diff --git a/include/crocoddyl/core/utils/stop-watch.hpp b/include/crocoddyl/core/utils/stop-watch.hpp
index b6ba51c49..02bc53e8b 100644
--- a/include/crocoddyl/core/utils/stop-watch.hpp
+++ b/include/crocoddyl/core/utils/stop-watch.hpp
@@ -163,8 +163,16 @@ class Stopwatch {
 
     Watcher(Stopwatch &_w, std::string _n, PerformanceData *_p)
         : w(_w), n(_n), p(_p) {}
-    void start();
-    void stop();
+    inline void start() {
+      if (w.profiler_active) _start();
+    }
+    inline void stop() {
+      if (w.profiler_active) _stop();
+    }
+
+   private:
+    void _start();
+    void _stop();
   };
 
   /** @brief Constructor */
@@ -180,7 +188,7 @@ class Stopwatch {
   void disable_profiler();
 
   /** @brief Return if the profiler is enable or disable **/
-  bool profiler_status();
+  inline bool profiler_status() { return profiler_active; }
 
   /** @brief Tells if a performance with a certain ID exists */
   bool performance_exists(std::string perf_name);
diff --git a/src/core/utils/stop-watch.cpp b/src/core/utils/stop-watch.cpp
index 3be8fec2e..974af96d2 100644
--- a/src/core/utils/stop-watch.cpp
+++ b/src/core/utils/stop-watch.cpp
@@ -56,8 +56,6 @@ void Stopwatch::enable_profiler() { profiler_active = true; }
 
 void Stopwatch::disable_profiler() { profiler_active = false; }
 
-bool Stopwatch::profiler_status() { return profiler_active; }
-
 void Stopwatch::set_mode(StopwatchMode new_mode) { mode = new_mode; }
 
 bool Stopwatch::performance_exists(string perf_name) {
@@ -347,7 +345,7 @@ Stopwatch::Watcher Stopwatch::watcher(const string& perf_name) {
   return Watcher(*this, perf_name, perf_info);
 }
 
-void Stopwatch::Watcher::start() {
+void Stopwatch::Watcher::_start() {
   if (!w.profiler_active) return;
 
   if (p == nullptr) {
@@ -358,7 +356,7 @@ void Stopwatch::Watcher::start() {
   p->paused = false;
 }
 
-void Stopwatch::Watcher::stop() {
+void Stopwatch::Watcher::_stop() {
   if (!w.profiler_active || (p == nullptr)) return;
 
   long double clock_end = w.take_time();