diff --git a/include/fcl/geometry/shape/convex-inl.h b/include/fcl/geometry/shape/convex-inl.h
index ef3dc75..812d5a5 100644
--- a/include/fcl/geometry/shape/convex-inl.h
+++ b/include/fcl/geometry/shape/convex-inl.h
@@ -44,7 +44,7 @@
 #include <set>
 #include <sstream>
 #include <utility>
-
+#include <cassert>
 #include "fcl/geometry/shape/convex.h"
 #include "fcl/geometry/shape/representation.h"
 
diff --git a/include/fcl/math/motion/taylor_model/taylor_model-inl.h b/include/fcl/math/motion/taylor_model/taylor_model-inl.h
index 861f72d..e7885ca 100644
--- a/include/fcl/math/motion/taylor_model/taylor_model-inl.h
+++ b/include/fcl/math/motion/taylor_model/taylor_model-inl.h
@@ -40,7 +40,7 @@
 
 #ifndef FCL_CCD_TAYLOR_MODEL_INL_H
 #define FCL_CCD_TAYLOR_MODEL_INL_H
-
+#include <cassert>
 #include "fcl/math/motion/taylor_model/taylor_model.h"
 
 namespace fcl