diff --git a/dart/collision/fcl/FCLTypes.hpp b/dart/collision/fcl/FCLTypes.hpp
index 8fbf15c2c130f..6731cd8d0485f 100644
--- a/dart/collision/fcl/FCLTypes.hpp
+++ b/dart/collision/fcl/FCLTypes.hpp
@@ -47,6 +47,7 @@
   (FCL_MINOR_VERSION < y || (FCL_MINOR_VERSION <= y))))
 
 #if FCL_VERSION_AT_LEAST(0,5,0)
+#include <memory>
 template <class T> using fcl_shared_ptr = std::shared_ptr<T>;
 template <class T> using fcl_weak_ptr = std::weak_ptr<T>;
 #else