diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 78f90ce7..8914a998 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-latest, macos-latest]
+        os: [ubuntu-latest, macos-latest, windows-latest]
     steps:
     - uses: actions/checkout@v3
 
@@ -44,3 +44,22 @@ jobs:
         mkdir -p build && cd build
         cmake .. 
         make -j4
+
+    # For Windows, build using MSVC and vcpkg or choco for dependencies
+    - name: Install dependencies on Windows
+      if: runner.os == 'Windows'
+      shell: pwsh
+      run: |
+        choco install cmake --installargs 'ADD_CMAKE_TO_PATH=System' -y
+        choco install eigen -y
+        # Dependencies for matplotplusplus
+        choco install gnuplot -y
+
+    - name: Build on Windows
+      if: runner.os == 'Windows'
+      shell: pwsh
+      run: |
+        mkdir -Force build
+        cd build
+        cmake ..
+        cmake --build . --config Release
diff --git a/include/cddp-cpp/cddp_core/constraint.hpp b/include/cddp-cpp/cddp_core/constraint.hpp
index c79dafb9..250f9f78 100644
--- a/include/cddp-cpp/cddp_core/constraint.hpp
+++ b/include/cddp-cpp/cddp_core/constraint.hpp
@@ -19,6 +19,7 @@
 
 #include <Eigen/Dense>
 #include <algorithm>
+#define _USE_MATH_DEFINES
 #include <cmath> // For std::acos, std::sqrt, std::max, M_PI
 #include <iostream>
 #include <limits>
diff --git a/include/cddp-cpp/dynamics_model/manipulator.hpp b/include/cddp-cpp/dynamics_model/manipulator.hpp
index 5bcfbe5c..9f084cc6 100644
--- a/include/cddp-cpp/dynamics_model/manipulator.hpp
+++ b/include/cddp-cpp/dynamics_model/manipulator.hpp
@@ -18,6 +18,8 @@
 #define CDDP_MANIPULATOR_HPP
 
 #include "cddp_core/dynamical_system.hpp"
+#define _USE_MATH_DEFINES
+#include <cmath>
 #include <Eigen/Dense>
 
 namespace cddp {
@@ -218,4 +220,4 @@ class Manipulator : public DynamicalSystem {
 
 } // namespace cddp
 
-#endif // CDDP_MANIPULATOR_HPP
\ No newline at end of file
+#endif // CDDP_MANIPULATOR_HPP