diff --git a/src/libraries/ctrlLib/CMakeLists.txt b/src/libraries/ctrlLib/CMakeLists.txt
index 27b6c6f17f..4ee04938d5 100644
--- a/src/libraries/ctrlLib/CMakeLists.txt
+++ b/src/libraries/ctrlLib/CMakeLists.txt
@@ -35,12 +35,11 @@ include_directories(${PROJECT_SOURCE_DIR}/include
                     ${GSL_INCLUDE_DIRS}
                     ${YARP_INCLUDE_DIRS})
 
-add_library(${PROJECT_NAME} ${folder_source} ${folder_header})
-
 if(MSVC)
-  target_compile_definitions(${PROJECT_NAME} PUBLIC _USE_MATH_DEFINES)
+  add_definitions(-D_USE_MATH_DEFINES)
 endif()
 
+add_library(${PROJECT_NAME} ${folder_source} ${folder_header})
 target_link_libraries(${PROJECT_NAME} ${GSL_LIBRARIES} ${YARP_LIBRARIES})
 
 icub_export_library(${PROJECT_NAME} INTERNAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include
diff --git a/src/libraries/ctrlLib/include/iCub/ctrl/math.h b/src/libraries/ctrlLib/include/iCub/ctrl/math.h
index 894204afb1..0c5476b084 100644
--- a/src/libraries/ctrlLib/include/iCub/ctrl/math.h
+++ b/src/libraries/ctrlLib/include/iCub/ctrl/math.h
@@ -45,15 +45,10 @@
 #ifndef __CTRLMATH_H__
 #define __CTRLMATH_H__
 
-#include <cmath>
-
 #include <yarp/sig/Vector.h>
 #include <yarp/sig/Matrix.h>
 #include <yarp/math/Math.h>
 
-#define CTRL_RAD2DEG    (180.0/M_PI)
-#define CTRL_DEG2RAD    (M_PI/180.0)
-
 
 namespace iCub
 {
@@ -61,6 +56,21 @@ namespace iCub
 namespace ctrl
 {
 
+/**
+ * The PI constant.
+ */
+extern const double CTRL_PI;
+
+/**
+ * 180/PI.
+ */
+extern const double CTRL_RAD2DEG;
+
+/**
+ * PI/180.
+ */
+extern const double CTRL_DEG2RAD;
+
 /**
 * \ingroup Maths
 *
diff --git a/src/libraries/ctrlLib/src/math.cpp b/src/libraries/ctrlLib/src/math.cpp
index 687f328396..b2763f7edd 100644
--- a/src/libraries/ctrlLib/src/math.cpp
+++ b/src/libraries/ctrlLib/src/math.cpp
@@ -29,6 +29,16 @@ using namespace yarp::sig;
 using namespace yarp::math;
 
 
+/************************************************************************/
+namespace iCub {
+    namespace ctrl {
+        const double CTRL_PI=M_PI;
+        const double CTRL_RAD2DEG=180.0/M_PI;
+        const double CTRL_DEG2RAD=M_PI/180.0;
+    }
+}
+
+
 /************************************************************************/
 double iCub::ctrl::dot(const Matrix &A, int colA, const Matrix &B, int colB)
 {
diff --git a/src/libraries/iDyn/CMakeLists.txt b/src/libraries/iDyn/CMakeLists.txt
index 5e8202cc9e..08f4ad01ee 100644
--- a/src/libraries/iDyn/CMakeLists.txt
+++ b/src/libraries/iDyn/CMakeLists.txt
@@ -2,41 +2,42 @@
 # Authors: Matteo Fumagalli, Serena Ivaldi
 # CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
-SET(PROJECTNAME iDyn)
+project(iDyn)
 
-PROJECT(${PROJECTNAME})
-
-SET(folder_source src/iDyn.cpp
+set(folder_source src/iDyn.cpp
                   src/iDynInv.cpp
                   src/iDynBody.cpp
                   src/iDynTransform.cpp
                   src/iDynContact.cpp)
 
-SET(folder_header include/iCub/iDyn/iDyn.h
+set(folder_header include/iCub/iDyn/iDyn.h
                   include/iCub/iDyn/iDynInv.h
                   include/iCub/iDyn/iDynBody.h
                   include/iCub/iDyn/iDynTransform.h
                   include/iCub/iDyn/iDynContact.h)
 
-SOURCE_GROUP("Source Files" FILES ${folder_source})
-SOURCE_GROUP("Header Files" FILES ${folder_header})
+source_group("Source Files" FILES ${folder_source})
+source_group("Header Files" FILES ${folder_header})
 
-INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/include
+include_directories(${PROJECT_SOURCE_DIR}/include
                     ${iKin_INCLUDE_DIRS}
                     ${skinDynLib_INCLUDE_DIRS}
                     ${GSL_INCLUDE_DIRS}
                     ${YARP_INCLUDE_DIRS})
 
-ADD_LIBRARY(${PROJECTNAME} ${folder_source} ${folder_header})
+if(MSVC)
+  add_definitions(-D_USE_MATH_DEFINES)
+endif()
 
-TARGET_LINK_LIBRARIES(${PROJECTNAME} iKin
-                                     skinDynLib
-                                     ${GSL_LIBRARIES}
-                                     ${YARP_LIBRARIES})
+add_library(${PROJECT_NAME} ${folder_source} ${folder_header})
+target_link_libraries(${PROJECT_NAME} iKin
+                                      skinDynLib
+                                      ${GSL_LIBRARIES}
+                                      ${YARP_LIBRARIES})
 
-icub_export_library(${PROJECTNAME} INTERNAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include
-                                   DEPENDS iKin skinDynLib
-                                   DESTINATION include/iCub/iDyn
-                                   FILES ${folder_header})
+icub_export_library(${PROJECT_NAME} INTERNAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include
+                                    DEPENDS iKin skinDynLib
+                                    DESTINATION include/iCub/iDyn
+                                    FILES ${folder_header})
 
 
diff --git a/src/libraries/iDyn/include/iCub/iDyn/iDyn.h b/src/libraries/iDyn/include/iCub/iDyn/iDyn.h
index acdfcdc814..08a4fa0f85 100644
--- a/src/libraries/iDyn/include/iCub/iDyn/iDyn.h
+++ b/src/libraries/iDyn/include/iCub/iDyn/iDyn.h
@@ -456,7 +456,7 @@ class iDynLink : public iKin::iKinLink
     * @param _Min is the joint angle lower bound in [-pi,pi] (-pi by default)
     * @param _Max is the joint angle higher bound in [-pi,pi] (pi by default)
     */
-    iDynLink(double _A, double _D, double _Alpha, double _Offset, double _Min=-M_PI, double _Max=M_PI);
+    iDynLink(double _A, double _D, double _Alpha, double _Offset, double _Min=-iCub::ctrl::CTRL_PI, double _Max=iCub::ctrl::CTRL_PI);
      
     /**
      * Constructor, with initialization of kinematic and dynamic data
@@ -470,7 +470,7 @@ class iDynLink : public iKin::iKinLink
     * @param _Min is the joint angle lower bound in [-pi,pi] (-pi by default)
     * @param _Max is the joint angle higher bound in [-pi,pi] (pi by default)
      */
-    iDynLink(const double _m, const yarp::sig::Matrix &_HC, const yarp::sig::Matrix &_I, double _A, double _D, double _Alpha, double _Offset, double _Min=-M_PI, double _Max=M_PI);
+    iDynLink(const double _m, const yarp::sig::Matrix &_HC, const yarp::sig::Matrix &_I, double _A, double _D, double _Alpha, double _Offset, double _Min=-iCub::ctrl::CTRL_PI, double _Max=iCub::ctrl::CTRL_PI);
 
     /**
     * Constructor, with initialization of kinematic and dynamic data
@@ -484,7 +484,7 @@ class iDynLink : public iKin::iKinLink
     * @param _Min is the joint angle lower bound in [-pi,pi] (-pi by default)
     * @param _Max is the joint angle higher bound in [-pi,pi] (pi by default)
      */
-    iDynLink(const double _m, const yarp::sig::Vector &_C, const yarp::sig::Matrix &_I, double _A, double _D, double _Alpha, double _Offset, double _Min=-M_PI, double _Max=M_PI);
+    iDynLink(const double _m, const yarp::sig::Vector &_C, const yarp::sig::Matrix &_I, double _A, double _D, double _Alpha, double _Offset, double _Min=-iCub::ctrl::CTRL_PI, double _Max=iCub::ctrl::CTRL_PI);
 
     /**
     * Constructor, with initialization of kinematic and dynamic data
@@ -505,7 +505,7 @@ class iDynLink : public iKin::iKinLink
     * @param _Min is the joint angle lower bound in [-pi,pi] (-pi by default)
     * @param _Max is the joint angle higher bound in [-pi,pi] (pi by default)
      */
-    iDynLink(const double _m, const double _rCx, const double _rCy, const double _rCz, const double Ixx, const double Ixy, const double Ixz, const double Iyy, const double Iyz, const double Izz, double _A, double _D, double _Alpha, double _Offset, double _Min=-M_PI, double _Max=M_PI);
+    iDynLink(const double _m, const double _rCx, const double _rCy, const double _rCz, const double Ixx, const double Ixy, const double Ixz, const double Iyy, const double Iyz, const double Izz, double _A, double _D, double _Alpha, double _Offset, double _Min=-iCub::ctrl::CTRL_PI, double _Max=iCub::ctrl::CTRL_PI);
 
     /**
      * Copy constructor
diff --git a/src/libraries/iDyn/src/iDyn.cpp b/src/libraries/iDyn/src/iDyn.cpp
index f2963c8be9..7c581225ab 100644
--- a/src/libraries/iDyn/src/iDyn.cpp
+++ b/src/libraries/iDyn/src/iDyn.cpp
@@ -16,13 +16,16 @@
 * Public License for more details
 */
 
-#include <iCub/iDyn/iDyn.h>
-#include <iCub/ctrl/math.h>
-#include <stdio.h>
+#include <cmath>
+#include <cstdio>
 #include <iostream>
-#include <yarp/os/Log.h>
 #include <iomanip>
 
+#include <yarp/os/Log.h>
+#include <iCub/iDyn/iDyn.h>
+#include <iCub/ctrl/math.h>
+
+
 using namespace std;
 using namespace yarp::os;
 using namespace yarp::dev;
diff --git a/src/libraries/iKin/CMakeLists.txt b/src/libraries/iKin/CMakeLists.txt
index f5344e0845..c07e26dc21 100644
--- a/src/libraries/iKin/CMakeLists.txt
+++ b/src/libraries/iKin/CMakeLists.txt
@@ -35,6 +35,10 @@ if(ICUB_USE_IPOPT)
    add_definitions(${IPOPT_DEFINITIONS})
 endif()
 
+if(MSVC)
+  add_definitions(-D_USE_MATH_DEFINES)
+endif()
+
 add_library(${PROJECT_NAME} ${folder_source} ${folder_header})
 target_link_libraries(${PROJECT_NAME} ctrlLib ${YARP_LIBRARIES})
 
diff --git a/src/libraries/iKin/include/iCub/iKin/iKinFwd.h b/src/libraries/iKin/include/iCub/iKin/iKinFwd.h
index 44b9092215..8e6eafada1 100644
--- a/src/libraries/iKin/include/iCub/iKin/iKinFwd.h
+++ b/src/libraries/iKin/include/iCub/iKin/iKinFwd.h
@@ -140,7 +140,7 @@ class iKinLink
     *             default).
     */
     iKinLink(double _A, double _D, double _Alpha, double _Offset,
-             double _Min=-M_PI, double _Max=M_PI);
+             double _Min=-iCub::ctrl::CTRL_PI, double _Max=iCub::ctrl::CTRL_PI);
 
     /**
     * Creates a new Link from an already existing Link object.
diff --git a/src/libraries/optimization/CMakeLists.txt b/src/libraries/optimization/CMakeLists.txt
index 898094298d..ce9efa4379 100644
--- a/src/libraries/optimization/CMakeLists.txt
+++ b/src/libraries/optimization/CMakeLists.txt
@@ -24,6 +24,10 @@ include_directories(${PROJECT_SOURCE_DIR}/include
                     ${YARP_INCLUDE_DIRS})
 
 add_definitions(${IPOPT_DEFINITIONS})
+if(MSVC)
+  add_definitions(-D_USE_MATH_DEFINES)
+endif()
+
 add_library(${PROJECTNAME} ${folder_source} ${folder_header})
 
 set_property(TARGET ${PROJECTNAME} APPEND_STRING PROPERTY LINK_FLAGS " ${IPOPT_LINK_FLAGS}")
diff --git a/src/libraries/optimization/src/calibReference.cpp b/src/libraries/optimization/src/calibReference.cpp
index c7a9a3e28b..d95a153a74 100644
--- a/src/libraries/optimization/src/calibReference.cpp
+++ b/src/libraries/optimization/src/calibReference.cpp
@@ -15,6 +15,7 @@
  * Public License for more details
 */
 
+#include <cmath>
 #include <algorithm>
 
 #include <yarp/math/Math.h>
diff --git a/src/modules/iKinGazeCtrl/CMakeLists.txt b/src/modules/iKinGazeCtrl/CMakeLists.txt
index 1a46e2483d..526458765d 100644
--- a/src/modules/iKinGazeCtrl/CMakeLists.txt
+++ b/src/modules/iKinGazeCtrl/CMakeLists.txt
@@ -28,6 +28,10 @@ include_directories(${PROJECT_SOURCE_DIR}/include
                     ${IPOPT_INCLUDE_DIRS}
                     ${YARP_INCLUDE_DIRS})
 
+if(MSVC)
+  add_definitions(-D_USE_MATH_DEFINES)
+endif()
+
 add_executable(${PROJECTNAME} ${folder_header} ${folder_source})
 target_link_libraries(${PROJECTNAME} ctrlLib iKin ${YARP_LIBRARIES})
 install(TARGETS ${PROJECTNAME} DESTINATION bin)
diff --git a/src/modules/wholeBodyDynamics/CMakeLists.txt b/src/modules/wholeBodyDynamics/CMakeLists.txt
index 51ff639e8d..e8255bec85 100644
--- a/src/modules/wholeBodyDynamics/CMakeLists.txt
+++ b/src/modules/wholeBodyDynamics/CMakeLists.txt
@@ -3,25 +3,25 @@
 # Author: Matteo Fumagalli, Marco Randazzo
 # CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
- 
-SET(PROJECTNAME wholeBodyDynamics)
+project(wholeBodyDynamics)
 
-PROJECT(${PROJECTNAME})
+file(GLOB folder_source main.cpp observerThread.cpp)
+file(GLOB folder_header observerThread.h)
 
-FILE(GLOB folder_source main.cpp observerThread.cpp)
-FILE(GLOB folder_header observerThread.h)
+source_group("Source Files" FILES ${folder_source})
+source_group("Header Files" FILES ${folder_header})
 
-SOURCE_GROUP("Source Files" FILES ${folder_source})
-SOURCE_GROUP("Header Files" FILES ${folder_header})
-
-INCLUDE_DIRECTORIES(${iDyn_INCLUDE_DIRS}
+include_directories(${iDyn_INCLUDE_DIRS}
                     ${YARP_INCLUDE_DIRS}
                     ${skinDynLib_INCLUDE_DIRS})
 
-ADD_EXECUTABLE(${PROJECTNAME} ${folder_source} ${folder_header})
+if(MSVC)
+  add_definitions(-D_USE_MATH_DEFINES)
+endif()
 
-TARGET_LINK_LIBRARIES(${PROJECTNAME} iDyn
-                                     ${YARP_LIBRARIES}
-                                     skinDynLib)
+add_executable(${PROJECT_NAME} ${folder_source} ${folder_header})
+target_link_libraries(${PROJECT_NAME} iDyn
+                                      ${YARP_LIBRARIES}
+                                      skinDynLib)
+install(TARGETS ${PROJECT_NAME} DESTINATION bin)
 
-INSTALL(TARGETS ${PROJECTNAME} DESTINATION bin)
diff --git a/src/modules/wholeBodyDynamics/observerThread.cpp b/src/modules/wholeBodyDynamics/observerThread.cpp
index e541b5aa95..8821991811 100644
--- a/src/modules/wholeBodyDynamics/observerThread.cpp
+++ b/src/modules/wholeBodyDynamics/observerThread.cpp
@@ -16,6 +16,11 @@
  * Public License for more details
 */
 
+#include <cmath>
+#include <iostream>
+#include <iomanip>
+#include <string>
+
 #include <yarp/os/all.h>
 #include <yarp/sig/all.h>
 #include <yarp/dev/all.h>
@@ -25,9 +30,6 @@
 #include <iCub/iDyn/iDynBody.h>
 #include <iCub/skinDynLib/skinContact.h>
 
-#include <iostream>
-#include <iomanip>
-#include <string.h>
 #include "observerThread.h"
 
 using namespace yarp::os;
diff --git a/src/tools/depth2kin/CMakeLists.txt b/src/tools/depth2kin/CMakeLists.txt
index 5e39cd8fdc..422ac88911 100644
--- a/src/tools/depth2kin/CMakeLists.txt
+++ b/src/tools/depth2kin/CMakeLists.txt
@@ -35,6 +35,10 @@ include_directories(${PROJECT_SOURCE_DIR}/include
                     ${learningMachine_INCLUDE_DIRS})
                     
 add_definitions(${IPOPT_DEFINITIONS})
+if(MSVC)
+  add_definitions(-D_USE_MATH_DEFINES)
+endif()
+
 add_executable(${PROJECTNAME} ${header_files} ${source_files} ${idl_files} ${doc_files})
 set_property(TARGET ${PROJECTNAME} APPEND_STRING PROPERTY LINK_FLAGS " ${IPOPT_LINK_FLAGS}")
 target_link_libraries(${PROJECTNAME} ${YARP_LIBRARIES}
diff --git a/src/tools/depth2kin/src/nlp.cpp b/src/tools/depth2kin/src/nlp.cpp
index c4befc6a03..dd228e2c1b 100644
--- a/src/tools/depth2kin/src/nlp.cpp
+++ b/src/tools/depth2kin/src/nlp.cpp
@@ -15,6 +15,7 @@
  * Public License for more details
 */
 
+#include <cmath>
 #include <algorithm>
 #include <string>
 #include <deque>
diff --git a/src/tools/stereoCalib/src/stereoCalibThread.cpp b/src/tools/stereoCalib/src/stereoCalibThread.cpp
index 8aef4416ee..cce6eb3115 100644
--- a/src/tools/stereoCalib/src/stereoCalibThread.cpp
+++ b/src/tools/stereoCalib/src/stereoCalibThread.cpp
@@ -101,7 +101,7 @@ bool stereoCalibThread::threadInit()
     for(size_t i=0; i<head_angles.length()-2; i++)
         qL[i+torso_angles.length()]=head_angles[i];
     qL[7]=head_angles[4]+(0.5-(LEFT))*head_angles[5];
-    qL=CTRL_DEG2RAD*qL;
+    qL=iCub::ctrl::CTRL_DEG2RAD*qL;
 
     qR.resize(torso_angles.length()+head_angles.length()-1);
     for(size_t i=0; i<torso_angles.length(); i++)
@@ -110,7 +110,7 @@ bool stereoCalibThread::threadInit()
     for(size_t i=0; i<head_angles.length()-2; i++)
         qR[i+torso_angles.length()]=head_angles[i];
     qR[7]=head_angles[4]+(0.5-(RIGHT))*head_angles[5];
-    qR=CTRL_DEG2RAD*qR;
+    qR=iCub::ctrl::CTRL_DEG2RAD*qR;
 
    return true;
 }