diff --git a/src/libYARP_dev/src/yarp/dev/all.h b/src/libYARP_dev/src/yarp/dev/all.h
index 8661b9a9cc5..5fd85860c9d 100644
--- a/src/libYARP_dev/src/yarp/dev/all.h
+++ b/src/libYARP_dev/src/yarp/dev/all.h
@@ -41,7 +41,11 @@
 #include <yarp/dev/ISpeechTranscription.h>
 #include <yarp/dev/ILLM.h>
 #include <yarp/dev/IChatBot.h>
+
+#ifndef YARP_NO_MATH
 #include <yarp/dev/IFrameTransform.h>
+#endif // YARP_NO_MATH
+
 
 #ifndef YARP_NO_DEPRECATED // since YARP 3.5
 #define YARP_INCLUDING_DEPRECATED_HEADER_YARP_DEV_FRAMEGRABBER_H_ON_PURPOSE
diff --git a/src/libYARP_math/CMakeLists.txt b/src/libYARP_math/CMakeLists.txt
index 9d21efd55aa..d2ea392423b 100644
--- a/src/libYARP_math/CMakeLists.txt
+++ b/src/libYARP_math/CMakeLists.txt
@@ -4,6 +4,7 @@
 project(YARP_math)
 
 if(NOT YARP_COMPILE_libYARP_math)
+  add_definitions(-DYARP_NO_MATH)
   return()
 endif()