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diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
index ac7c079..67f175d 100644
--- a/urdf_parser/CMakeLists.txt
+++ b/urdf_parser/CMakeLists.txt
@@ -23,6 +23,10 @@ macro(add_urdfdom_library)
SOVERSION ${URDF_MAJOR_MINOR_VERSION})
endmacro()
+if(MSVC)
+ add_definitions(-D_USE_MATH_DEFINES)
+endif()
+
if(TARGET console_bridge::console_bridge)
set(console_bridge_link_libs "console_bridge::console_bridge")
else()
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