diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0e31101e1..16793a431 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,8 @@ project(
   ${PROJECT_NAME}
   DESCRIPTION ${PROJECT_DESCRIPTION}
   LANGUAGES CXX
-  VERSION 0.0.0)
+  VERSION 0.0.0
+)
 
 if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
   # Generate CMake exports
@@ -20,113 +21,119 @@ if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
   # Add a dummy library with a useful INTERFACE_INCLUDE_DIRECTORIES
   add_library(${PROJECT_NAME} INTERFACE)
   set(INSTALL_DIR "${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}")
-  target_include_directories(${PROJECT_NAME}
-                             INTERFACE $<INSTALL_INTERFACE:${INSTALL_DIR}>)
+  target_include_directories(
+    ${PROJECT_NAME}
+    INTERFACE $<INSTALL_INTERFACE:${INSTALL_DIR}>
+  )
 
   # find . -maxdepth 1 -type d ! -path './.*' | sort
   install(
-    DIRECTORY ./boost
-              ./cython
-              ./doxygen
-              ./dynamic_graph
-              ./find-external
-              ./github
-              ./gtest
-              ./hpp
-              ./image
-              ./sphinx
-              ./stubgen
-              ./_unittests
-    DESTINATION ${INSTALL_DIR})
+    DIRECTORY
+      ./boost
+      ./cython
+      ./doxygen
+      ./dynamic_graph
+      ./find-external
+      ./github
+      ./gtest
+      ./hpp
+      ./image
+      ./sphinx
+      ./stubgen
+      ./_unittests
+    DESTINATION ${INSTALL_DIR}
+  )
 
   # find . -maxdepth 1 -type f ! -path './.*' | sort
   install(
-    FILES ./announce-gen
-          ./apple.cmake
-          ./base.cmake
-          ./boost.cmake
-          ./catkin.cmake
-          ./CMakeLists.txt
-          ./cmake_reinstall.cmake.in
-          ./cmake_uninstall.cmake.in
-          ./compiler.cmake
-          ./componentConfig.cmake.in
-          ./Config.cmake.in
-          ./config.h.cmake
-          ./config.hh.cmake
-          ./coverage.cmake
-          ./cpack.cmake
-          ./createshexe.cmake
-          ./cxx11.cmake
-          ./cxx-standard.cmake
-          ./debian.cmake
-          ./deprecated.hh.cmake
-          ./distcheck.cmake
-          ./dist.cmake
-          ./doxygen.cmake
-          ./eigen.cmake
-          ./filefilter.txt
-          ./fix-license.sh
-          ./geometric-tools.cmake
-          ./git-archive-all.py
-          ./git-archive-all.sh
-          ./gitlog-to-changelog
-          ./GNUInstallDirs.cmake
-          ./gtest.cmake
-          ./header.cmake
-          ./hpp.cmake
-          ./ide.cmake
-          ./idl.cmake
-          ./idlrtc.cmake
-          ./install-data.cmake
-          ./install-helpers.cmake
-          ./julia.cmake
-          ./kineo.cmake
-          ./lapack.cmake
-          ./LICENSE
-          ./logging.cmake
-          ./man.cmake
-          ./memorycheck_unit_test.cmake.in
-          ./metapodfromurdf.cmake
-          ./modernize-links.cmake
-          ./msvc-specific.cmake
-          ./msvc.vcxproj.user.in
-          ./openhrp.cmake
-          ./openhrpcontroller.cmake
-          ./openrtm.cmake
-          ./oscheck.cmake
-          ./package-config.cmake
-          ./package.xml
-          ./pixi.py
-          ./pkg-config.cmake
-          ./pkg-config.pc.cmake
-          ./portability.cmake
-          ./post-project.cmake
-          ./pthread.cmake
-          ./pyproject.py
-          ./python.cmake
-          ./python-helpers.cmake
-          ./qhull.cmake
-          ./README.md
-          ./release.cmake
-          ./relpath.cmake
-          ./ros.cmake
-          ./sdformat.cmake
-          ./setup.cfg
-          ./shared-library.cmake
-          ./sphinx.cmake
-          ./stubs.cmake
-          ./swig.cmake
-          ./test.cmake
-          ./tracy.cmake
-          ./tracy.hh.cmake
-          ./uninstall.cmake
-          ./version.cmake
-          ./version-script.cmake
-          ./version-script-test.lds
-          ./warning.hh.cmake
-          ./xacro.cmake
-    DESTINATION ${INSTALL_DIR})
+    FILES
+      ./announce-gen
+      ./apple.cmake
+      ./base.cmake
+      ./boost.cmake
+      ./catkin.cmake
+      ./CMakeLists.txt
+      ./cmake_reinstall.cmake.in
+      ./cmake_uninstall.cmake.in
+      ./compiler.cmake
+      ./componentConfig.cmake.in
+      ./Config.cmake.in
+      ./config.h.cmake
+      ./config.hh.cmake
+      ./coverage.cmake
+      ./cpack.cmake
+      ./createshexe.cmake
+      ./cxx11.cmake
+      ./cxx-standard.cmake
+      ./debian.cmake
+      ./deprecated.hh.cmake
+      ./distcheck.cmake
+      ./dist.cmake
+      ./doxygen.cmake
+      ./eigen.cmake
+      ./filefilter.txt
+      ./fix-license.sh
+      ./geometric-tools.cmake
+      ./git-archive-all.py
+      ./git-archive-all.sh
+      ./gitlog-to-changelog
+      ./GNUInstallDirs.cmake
+      ./gtest.cmake
+      ./header.cmake
+      ./hpp.cmake
+      ./ide.cmake
+      ./idl.cmake
+      ./idlrtc.cmake
+      ./install-data.cmake
+      ./install-helpers.cmake
+      ./julia.cmake
+      ./kineo.cmake
+      ./lapack.cmake
+      ./LICENSE
+      ./logging.cmake
+      ./man.cmake
+      ./memorycheck_unit_test.cmake.in
+      ./metapodfromurdf.cmake
+      ./modernize-links.cmake
+      ./msvc-specific.cmake
+      ./msvc.vcxproj.user.in
+      ./openhrp.cmake
+      ./openhrpcontroller.cmake
+      ./openrtm.cmake
+      ./oscheck.cmake
+      ./package-config.cmake
+      ./package.xml
+      ./pixi.py
+      ./pkg-config.cmake
+      ./pkg-config.pc.cmake
+      ./portability.cmake
+      ./post-project.cmake
+      ./pthread.cmake
+      ./pyproject.py
+      ./python.cmake
+      ./python-helpers.cmake
+      ./qhull.cmake
+      ./README.md
+      ./release.cmake
+      ./relpath.cmake
+      ./ros.cmake
+      ./sdformat.cmake
+      ./setup.cfg
+      ./shared-library.cmake
+      ./sphinx.cmake
+      ./stubs.cmake
+      ./swig.cmake
+      ./test.cmake
+      ./tracy.cmake
+      ./tracy.hh.cmake
+      ./uninstall.cmake
+      ./version.cmake
+      ./version-script.cmake
+      ./version-script-test.lds
+      ./warning.hh.cmake
+      ./xacro.cmake
+    DESTINATION ${INSTALL_DIR}
+  )
 
   install(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME})
 endif()
diff --git a/header.cmake b/header.cmake
index 7a2b90fd7..56ad62a21 100644
--- a/header.cmake
+++ b/header.cmake
@@ -93,7 +93,8 @@ macro(_SETUP_PROJECT_HEADER)
     # Generate config.hh header.
     generate_configuration_header(
       ${HEADER_DIR} config.${PROJECT_CUSTOM_HEADER_EXTENSION}
-      ${PACKAGE_CPPNAME} ${PACKAGE_CPPNAME_LOWER}_EXPORTS)
+      ${PACKAGE_CPPNAME} ${PACKAGE_CPPNAME_LOWER}_EXPORTS
+    )
   endif()
 
   if(NOT PROJECT_GENERATED_HEADERS_SKIP_DEPRECATED)
@@ -101,14 +102,16 @@ macro(_SETUP_PROJECT_HEADER)
     configure_file(
       ${PROJECT_JRL_CMAKE_MODULE_DIR}/deprecated.hh.cmake
       ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/deprecated.${PROJECT_CUSTOM_HEADER_EXTENSION}
-      @ONLY)
+      @ONLY
+    )
 
     if(INSTALL_GENERATED_HEADERS)
       install(
         FILES
           ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/deprecated.${PROJECT_CUSTOM_HEADER_EXTENSION}
         DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
-        PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+        PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+      )
     endif(INSTALL_GENERATED_HEADERS)
   endif()
 
@@ -117,30 +120,36 @@ macro(_SETUP_PROJECT_HEADER)
     configure_file(
       ${PROJECT_JRL_CMAKE_MODULE_DIR}/warning.hh.cmake
       ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/warning.${PROJECT_CUSTOM_HEADER_EXTENSION}
-      @ONLY)
+      @ONLY
+    )
 
     if(INSTALL_GENERATED_HEADERS)
       install(
         FILES
           ${CMAKE_CURRENT_BINARY_DIR}/include/${HEADER_DIR}/warning.${PROJECT_CUSTOM_HEADER_EXTENSION}
         DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${HEADER_DIR}
-        PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+        PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+      )
     endif(INSTALL_GENERATED_HEADERS)
   endif()
 
   # Generate config.h header. This header, unlike the previous one is *not*
   # installed and is generated in the top-level directory of the build tree.
   # Therefore it must not be included by any distributed header.
-  configure_file(${PROJECT_JRL_CMAKE_MODULE_DIR}/config.h.cmake
-                 ${CMAKE_CURRENT_BINARY_DIR}/config.h)
+  configure_file(
+    ${PROJECT_JRL_CMAKE_MODULE_DIR}/config.h.cmake
+    ${CMAKE_CURRENT_BINARY_DIR}/config.h
+  )
 
   # Default include directories: - top-level build directory (for generated
   # non-distributed headers). - include directory in the build tree (for
   # generated, distributed headers). - include directory in the source tree
   # (non-generated, distributed headers).
   include_directories(
-    ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}/include
-    ${PROJECT_SOURCE_DIR}/include)
+    ${CMAKE_CURRENT_BINARY_DIR}
+    ${CMAKE_CURRENT_BINARY_DIR}/include
+    ${PROJECT_SOURCE_DIR}/include
+  )
 endmacro(_SETUP_PROJECT_HEADER)
 
 # GENERATE_CONFIGURATION_HEADER
@@ -153,8 +162,13 @@ endmacro(_SETUP_PROJECT_HEADER)
 # * FILENAME      : how the file should be named
 # * LIBRARY_NAME  : CPP symbol prefix, should match the compiled library name
 # * EXPORT_SYMBOL : controls the switch between symbol import/export
-function(GENERATE_CONFIGURATION_HEADER HEADER_DIR FILENAME LIBRARY_NAME
-         EXPORT_SYMBOL)
+function(
+  GENERATE_CONFIGURATION_HEADER
+  HEADER_DIR
+  FILENAME
+  LIBRARY_NAME
+  EXPORT_SYMBOL
+)
   generate_configuration_header_v2(
     INCLUDE_DIR
     ${CMAKE_CURRENT_BINARY_DIR}/include
@@ -165,7 +179,8 @@ function(GENERATE_CONFIGURATION_HEADER HEADER_DIR FILENAME LIBRARY_NAME
     LIBRARY_NAME
     ${LIBRARY_NAME}
     EXPORT_SYMBOL
-    ${EXPORT_SYMBOL})
+    ${EXPORT_SYMBOL}
+  )
 endfunction(GENERATE_CONFIGURATION_HEADER)
 
 # ~~~
@@ -196,10 +211,22 @@ endfunction(GENERATE_CONFIGURATION_HEADER)
 # :param EXPORT_SYMBOL: Controls the switch between symbol import/export.
 function(GENERATE_CONFIGURATION_HEADER_V2)
   set(options)
-  set(oneValueArgs INCLUDE_DIR HEADER_DIR FILENAME LIBRARY_NAME EXPORT_SYMBOL)
+  set(
+    oneValueArgs
+    INCLUDE_DIR
+    HEADER_DIR
+    FILENAME
+    LIBRARY_NAME
+    EXPORT_SYMBOL
+  )
   set(multiValueArgs)
-  cmake_parse_arguments(ARGS "${options}" "${oneValueArgs}" "${multiValueArgs}"
-                        ${ARGN})
+  cmake_parse_arguments(
+    ARGS
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
 
   if(${PROJECT_VERSION_MAJOR} MATCHES UNKNOWN)
     set(PROJECT_VERSION_MAJOR_CONFIG ${ARGS_LIBRARY_NAME}_VERSION_UNKNOWN_TAG)
@@ -224,15 +251,19 @@ function(GENERATE_CONFIGURATION_HEADER_V2)
   set(LIBRARY_NAME ${ARGS_LIBRARY_NAME})
 
   # Generate the header.
-  configure_file(${PROJECT_JRL_CMAKE_MODULE_DIR}/config.hh.cmake
-                 ${ARGS_INCLUDE_DIR}/${ARGS_HEADER_DIR}/${ARGS_FILENAME} @ONLY)
+  configure_file(
+    ${PROJECT_JRL_CMAKE_MODULE_DIR}/config.hh.cmake
+    ${ARGS_INCLUDE_DIR}/${ARGS_HEADER_DIR}/${ARGS_FILENAME}
+    @ONLY
+  )
 
   # Install it if requested.
   if(INSTALL_GENERATED_HEADERS)
     install(
       FILES ${ARGS_INCLUDE_DIR}/${ARGS_HEADER_DIR}/${ARGS_FILENAME}
       DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${ARGS_HEADER_DIR}
-      PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+      PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+    )
   endif()
 endfunction(GENERATE_CONFIGURATION_HEADER_V2)
 
@@ -264,8 +295,13 @@ macro(HEADER_INSTALL)
   set(options)
   set(oneValueArgs COMPONENT)
   set(multiValueArgs)
-  cmake_parse_arguments(ARGS "${options}" "${oneValueArgs}" "${multiValueArgs}"
-                        ${ARGN})
+  cmake_parse_arguments(
+    ARGS
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
 
   if(ARGS_COMPONENT)
     set(_COMPONENT_NAME ${ARGS_COMPONENT})
@@ -284,6 +320,7 @@ macro(HEADER_INSTALL)
       FILES ${FILE}
       DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/${DIR}"
       PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
-      COMPONENT ${_COMPONENT_NAME})
+      COMPONENT ${_COMPONENT_NAME}
+    )
   endforeach()
 endmacro()
diff --git a/install-helpers.cmake b/install-helpers.cmake
index 840224ffc..ced94ca8c 100644
--- a/install-helpers.cmake
+++ b/install-helpers.cmake
@@ -30,12 +30,20 @@ function(ADD_INSTALL_TARGET)
   set(options)
   set(oneValueArgs NAME COMPONENT)
   set(multiValueArgs)
-  cmake_parse_arguments(ARGS "${options}" "${oneValueArgs}" "${multiValueArgs}"
-                        ${ARGN})
+  cmake_parse_arguments(
+    ARGS
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
   set(target_name install-${ARGS_NAME})
   set(component ${ARGS_COMPONENT})
 
   add_custom_target(
-    ${target_name} COMMAND ${CMAKE_COMMAND} -DCOMPONENT=${component} -P
-                           ${PROJECT_BINARY_DIR}/cmake_install.cmake)
+    ${target_name}
+    COMMAND
+      ${CMAKE_COMMAND} -DCOMPONENT=${component} -P
+      ${PROJECT_BINARY_DIR}/cmake_install.cmake
+  )
 endfunction()
diff --git a/python-helpers.cmake b/python-helpers.cmake
index e1e284609..13b5a6a9f 100644
--- a/python-helpers.cmake
+++ b/python-helpers.cmake
@@ -32,8 +32,13 @@ macro(PYTHON_INSTALL MODULE FILE DEST)
   set(options)
   set(oneValueArgs COMPONENT)
   set(multiValueArgs)
-  cmake_parse_arguments(ARGS "${options}" "${oneValueArgs}" "${multiValueArgs}"
-                        ${ARGN})
+  cmake_parse_arguments(
+    ARGS
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
 
   if(ARGS_COMPONENT)
     set(_COMPONENT_NAME ${ARGS_COMPONENT})
@@ -46,7 +51,8 @@ macro(PYTHON_INSTALL MODULE FILE DEST)
   install(
     FILES "${CMAKE_CURRENT_SOURCE_DIR}/${MODULE}/${FILE}"
     DESTINATION "${DEST}/${MODULE}"
-    COMPONENT ${_COMPONENT_NAME})
+    COMPONENT ${_COMPONENT_NAME}
+  )
 endmacro()
 
 # .rst:
@@ -66,8 +72,13 @@ macro(PYTHON_INSTALL_ON_SITE MODULE FILE)
   set(options)
   set(oneValueArgs COMPONENT)
   set(multiValueArgs)
-  cmake_parse_arguments(ARGS "${options}" "${oneValueArgs}" "${multiValueArgs}"
-                        ${ARGN})
+  cmake_parse_arguments(
+    ARGS
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
 
   if(ARGS_COMPONENT)
     set(_COMPONENT_NAME ${ARGS_COMPONENT})
@@ -76,7 +87,8 @@ macro(PYTHON_INSTALL_ON_SITE MODULE FILE)
   endif()
 
   python_install("${MODULE}" "${FILE}" ${PYTHON_SITELIB} COMPONENT
-                 ${_COMPONENT_NAME})
+                 ${_COMPONENT_NAME}
+  )
 endmacro()
 
 # PYTHON_BUILD_GET_TARGET(TARGET)
@@ -86,17 +98,19 @@ endmacro()
 #
 function(PYTHON_BUILD_GET_TARGET python_build_target)
   # Regex from IsValidTargetName in CMake/Source/cmGeneratorExpression.cxx
-  string(REGEX
-         REPLACE "[^A-Za-z0-9_.+-]" "_" compile_pyc
-                 "${PROJECT_NAME}_compile_pyc_${CMAKE_CURRENT_SOURCE_DIR}")
+  string(
+    REGEX REPLACE
+    "[^A-Za-z0-9_.+-]"
+    "_"
+    compile_pyc
+    "${PROJECT_NAME}_compile_pyc_${CMAKE_CURRENT_SOURCE_DIR}"
+  )
 
   if(NOT TARGET ${compile_pyc})
     add_custom_target(${compile_pyc} ALL)
   endif()
 
-  set(${python_build_target}
-      ${compile_pyc}
-      PARENT_SCOPE)
+  set(${python_build_target} ${compile_pyc} PARENT_SCOPE)
 endfunction(PYTHON_BUILD_GET_TARGET NAME)
 
 # PYTHON_BUILD(MODULE FILE DEST)
@@ -123,7 +137,8 @@ macro(PYTHON_BUILD MODULE FILE)
   add_custom_command(
     TARGET ${python_build_target}
     PRE_BUILD
-    COMMAND ${CMAKE_COMMAND} -E make_directory "${OUTPUT_FILE_DIR}")
+    COMMAND ${CMAKE_COMMAND} -E make_directory "${OUTPUT_FILE_DIR}"
+  )
 
   python_build_file(${INPUT_FILE} ${OUTPUT_FILE})
 endmacro()
@@ -150,7 +165,8 @@ macro(PYTHON_BUILD_FILE FILE)
     COMMAND
       "${PYTHON_EXECUTABLE}" -c
       "import py_compile; py_compile.compile(\"${FILE}\",\"${OUTPUT_FILE}\")"
-    VERBATIM)
+    VERBATIM
+  )
 
   # Tag pyc file as generated.
   set_source_files_properties("${OUTPUT_FILE}" PROPERTIES GENERATED TRUE)
@@ -159,5 +175,6 @@ macro(PYTHON_BUILD_FILE FILE)
   set_property(
     DIRECTORY
     APPEND
-    PROPERTY ADDITIONAL_MAKE_CLEAN_FILES "${OUTPUT_FILE}")
+    PROPERTY ADDITIONAL_MAKE_CLEAN_FILES "${OUTPUT_FILE}"
+  )
 endmacro()