diff --git a/mrpt_path_planning/include/mpp/algos/CostEvaluator.h b/mrpt_path_planning/include/mpp/algos/CostEvaluator.h
index 54a3ad4..448cfe8 100644
--- a/mrpt_path_planning/include/mpp/algos/CostEvaluator.h
+++ b/mrpt_path_planning/include/mpp/algos/CostEvaluator.h
@@ -9,14 +9,17 @@
 #include <mpp/data/MoveEdgeSE2_TPS.h>
 #include <mrpt/opengl/CSetOfObjects.h>
 #include <mrpt/rtti/CObject.h>
-
-#include <functional>
+#include <mrpt/version.h>
 
 namespace mpp
 {
 class CostEvaluator : public mrpt::rtti::CObject
 {
+#if MRPT_VERSION < 0x020e00
     DEFINE_VIRTUAL_MRPT_OBJECT(CostEvaluator)
+#else
+    DEFINE_VIRTUAL_MRPT_OBJECT(CostEvaluator, mpp)
+#endif
 
    public:
     CostEvaluator() = default;
diff --git a/mrpt_path_planning/include/mpp/algos/Planner.h b/mrpt_path_planning/include/mpp/algos/Planner.h
index ee0b755..b54775d 100644
--- a/mrpt_path_planning/include/mpp/algos/Planner.h
+++ b/mrpt_path_planning/include/mpp/algos/Planner.h
@@ -13,6 +13,7 @@
 #include <mrpt/rtti/CObject.h>
 #include <mrpt/system/COutputLogger.h>
 #include <mrpt/system/CTimeLogger.h>
+#include <mrpt/version.h>
 
 #include <optional>
 #include <vector>
@@ -22,7 +23,11 @@ namespace mpp
 class Planner : public mrpt::rtti::CObject,
                 virtual public mrpt::system::COutputLogger
 {
+#if MRPT_VERSION < 0x020e00
     DEFINE_VIRTUAL_MRPT_OBJECT(Planner)
+#else
+    DEFINE_VIRTUAL_MRPT_OBJECT(Planner, mpp)
+#endif
 
    public:
     Planner() = default;
diff --git a/mrpt_path_planning/include/mpp/interfaces/TargetApproachController.h b/mrpt_path_planning/include/mpp/interfaces/TargetApproachController.h
index 0a785dc..2029e24 100644
--- a/mrpt_path_planning/include/mpp/interfaces/TargetApproachController.h
+++ b/mrpt_path_planning/include/mpp/interfaces/TargetApproachController.h
@@ -16,6 +16,7 @@
 #include <mrpt/kinematics/CVehicleVelCmd.h>
 #include <mrpt/rtti/CObject.h>
 #include <mrpt/system/COutputLogger.h>
+#include <mrpt/version.h>
 
 namespace mpp
 {
@@ -60,7 +61,11 @@ struct TargetApproachOutput
 class TargetApproachController : public mrpt::system::COutputLogger,
                                  public mrpt::rtti::CObject
 {
+#if MRPT_VERSION < 0x020e00
     DEFINE_VIRTUAL_MRPT_OBJECT(TargetApproachController)
+#else
+    DEFINE_VIRTUAL_MRPT_OBJECT(TargetApproachController, mpp)
+#endif
 
    public:
     TargetApproachController()
diff --git a/mrpt_path_planning/include/mpp/interfaces/VehicleMotionInterface.h b/mrpt_path_planning/include/mpp/interfaces/VehicleMotionInterface.h
index d879e64..e3c7b0c 100644
--- a/mrpt_path_planning/include/mpp/interfaces/VehicleMotionInterface.h
+++ b/mrpt_path_planning/include/mpp/interfaces/VehicleMotionInterface.h
@@ -12,6 +12,7 @@
 #include <mrpt/kinematics/CVehicleVelCmd.h>
 #include <mrpt/rtti/CObject.h>
 #include <mrpt/system/COutputLogger.h>
+#include <mrpt/version.h>
 
 namespace mpp
 {
@@ -52,7 +53,11 @@ enum class STOP_TYPE : uint8_t
 class VehicleMotionInterface : public mrpt::system::COutputLogger,
                                public mrpt::rtti::CObject
 {
+#if MRPT_VERSION < 0x020e00
     DEFINE_VIRTUAL_MRPT_OBJECT(VehicleMotionInterface)
+#else
+    DEFINE_VIRTUAL_MRPT_OBJECT(VehicleMotionInterface, mpp)
+#endif
 
    public:
     VehicleMotionInterface()