diff --git a/3rdparty/rbdl/include/rbdl/SimpleMath/SimpleMath.h b/3rdparty/rbdl/include/rbdl/SimpleMath/SimpleMath.h
index 06cbcd2..ba4b56c 100644
--- a/3rdparty/rbdl/include/rbdl/SimpleMath/SimpleMath.h
+++ b/3rdparty/rbdl/include/rbdl/SimpleMath/SimpleMath.h
@@ -819,17 +819,19 @@ struct Storage {
 
   inline size_t cols() const { return NumCols; }
 
-  void resize(int UNUSED(num_rows), int UNUSED(num_cols)) {
+#ifdef NDEBUG
+  void resize(int UNUSED(num_rows), int UNUSED(num_cols)) {}
+#else
+  void resize(int num_rows, int num_cols) {
   // Resizing of fixed size matrices not allowed
-  #ifndef NDEBUG
       if (num_rows != NumRows || num_cols != NumCols) {
         std::cout << "Error: trying to resize fixed matrix from "
           << NumRows << ", " << NumCols << " to "
           << num_rows << ", " << num_cols << "." << std::endl;
       }
-  #endif
       assert (num_rows == NumRows && num_cols == NumCols);
   }
+#endif
 
   inline ScalarType& coeff(int row_index, int col_index) {
 //    assert (row_index >= 0 && row_index <= NumRows);