraint_fix.h
+++ b/src/constraint_fix.h
@@ -11,6 +11,8 @@ namespace wolf {
 
 class ConstraintFix: public ConstraintSparse<3,2,1>
 {
+    public:
+        typedef std::shared_ptr<ConstraintFix> Ptr;
     public:
 //        static const unsigned int N_BLOCKS = 2;
 
diff --git a/src/sensor_odom_2D.h b/src/sensor_odom_2D.h
index 6e07c7d3360ba4aeb539becb54e8db55f8aa037e..c148bf262da0e04ae7b2d3a39947be2dd17fbb69 100644
--- a/src/sensor_odom_2D.h
+++ b/src/sensor_odom_2D.h
@@ -15,6 +15,8 @@ struct IntrinsicsOdom2D : public IntrinsicsBase
 
 class SensorOdom2D : public SensorBase
 {
+    public:
+        typedef std::shared_ptr<SensorOdom2D> Ptr;
 
     protected:
         Scalar k_disp_to_disp_; ///< ratio of displacement variance to displacement, for odometry noise calculation