diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7b8d1932c3a905b9643113b4e71e9cbc0610d40d..ec48fac7166cd5c7b454ebb3dc06dee70f983ff9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,7 +40,7 @@ FIND_PACKAGE(CLP)
 
 IF(CLP_FOUND)
     ADD_DEFINITIONS(-DCLP_FOUND)
-    INCLUDE_DIRECTORIES("${CLP_INCLUDE_DIR}")
+    INCLUDE_DIRECTORIES(SYSTEM "${CLP_INCLUDE_DIR}")
 ENDIF()
 
 INCLUDE_DIRECTORIES(SYSTEM ${qpOASES_INCLUDE_DIRS})
diff --git a/include/hpp/centroidal-dynamics/Stdafx.hh b/include/hpp/centroidal-dynamics/Stdafx.hh
index 8e7b109b8e1346c59dd69a2a7bc3f3d14afbfb7d..f9716e9a69379befe68769f0dab345bc066890de 100644
--- a/include/hpp/centroidal-dynamics/Stdafx.hh
+++ b/include/hpp/centroidal-dynamics/Stdafx.hh
@@ -1,3 +1,6 @@
+#ifndef HPP_CENTROIDAL_DYNAMICS_STDAFX_HH
+#define HPP_CENTROIDAL_DYNAMICS_STDAFX_HH
+
 /*
 Copyright (c) 2010-2013 Tommaso Urli
 
@@ -30,3 +33,5 @@ WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 #include <map>
 #include <ctime>
 #include <sstream>
+
+#endif
diff --git a/include/hpp/centroidal-dynamics/centroidal_dynamics.hh b/include/hpp/centroidal-dynamics/centroidal_dynamics.hh
index c73add3ab17156120057f9c078c6dac3a860467d..6cbdb5f22ca929c71436433944160514376f6762 100644
--- a/include/hpp/centroidal-dynamics/centroidal_dynamics.hh
+++ b/include/hpp/centroidal-dynamics/centroidal_dynamics.hh
@@ -3,8 +3,8 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef CENTROIDAL_DYNAMICS_LIB_STATIC_EQUILIBRIUM_H
-#define CENTROIDAL_DYNAMICS_LIB_STATIC_EQUILIBRIUM_H
+#ifndef HPP_CENTROIDAL_DYNAMICS_CENTROIDAL_DYNAMICS_HH
+#define HPP_CENTROIDAL_DYNAMICS_CENTROIDAL_DYNAMICS_HH
 
 #include <Eigen/Dense>
 #include <hpp/centroidal-dynamics/local_config.hh>
diff --git a/include/hpp/centroidal-dynamics/local_config.hh b/include/hpp/centroidal-dynamics/local_config.hh
index 48033a06ea23cb51d57a4908df342dcabbafab25..8cb71923e8dd2d76bf8abfb67436717cde1f51f1 100644
--- a/include/hpp/centroidal-dynamics/local_config.hh
+++ b/include/hpp/centroidal-dynamics/local_config.hh
@@ -3,8 +3,8 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
-#define _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
+#ifndef HPP_CENTROIDAL_DYNAMICS_LOCAL_CONFIG_HH
+#define HPP_CENTROIDAL_DYNAMICS_LOCAL_CONFIG_HH
 
 // Package version (header).
 #define CENTROIDAL_DYNAMICS_VERSION "UNKNOWN"
@@ -54,4 +54,4 @@
 #define CENTROIDAL_DYNAMICS_LOCAL CENTROIDAL_DYNAMICS_DLLLOCAL
 #endif  // CENTROIDAL_DYNAMICS_STATIC
 
-#endif  //_CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
+#endif  // HPP_CENTROIDAL_DYNAMICS_LOCAL_CONFIG_HH
diff --git a/include/hpp/centroidal-dynamics/logger.hh b/include/hpp/centroidal-dynamics/logger.hh
index fc6d949a389ea631ae74a227bb31566755ea86ec..84c85b29485c99ea16ae90dce826b130b2c69438 100644
--- a/include/hpp/centroidal-dynamics/logger.hh
+++ b/include/hpp/centroidal-dynamics/logger.hh
@@ -3,8 +3,8 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef __centroidal_dynamics_lib_logger_H__
-#define __centroidal_dynamics_lib_logger_H__
+#ifndef HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
+#define HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
 
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
@@ -172,4 +172,4 @@ Logger& getLogger();
 
 }  // namespace centroidal_dynamics
 
-#endif  // #ifndef __sot_torque_control_trajectory_generators_H__
+#endif  // HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
diff --git a/include/hpp/centroidal-dynamics/solver_LP_abstract.hh b/include/hpp/centroidal-dynamics/solver_LP_abstract.hh
index a2c44cae86d3b32e9894a96503a2e8dc62fb9645..11b1f49303c3c7d0e02aff01ce25c5bd2f03fa7f 100644
--- a/include/hpp/centroidal-dynamics/solver_LP_abstract.hh
+++ b/include/hpp/centroidal-dynamics/solver_LP_abstract.hh
@@ -3,8 +3,8 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_ABSTRACT_HH
-#define CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_ABSTRACT_HH
+#ifndef HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
+#define HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
 
 #include <Eigen/Dense>
 #include <hpp/centroidal-dynamics/local_config.hh>
@@ -136,4 +136,4 @@ class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_abstract {
 
 }  // end namespace centroidal_dynamics
 
-#endif  // CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_ABSTRACT_HH
+#endif  // HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
diff --git a/include/hpp/centroidal-dynamics/solver_LP_qpoases.hh b/include/hpp/centroidal-dynamics/solver_LP_qpoases.hh
index 2342967704a561ed4e593d4199059873bc0aa3b9..67284f1e87888ce1c0a61286d58c565c5392f58f 100644
--- a/include/hpp/centroidal-dynamics/solver_LP_qpoases.hh
+++ b/include/hpp/centroidal-dynamics/solver_LP_qpoases.hh
@@ -3,8 +3,8 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef CENTROIDAL_DYNAMICS_LIB_SOLVER_QPOASES_HH
-#define CENTROIDAL_DYNAMICS_LIB_SOLVER_QPOASES_HH
+#ifndef HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_QPOASES_HH
+#define HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_QPOASES_HH
 
 #include <hpp/centroidal-dynamics/local_config.hh>
 #include <hpp/centroidal-dynamics/util.hh>
@@ -44,4 +44,4 @@ class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_qpoases : public Solver_LP_abstract {
 
 }  // end namespace centroidal_dynamics
 
-#endif  // CENTROIDAL_DYNAMICS_LIB_SOLVER_QPOASES_HH
+#endif  // HPP_CENTROIDAL_DYNAMICS_SOLVER_LP_QPOASES_HH
diff --git a/include/hpp/centroidal-dynamics/stop-watch.hh b/include/hpp/centroidal-dynamics/stop-watch.hh
index e38c7cf53e8c29231e0e69c42c218b26f84d64fa..354e430e908b2a7382ef43569a3760572c683578 100644
--- a/include/hpp/centroidal-dynamics/stop-watch.hh
+++ b/include/hpp/centroidal-dynamics/stop-watch.hh
@@ -24,8 +24,8 @@ WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
 */
 
-#ifndef WBR_STOPWATCH_H
-#define WBR_STOPWATCH_H
+#ifndef HPP_CENTROIDAL_DYNAMICS_STOP_WATCH_HH
+#define HPP_CENTROIDAL_DYNAMICS_STOP_WATCH_HH
 
 #include "hpp/centroidal-dynamics/Stdafx.hh"
 
diff --git a/include/hpp/centroidal-dynamics/util.hh b/include/hpp/centroidal-dynamics/util.hh
index b4d130b6537ac4ca7ac156631016e2f366b11e5f..93d44b404e0c1e98f67ca5d20b0cedd0367c8451 100644
--- a/include/hpp/centroidal-dynamics/util.hh
+++ b/include/hpp/centroidal-dynamics/util.hh
@@ -2,8 +2,8 @@
  * Copyright 2015, LAAS-CNRS
  * Author: Andrea Del Prete
  */
-#ifndef _CENTROIDAL_DYNAMICS_LIB_UTIL_HH
-#define _CENTROIDAL_DYNAMICS_LIB_UTIL_HH
+#ifndef HPP_CENTROIDAL_DYNAMICS_UTIL_HH
+#define HPP_CENTROIDAL_DYNAMICS_UTIL_HH
 
 #include <iostream>
 #include <fstream>
@@ -180,4 +180,4 @@ void nchoosek(const Eigen::MatrixBase<DerivedV>& V, const int k, Eigen::PlainObj
 }
 }  // namespace centroidal_dynamics
 
-#endif  //_CENTROIDAL_DYNAMICS_LIB_UTIL_HH
+#endif  // HPP_CENTROIDAL_DYNAMICS_UTIL_HH
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 2c7df026d09def223bebb7ef0bdc0d9ba5f6a217..01fef17d8c2eca5172b0cb307c285d6c01fbbf0b 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -13,7 +13,7 @@ SET(${LIBRARY_NAME}_SOURCES
 ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CDD_LIBRARIES} ${qpOASES_LIBRARY})
-TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} PUBLIC ${CDD_INCLUDE_DIRS})
+TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} SYSTEM PUBLIC ${CDD_INCLUDE_DIRS})
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} eigen3)
 
 IF(CLP_FOUND)
diff --git a/src/util.cpp b/src/util.cpp
index 08ebb0e14e2693d8e2c4e6d56c701061040287dc..aefeded66aac783fc358708e7a258c327990bbb9 100644
--- a/src/util.cpp
+++ b/src/util.cpp
@@ -3,9 +3,6 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
-#define _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
-
 #include <ctime>
 #include <hpp/centroidal-dynamics/util.hh>
 
@@ -189,5 +186,3 @@ value_type nchoosek(const int n, const int k) {
 }
 
 }  // namespace centroidal_dynamics
-
-#endif  //_CENTROIDAL_DYNAMICS_LIB_CONFIG_HH