diff --git a/CHANGELOG.md b/CHANGELOG.md
index 01eda53a1..5f91aba74 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ### Fixed
 
 - Don't use C++14 feature ([#510](https://github.com/stack-of-tasks/eigenpy/pull/510))
+- Add inline to `deprecationTypeToPyObj` definition to avoid linking error ([#512](https://github.com/stack-of-tasks/eigenpy/pull/512))
 
 ## [3.10.0] - 2024-09-26
 
diff --git a/include/eigenpy/deprecation-policy.hpp b/include/eigenpy/deprecation-policy.hpp
index 42de0213c..e1e953f5a 100644
--- a/include/eigenpy/deprecation-policy.hpp
+++ b/include/eigenpy/deprecation-policy.hpp
@@ -13,7 +13,7 @@ enum class DeprecationType { DEPRECATION, FUTURE };
 
 namespace detail {
 
-PyObject *deprecationTypeToPyObj(DeprecationType dep) {
+inline PyObject *deprecationTypeToPyObj(DeprecationType dep) {
   switch (dep) {
     case DeprecationType::DEPRECATION:
       return PyExc_DeprecationWarning;