diff --git a/bin/BulletVehicleEstimation/VehicleDemo.cpp b/bin/BulletVehicleEstimation/VehicleDemo.cpp
index 6987d86c..fd77bafc 100644
--- a/bin/BulletVehicleEstimation/VehicleDemo.cpp
+++ b/bin/BulletVehicleEstimation/VehicleDemo.cpp
@@ -35,6 +35,7 @@ subject to the following restrictions:
 
 #include "GlutStuff.h"
 #include "VehicleDemo.h"
+#include <unistd.h>
 
 using namespace gcop;
 using namespace Eigen;
diff --git a/bin/BulletZVehicleTest/VehicleDemo.cpp b/bin/BulletZVehicleTest/VehicleDemo.cpp
index 1c3133b4..7981bf8a 100644
--- a/bin/BulletZVehicleTest/VehicleDemo.cpp
+++ b/bin/BulletZVehicleTest/VehicleDemo.cpp
@@ -28,6 +28,7 @@ subject to the following restrictions:
 
 #include "GlutStuff.h"
 #include "VehicleDemo.h"
+#include <unistd.h>
 
 using namespace gcop;
 using namespace Eigen;
diff --git a/bin/CMakeLists.txt b/bin/CMakeLists.txt
index 16fa4d43..5cb72263 100644
--- a/bin/CMakeLists.txt
+++ b/bin/CMakeLists.txt
@@ -115,6 +115,9 @@ ENDIF (PQP_FOUND)
 	add_executable(body3dshell body3dshell.cc)
 	target_link_libraries(body3dshell  gcop_algos gcop_views gcop_systems  ${ALL_LIBS})
 
+	add_executable(eye_rcm eye_rcm.cc)
+	target_link_libraries(eye_rcm gcop_algos gcop_views gcop_systems ${ALL_LIBS})
+
 	add_executable(helitest helitest.cc)
 	target_link_libraries(helitest  gcop_algos gcop_views gcop_systems  ${ALL_LIBS})
 
diff --git a/bin/bulletrccartest.cc b/bin/bulletrccartest.cc
index 5590d740..1475bc64 100644
--- a/bin/bulletrccartest.cc
+++ b/bin/bulletrccartest.cc
@@ -8,6 +8,7 @@
 #include "params.h"
 #include "bulletrccar.h"
 #include "bulletworld.h"
+#include <unistd.h>
 
 using namespace std;
 using namespace Eigen;
diff --git a/bin/cebulletcartest.cc b/bin/cebulletcartest.cc
index cd31dd8f..e9e5c741 100644
--- a/bin/cebulletcartest.cc
+++ b/bin/cebulletcartest.cc
@@ -9,6 +9,7 @@
 #include "controltparam.h"
 #include "bulletrccar.h"
 #include "bulletworld.h"
+#include <unistd.h>
 
 using namespace std;
 using namespace Eigen;
diff --git a/bin/ddpbulletrccartest.cc b/bin/ddpbulletrccartest.cc
index f131bc98..121f9c42 100644
--- a/bin/ddpbulletrccartest.cc
+++ b/bin/ddpbulletrccartest.cc
@@ -8,6 +8,7 @@
 #include "bulletrccar.h"
 #include "bulletworld.h"
 #include "params.h"
+#include <unistd.h>
 
 using namespace std;
 using namespace Eigen;
diff --git a/bin/sddpbulletrccartest.cc b/bin/sddpbulletrccartest.cc
index 44b98201..ee5920f1 100644
--- a/bin/sddpbulletrccartest.cc
+++ b/bin/sddpbulletrccartest.cc
@@ -8,6 +8,7 @@
 #include "params.h"
 #include "bulletrccar.h"
 #include "bulletworld.h"
+#include <unistd.h>
 
 using namespace std;
 using namespace Eigen;
diff --git a/bin/spsabulletcartest.cc b/bin/spsabulletcartest.cc
index 9eb9c9a2..f5589af2 100644
--- a/bin/spsabulletcartest.cc
+++ b/bin/spsabulletcartest.cc
@@ -8,6 +8,7 @@
 #include "params.h"
 #include "bulletrccar.h"
 #include "bulletworld.h"
+#include <unistd.h>
 
 using namespace std;
 using namespace Eigen;
diff --git a/lib/systems/manifolds/mbsstate.h b/lib/systems/manifolds/mbsstate.h
index a73fafb2..220b111f 100644
--- a/lib/systems/manifolds/mbsstate.h
+++ b/lib/systems/manifolds/mbsstate.h
@@ -3,6 +3,7 @@
 
 #include <Eigen/Dense>
 #include "se3.h"
+#include <vector>
 
 namespace gcop {
   
diff --git a/lib/utils/params.h b/lib/utils/params.h
index d0feda22..041c36ed 100644
--- a/lib/utils/params.h
+++ b/lib/utils/params.h
@@ -5,6 +5,7 @@
 #include <cstring>
 #include <iostream>
 #include <Eigen/Dense>
+#include <vector>
 
 /*
  *  Provides storage and retrieval for arbitrary