diff --git a/src/collision_detection/fcl/collision_common.cpp b/src/collision_detection/fcl/collision_common.cpp
index e7c048ef..1f9d7db4 100644
--- a/src/collision_detection/fcl/collision_common.cpp
+++ b/src/collision_detection/fcl/collision_common.cpp
@@ -14,9 +14,6 @@ namespace mplib::collision_detection::fcl {
                          const fcl::DistanceRequest<S> &request,                       \
                          fcl::DistanceResult<S> &result)
 
-DEFINE_TEMPLATE_FCL_COMMON(float);
-DEFINE_TEMPLATE_FCL_COMMON(double);
-
 template <typename S>
 FCLObject<S>::FCLObject(const std::string &name_, const Pose<S> &pose_,
                         const std::vector<fcl::CollisionObjectPtr<S>> &shapes_,
@@ -72,4 +69,7 @@ S distance(const FCLObjectPtr<S> &obj1, const FCLObjectPtr<S> &obj2,
   return result.min_distance;
 }
 
+
+DEFINE_TEMPLATE_FCL_COMMON(float);
+DEFINE_TEMPLATE_FCL_COMMON(double);
 }  // namespace mplib::collision_detection::fcl
diff --git a/src/collision_detection/fcl/fcl_model.cpp b/src/collision_detection/fcl/fcl_model.cpp
index 3af34c38..27578250 100644
--- a/src/collision_detection/fcl/fcl_model.cpp
+++ b/src/collision_detection/fcl/fcl_model.cpp
@@ -21,9 +21,6 @@ namespace mplib::collision_detection::fcl {
 // Explicit Template Instantiation Definition ==========================================
 #define DEFINE_TEMPLATE_FCL_MODEL(S) template class FCLModelTpl<S>
 
-DEFINE_TEMPLATE_FCL_MODEL(float);
-DEFINE_TEMPLATE_FCL_MODEL(double);
-
 template <typename S>
 FCLModelTpl<S>::FCLModelTpl(const std::string &urdf_filename, bool convex, bool verbose)
     : use_convex_(convex), verbose_(verbose) {
@@ -392,4 +389,7 @@ WorldDistanceResultTpl<S> FCLModelTpl<S>::distanceWith(
   return ret;
 }
 
+
+DEFINE_TEMPLATE_FCL_MODEL(float);
+DEFINE_TEMPLATE_FCL_MODEL(double);
 }  // namespace mplib::collision_detection::fcl
diff --git a/src/collision_detection/fcl/fcl_utils.cpp b/src/collision_detection/fcl/fcl_utils.cpp
index 8adca817..ce9a9f9b 100644
--- a/src/collision_detection/fcl/fcl_utils.cpp
+++ b/src/collision_detection/fcl/fcl_utils.cpp
@@ -13,9 +13,6 @@ namespace mplib::collision_detection::fcl {
   template fcl::ConvexPtr<S> loadMeshAsConvex<S>(const std::string &mesh_path,       \
                                                  const Vector3<S> &scale)
 
-DEFINE_TEMPLATE_FCL_UTILS(float);
-DEFINE_TEMPLATE_FCL_UTILS(double);
-
 template <typename S>
 fcl::BVHModel_OBBRSSPtr<S> loadMeshAsBVH(const std::string &mesh_path,
                                          const Vector3<S> &scale) {
@@ -55,4 +52,7 @@ fcl::ConvexPtr<S> loadMeshAsConvex(const std::string &mesh_path,
   return std::make_shared<fcl::Convex<S>>(vertices_ptr, triangles.size(), faces, true);
 }
 
+
+DEFINE_TEMPLATE_FCL_UTILS(float);
+DEFINE_TEMPLATE_FCL_UTILS(double);
 }  // namespace mplib::collision_detection::fcl
diff --git a/src/core/articulated_model.cpp b/src/core/articulated_model.cpp
index b40f3f2e..16cc431f 100644
--- a/src/core/articulated_model.cpp
+++ b/src/core/articulated_model.cpp
@@ -11,9 +11,6 @@ namespace mplib {
 // Explicit Template Instantiation Definition ==========================================
 #define DEFINE_TEMPLATE_ARTICULATED_MODEL(S) template class ArticulatedModelTpl<S>
 
-DEFINE_TEMPLATE_ARTICULATED_MODEL(float);
-DEFINE_TEMPLATE_ARTICULATED_MODEL(double);
-
 template <typename S>
 ArticulatedModelTpl<S>::ArticulatedModelTpl(const std::string &urdf_filename,
                                             const std::string &srdf_filename,
@@ -136,4 +133,7 @@ void ArticulatedModelTpl<S>::setQpos(const VectorX<S> &qpos, bool full) {
   fcl_model_->updateCollisionObjects(link_pose);
 }
 
+
+DEFINE_TEMPLATE_ARTICULATED_MODEL(float);
+DEFINE_TEMPLATE_ARTICULATED_MODEL(double);
 }  // namespace mplib
diff --git a/src/core/attached_body.cpp b/src/core/attached_body.cpp
index 5311faae..6b385098 100644
--- a/src/core/attached_body.cpp
+++ b/src/core/attached_body.cpp
@@ -5,9 +5,6 @@ namespace mplib {
 // Explicit Template Instantiation Definition ==========================================
 #define DEFINE_TEMPLATE_ATTACHED_BODY(S) template class AttachedBodyTpl<S>
 
-DEFINE_TEMPLATE_ATTACHED_BODY(float);
-DEFINE_TEMPLATE_ATTACHED_BODY(double);
-
 template <typename S>
 AttachedBodyTpl<S>::AttachedBodyTpl(const std::string &name, const FCLObjectPtr &object,
                                     const ArticulatedModelPtr &attached_articulation,
@@ -31,4 +28,7 @@ void AttachedBodyTpl<S>::updatePose() const {
     object_->shapes[i]->setTransform(object_pose * object_->shape_poses[i]);
 }
 
+
+DEFINE_TEMPLATE_ATTACHED_BODY(float);
+DEFINE_TEMPLATE_ATTACHED_BODY(double);
 }  // namespace mplib
diff --git a/src/kinematics/kdl/kdl_model.cpp b/src/kinematics/kdl/kdl_model.cpp
index 324048d6..c586ffbd 100644
--- a/src/kinematics/kdl/kdl_model.cpp
+++ b/src/kinematics/kdl/kdl_model.cpp
@@ -22,9 +22,6 @@ namespace mplib::kinematics::kdl {
 // Explicit Template Instantiation Definition ==========================================
 #define DEFINE_TEMPLATE_KDL_MODEL(S) template class KDLModelTpl<S>
 
-DEFINE_TEMPLATE_KDL_MODEL(float);
-DEFINE_TEMPLATE_KDL_MODEL(double);
-
 template <typename S>
 KDLModelTpl<S>::KDLModelTpl(const std::string &urdf_filename,
                             const std::vector<std::string> &link_names,
@@ -185,4 +182,7 @@ std::tuple<VectorX<S>, int> KDLModelTpl<S>::TreeIKNRJL(
   return {q1, retval};
 }
 
+
+DEFINE_TEMPLATE_KDL_MODEL(float);
+DEFINE_TEMPLATE_KDL_MODEL(double);
 }  // namespace mplib::kinematics::kdl
diff --git a/src/kinematics/pinocchio/pinocchio_model.cpp b/src/kinematics/pinocchio/pinocchio_model.cpp
index 84876345..8618a37f 100644
--- a/src/kinematics/pinocchio/pinocchio_model.cpp
+++ b/src/kinematics/pinocchio/pinocchio_model.cpp
@@ -15,9 +15,6 @@ namespace mplib::kinematics::pinocchio {
 // Explicit Template Instantiation Definition ==========================================
 #define DEFINE_TEMPLATE_PINOCCHIO_MODEL(S) template class PinocchioModelTpl<S>
 
-DEFINE_TEMPLATE_PINOCCHIO_MODEL(float);
-DEFINE_TEMPLATE_PINOCCHIO_MODEL(double);
-
 template <typename S>
 PinocchioModelTpl<S>::PinocchioModelTpl(const std::string &urdf_filename,
                                         const Vector3<S> &gravity, bool verbose)
@@ -697,4 +694,7 @@ std::tuple<VectorX<S>, bool, Vector6<S>> PinocchioModelTpl<S>::computeIKCLIKJL(
   return {qposPinocchio2User(q), success, err};
 }
 
+
+DEFINE_TEMPLATE_PINOCCHIO_MODEL(float);
+DEFINE_TEMPLATE_PINOCCHIO_MODEL(double);
 }  // namespace mplib::kinematics::pinocchio
diff --git a/src/planning/ompl/fixed_joint.cpp b/src/planning/ompl/fixed_joint.cpp
index be4f7512..e9f8260c 100644
--- a/src/planning/ompl/fixed_joint.cpp
+++ b/src/planning/ompl/fixed_joint.cpp
@@ -11,9 +11,6 @@ namespace mplib::planning::ompl {
   template VectorX<S> removeFixedJoints<S>(const FixedJointsTpl<S> &fixed_joints, \
                                            const VectorX<S> &state)
 
-DEFINE_TEMPLATE_FIXED_JOINT(float);
-DEFINE_TEMPLATE_FIXED_JOINT(double);
-
 template <typename S>
 bool isFixedJoint(const FixedJointsTpl<S> &fixed_joints, size_t articulation_idx,
                   size_t joint_idx) {
@@ -54,4 +51,7 @@ VectorX<S> removeFixedJoints(const FixedJointsTpl<S> &fixed_joints,
   return ret;
 }
 
+
+DEFINE_TEMPLATE_FIXED_JOINT(float);
+DEFINE_TEMPLATE_FIXED_JOINT(double);
 }  // namespace mplib::planning::ompl
diff --git a/src/planning/ompl/ompl_planner.cpp b/src/planning/ompl/ompl_planner.cpp
index f7adfb2c..ce3e04da 100644
--- a/src/planning/ompl/ompl_planner.cpp
+++ b/src/planning/ompl/ompl_planner.cpp
@@ -16,9 +16,6 @@ namespace mplib::planning::ompl {
 // Explicit Template Instantiation Definition ==========================================
 #define DEFINE_TEMPLATE_OMPL_PLANNER(S) template class OMPLPlannerTpl<S>
 
-DEFINE_TEMPLATE_OMPL_PLANNER(float);
-DEFINE_TEMPLATE_OMPL_PLANNER(double);
-
 #define PI 3.14159265359
 
 template <typename S>
@@ -340,4 +337,7 @@ MatrixX<S> OMPLPlannerTpl<S>::simplifyPath(const MatrixX<S> &path) const {
   return ret;
 }
 
+
+DEFINE_TEMPLATE_OMPL_PLANNER(float);
+DEFINE_TEMPLATE_OMPL_PLANNER(double);
 }  // namespace mplib::planning::ompl
diff --git a/src/planning/ompl/ompl_utils.cpp b/src/planning/ompl/ompl_utils.cpp
index c359190d..19f93d4f 100644
--- a/src/planning/ompl/ompl_utils.cpp
+++ b/src/planning/ompl/ompl_utils.cpp
@@ -14,9 +14,6 @@ namespace mplib::planning::ompl {
   template VectorX<S> state2Eigen<S>(const ob::State *state_raw,                   \
                                      const ob::SpaceInformation *si, bool is_rvss)
 
-DEFINE_TEMPLATE_OMPL_UTILS(float);
-DEFINE_TEMPLATE_OMPL_UTILS(double);
-
 template <typename S>
 std::vector<S> compoundState2Vector(const ob::State *state_raw,
                                     const ob::SpaceInformation *si) {
@@ -63,4 +60,7 @@ VectorX<S> state2Eigen(const ob::State *state_raw, const ob::SpaceInformation *s
   return vector2Eigen<S, S>(state_vec);
 }
 
+
+DEFINE_TEMPLATE_OMPL_UTILS(float);
+DEFINE_TEMPLATE_OMPL_UTILS(double);
 }  // namespace mplib::planning::ompl
diff --git a/src/planning_world.cpp b/src/planning_world.cpp
index 3b7283d9..a8fd0d52 100644
--- a/src/planning_world.cpp
+++ b/src/planning_world.cpp
@@ -11,9 +11,6 @@ namespace mplib {
 // Explicit Template Instantiation Definition ==========================================
 #define DEFINE_TEMPLATE_PLANNING_WORLD(S) template class PlanningWorldTpl<S>
 
-DEFINE_TEMPLATE_PLANNING_WORLD(float);
-DEFINE_TEMPLATE_PLANNING_WORLD(double);
-
 template <typename S>
 PlanningWorldTpl<S>::PlanningWorldTpl(
     const std::vector<ArticulatedModelPtr> &articulations,
@@ -553,4 +550,7 @@ WorldDistanceResultTpl<S> PlanningWorldTpl<S>::distance(
   return ret1.min_distance < ret2.min_distance ? ret1 : ret2;
 }
 
+
+DEFINE_TEMPLATE_PLANNING_WORLD(float);
+DEFINE_TEMPLATE_PLANNING_WORLD(double);
 }  // namespace mplib
diff --git a/src/utils/assimp_loader.cpp b/src/utils/assimp_loader.cpp
index 420ff1b2..d3879efa 100644
--- a/src/utils/assimp_loader.cpp
+++ b/src/utils/assimp_loader.cpp
@@ -15,9 +15,6 @@ namespace mplib {
       const aiNode *node, const Vector3<S> &scale, int vertices_offset, \
       std::vector<Vector3<S>> &vertices, std::vector<fcl::Triangle> &triangles) const
 
-DEFINE_TEMPLATE_ASSIMP_LOADER(float);
-DEFINE_TEMPLATE_ASSIMP_LOADER(double);
-
 AssimpLoader::AssimpLoader() : importer_(new Assimp::Importer()) {
   // set list of ignored parameters (parameters used for rendering)
   importer_->SetPropertyInteger(
@@ -117,4 +114,7 @@ size_t AssimpLoader::_dfsBuildMesh(const aiNode *node, const Vector3<S> &scale,
   return nbVertices;
 }
 
+
+DEFINE_TEMPLATE_ASSIMP_LOADER(float);
+DEFINE_TEMPLATE_ASSIMP_LOADER(double);
 }  // namespace mplib
diff --git a/src/utils/conversion.cpp b/src/utils/conversion.cpp
index d1144e56..5ca1567a 100644
--- a/src/utils/conversion.cpp
+++ b/src/utils/conversion.cpp
@@ -11,9 +11,6 @@ namespace mplib {
   template pinocchio::InertiaTpl<S> convertInertial<S>(const urdf::Inertial &Y); \
   template pinocchio::InertiaTpl<S> convertInertial<S>(const urdf::InertialSharedPtr &Y)
 
-DEFINE_TEMPLATE_CONVERSION(float);
-DEFINE_TEMPLATE_CONVERSION(double);
-
 template <typename S>
 Isometry3<S> toIsometry(const pinocchio::SE3Tpl<S> &T) {
   Isometry3<S> ret;
@@ -70,4 +67,7 @@ pinocchio::InertiaTpl<S> convertInertial(const urdf::InertialSharedPtr &Y) {
   return pinocchio::InertiaTpl<S>::Zero();
 }
 
+
+DEFINE_TEMPLATE_CONVERSION(float);
+DEFINE_TEMPLATE_CONVERSION(double);
 }  // namespace mplib