diff --git a/planning/sampling_based_planner/bezier_sampler/include/bezier_sampler/bezier_sampling.hpp b/planning/sampling_based_planner/bezier_sampler/include/bezier_sampler/bezier_sampling.hpp
index 624cd585b0a72..18df9dcb796d8 100644
--- a/planning/sampling_based_planner/bezier_sampler/include/bezier_sampler/bezier_sampling.hpp
+++ b/planning/sampling_based_planner/bezier_sampler/include/bezier_sampler/bezier_sampling.hpp
@@ -17,6 +17,7 @@
 
 #include <bezier_sampler/bezier.hpp>
 #include <eigen3/Eigen/Core>
+#include <eigen3/Eigen/Geometry>
 #include <sampler_common/structures.hpp>
 
 #include <vector>
diff --git a/planning/sampling_based_planner/path_sampler/src/node.cpp b/planning/sampling_based_planner/path_sampler/src/node.cpp
index aa037755bbedd..e61f635de67c4 100644
--- a/planning/sampling_based_planner/path_sampler/src/node.cpp
+++ b/planning/sampling_based_planner/path_sampler/src/node.cpp
@@ -298,7 +298,8 @@ PlannerData PathSampler::createPlannerData(const Path & path) const
   return planner_data;
 }
 
-void copyZ(const std::vector<TrajectoryPoint> & from_traj, std::vector<TrajectoryPoint> & to_traj)
+void PathSampler::copyZ(
+  const std::vector<TrajectoryPoint> & from_traj, std::vector<TrajectoryPoint> & to_traj)
 {
   if (from_traj.empty() || to_traj.empty()) return;
   to_traj.front().pose.position.z = from_traj.front().pose.position.z;
@@ -320,7 +321,7 @@ void copyZ(const std::vector<TrajectoryPoint> & from_traj, std::vector<Trajector
   to_traj.back().pose.position.z = from->pose.position.z;
 }
 
-void copyVelocity(
+void PathSampler::copyVelocity(
   const std::vector<TrajectoryPoint> & from_traj, std::vector<TrajectoryPoint> & to_traj,
   const geometry_msgs::msg::Pose & ego_pose)
 {