diff --git a/include/aikido/control/TrajectoryExecutor.hpp b/include/aikido/control/TrajectoryExecutor.hpp
index f92097c760..4c544fac01 100644
--- a/include/aikido/control/TrajectoryExecutor.hpp
+++ b/include/aikido/control/TrajectoryExecutor.hpp
@@ -3,6 +3,7 @@
 
 #include <chrono>
 #include <future>
+#include <set>
 #include "aikido/common/pointers.hpp"
 #include "aikido/trajectory/Trajectory.hpp"
 
diff --git a/src/control/InstantaneousTrajectoryExecutor.cpp b/src/control/InstantaneousTrajectoryExecutor.cpp
index 24f1385476..fc13f0151a 100644
--- a/src/control/InstantaneousTrajectoryExecutor.cpp
+++ b/src/control/InstantaneousTrajectoryExecutor.cpp
@@ -41,7 +41,7 @@ void InstantaneousTrajectoryExecutor::validate(
 
   // TODO: Delete this line once the skeleton is locked by isCompatible
   std::lock_guard<std::mutex> lock(mSkeleton->getMutex());
-  space->checkCompatibility(mSkeleton.get());
+  space->checkIfContained(mSkeleton.get());
 
   mValidatedTrajectories.emplace(traj);
 }
diff --git a/src/control/KinematicSimulationTrajectoryExecutor.cpp b/src/control/KinematicSimulationTrajectoryExecutor.cpp
index 2a4fa4ecb8..cd0d822efc 100644
--- a/src/control/KinematicSimulationTrajectoryExecutor.cpp
+++ b/src/control/KinematicSimulationTrajectoryExecutor.cpp
@@ -58,7 +58,7 @@ void KinematicSimulationTrajectoryExecutor::validate(
 
   // TODO: Delete this line once the skeleton is locked by isCompatible
   std::lock_guard<std::mutex> lock(mSkeleton->getMutex());
-  space->checkCompatibility(mSkeleton.get());
+  space->checkIfContained(mSkeleton.get());
 
   mValidatedTrajectories.emplace(traj);
 }