diff --git a/include/hpp/fcl/collision_object.h b/include/hpp/fcl/collision_object.h
index 31fc86d82fb3fc6b73409e413e67d1ccfe1cc15a..91c149b903deea1e74677ad7e052237f64463501 100644
--- a/include/hpp/fcl/collision_object.h
+++ b/include/hpp/fcl/collision_object.h
@@ -93,15 +93,15 @@ public:
   }
 
   /// @brief whether the object is completely occupied
-  inline bool isOccupied() const HPP_FCL_DEPRECATED
+  inline bool isOccupied() const
   { return cost_density >= threshold_occupied; }
 
   /// @brief whether the object is completely free
-  inline bool isFree() const HPP_FCL_DEPRECATED
+  inline bool isFree() const
   { return cost_density <= threshold_free; }
 
   /// @brief whether the object has some uncertainty
-  bool isUncertain() const HPP_FCL_DEPRECATED;
+  bool isUncertain() const;
 
   /// @brief AABB center in local coordinate
   Vec3f aabb_center;
diff --git a/include/hpp/fcl/internal/traversal_node_octree.h b/include/hpp/fcl/internal/traversal_node_octree.h
index e2857da225d33f3a4c1e843d84914ac518a30539..7ece5fd0c31fe0a2eef54aa6ddb7e68eee67c9ac 100644
--- a/include/hpp/fcl/internal/traversal_node_octree.h
+++ b/include/hpp/fcl/internal/traversal_node_octree.h
@@ -333,7 +333,7 @@ private:
             if(solver->shapeIntersect(box, box_tf, s, tf2, NULL, NULL, NULL))
             {
               if(cresult->numContacts() < crequest->num_max_contacts)
-                cresult->addContact(Contact(tree1, &s, root1 - tree1->getRoot(), Contact::NONE));
+                cresult->addContact(Contact(tree1, &s, static_cast<int>(root1 - tree1->getRoot()), Contact::NONE));
             }
           }
           else
@@ -345,7 +345,7 @@ private:
             if(solver->shapeIntersect(box, box_tf, s, tf2, &contact, &depth, &normal))
             {
               if(cresult->numContacts() < crequest->num_max_contacts)
-                cresult->addContact(Contact(tree1, &s, root1 - tree1->getRoot(), Contact::NONE, contact, normal, depth));
+                cresult->addContact(Contact(tree1, &s, static_cast<int>(root1 - tree1->getRoot()), Contact::NONE, contact, normal, depth));
             }
           }
 
@@ -808,7 +808,7 @@ private:
           if(obb1.overlap(obb2))
           {
             if(cresult->numContacts() < crequest->num_max_contacts)
-              cresult->addContact(Contact(tree1, tree2, root1 - tree1->getRoot(), root2 - tree2->getRoot()));
+              cresult->addContact(Contact(tree1, tree2, static_cast<int>(root1 - tree1->getRoot()), static_cast<int>(root2 - tree2->getRoot())));
           }
         }
         else
@@ -824,7 +824,7 @@ private:
           if(solver->shapeIntersect(box1, box1_tf, box2, box2_tf, &contact, &depth, &normal))
           {
             if(cresult->numContacts() < crequest->num_max_contacts)
-              cresult->addContact(Contact(tree1, tree2, root1 - tree1->getRoot(), root2 - tree2->getRoot(), contact, normal, depth));
+              cresult->addContact(Contact(tree1, tree2, static_cast<int>(root1 - tree1->getRoot()), static_cast<int>(root2 - tree2->getRoot()), contact, normal, depth));
           }
         }
 
diff --git a/include/hpp/fcl/profile.h b/include/hpp/fcl/profile.h
index a7e3f2780503a26cc021676e95cfec25d0f3dcbb..497a0a44aea80e4dc92afe9aa4a83618e4d9f0aa 100644
--- a/include/hpp/fcl/profile.h
+++ b/include/hpp/fcl/profile.h
@@ -86,8 +86,8 @@ inline point now(void)
 /// @brief Return the time duration representing a given number of seconds
 inline duration seconds(double sec)
 {
-  long s  = (long)sec;
-  long us = (long)((sec - s) * 1000000);
+  long int s  = static_cast<long int>(sec);
+  long int us = ((static_cast<long int>(sec) - s) * 1000000);
   return boost::posix_time::seconds(s) + boost::posix_time::microseconds(us);
 }
 
diff --git a/src/narrowphase/details.h b/src/narrowphase/details.h
index 58036184bf7a6e40b6d75fbb9e73ac39e19f6375..7c4efa3fa69351ba113c9ccc4793f39979fec2f8 100644
--- a/src/narrowphase/details.h
+++ b/src/narrowphase/details.h
@@ -151,6 +151,7 @@ namespace fcl {
       Vec3f S (tf1.getTranslation ());
       // axis of the cylinder
       Vec3f u (tf2.getRotation ().col (2));
+      /// @todo a tiny performance improvement could be achieved using the abscissa with S as the origin
       assert ((B - A - (s2.halfLength * 2) * u).norm () < eps);
       Vec3f AS (S - A);
       // abscissa of S on cylinder axis with A as the origin