diff --git a/cartographer/mapping_2d/scan_matching/CMakeLists.txt b/cartographer/mapping_2d/scan_matching/CMakeLists.txt
index eaf7943..a8ecc87 100644
--- a/cartographer/mapping_2d/scan_matching/CMakeLists.txt
+++ b/cartographer/mapping_2d/scan_matching/CMakeLists.txt
@@ -117,6 +117,8 @@ google_library(mapping_2d_scan_matching_translation_delta_cost_functor
   USES_EIGEN
   HDRS
     translation_delta_cost_functor.h
+  DEPENDS
+    transform_rigid_transform
 )
 
 google_test(mapping_2d_scan_matching_ceres_scan_matcher_test
diff --git a/cartographer/mapping_2d/scan_matching/translation_delta_cost_functor.h b/cartographer/mapping_2d/scan_matching/translation_delta_cost_functor.h
index ce99860..6bfd241 100644
--- a/cartographer/mapping_2d/scan_matching/translation_delta_cost_functor.h
+++ b/cartographer/mapping_2d/scan_matching/translation_delta_cost_functor.h
@@ -18,6 +18,7 @@
 #define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_H_
 
 #include "Eigen/Core"
+#include "cartographer/transform/rigid_transform.h"
 
 namespace cartographer {
 namespace mapping_2d {