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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
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