diff --git a/src/processor_imu.cpp b/src/processor_imu.cpp
index 2bbf52756946875b517ebe8eb129ab13f4277549..a2d526cbd7c1fb4f6a01b96bcf650302ef97ca84 100644
--- a/src/processor_imu.cpp
+++ b/src/processor_imu.cpp
@@ -1,4 +1,5 @@
 #include "processor_imu.h"
+#include "imu_tools.h"
 
 namespace wolf {
 
diff --git a/src/processor_imu.h b/src/processor_imu.h
index f46dcc423bd9038da49db1bf09ad2c59e7f79010..47decd316b1f420611629e390d783c63c64a337c 100644
--- a/src/processor_imu.h
+++ b/src/processor_imu.h
@@ -106,6 +106,7 @@ class ProcessorIMU : public ProcessorMotion{
 #include "constraint_imu.h"
 #include "state_block.h"
 #include "rotations.h"
+#include "imu_tools.h"
 
 
 namespace wolf{