diff --git a/include/hpp/fcl/math/tools.h b/include/hpp/fcl/math/tools.h
index 77cbfe622b37cf87605304579ef0fe8d20be0fbc..08e0628d553c2c346dd21ef6d12563c1c7da8c07 100644
--- a/include/hpp/fcl/math/tools.h
+++ b/include/hpp/fcl/math/tools.h
@@ -123,9 +123,6 @@ void generateCoordinateSystem(
 }
 
 /* ----- Start Matrices ------ */
-template<typename Derived, typename OtherDerived>
-void hat(const Eigen::MatrixBase<Derived>& mat, const Eigen::MatrixBase<OtherDerived>& vec) HPP_FCL_DEPRECATED;
-
 template<typename Derived, typename OtherDerived>
 void hat(const Eigen::MatrixBase<Derived>& mat, const Eigen::MatrixBase<OtherDerived>& vec)
 {
diff --git a/include/hpp/fcl/narrowphase/narrowphase.h b/include/hpp/fcl/narrowphase/narrowphase.h
index 2929408d2853279c9d38eff1f4839423c23757d4..ed160f7d3eed1eb394987889ada3f8ad478d4a0f 100644
--- a/include/hpp/fcl/narrowphase/narrowphase.h
+++ b/include/hpp/fcl/narrowphase/narrowphase.h
@@ -456,7 +456,7 @@ struct GJKSolver_indep
     shape.toshape1 = tf2.getRotation().transpose() * tf1.getRotation();
     shape.toshape0 = tf1.inverseTimes(tf2);
   
-    details::GJK gjk(gjk_max_iterations, gjk_tolerance);
+    details::GJK gjk((unsigned int )gjk_max_iterations, gjk_tolerance);
     details::GJK::Status gjk_status = gjk.evaluate(shape, -guess);
     if(enable_cached_guess) cached_guess = gjk.getGuessFromSimplex();
     
@@ -505,7 +505,7 @@ struct GJKSolver_indep
     shape.toshape1 = tf.getRotation();
     shape.toshape0 = inverse(tf);
   
-    details::GJK gjk(gjk_max_iterations, gjk_tolerance);
+    details::GJK gjk((unsigned int )gjk_max_iterations, gjk_tolerance);
     details::GJK::Status gjk_status = gjk.evaluate(shape, -guess);
     if(enable_cached_guess) cached_guess = gjk.getGuessFromSimplex();
 
@@ -554,7 +554,7 @@ struct GJKSolver_indep
     shape.toshape1 = tf2.getRotation().transpose() * tf1.getRotation();
     shape.toshape0 = tf1.inverseTimes(tf2);
   
-    details::GJK gjk(gjk_max_iterations, gjk_tolerance);
+    details::GJK gjk((unsigned int )gjk_max_iterations, gjk_tolerance);
     details::GJK::Status gjk_status = gjk.evaluate(shape, -guess);
     if(enable_cached_guess) cached_guess = gjk.getGuessFromSimplex();
 
@@ -601,7 +601,7 @@ struct GJKSolver_indep
     shape.toshape1 = tf2.getRotation().transpose() * tf1.getRotation();
     shape.toshape0 = tf1.inverseTimes(tf2);
 
-    details::GJK gjk(gjk_max_iterations, gjk_tolerance);
+    details::GJK gjk((unsigned int) gjk_max_iterations, gjk_tolerance);
     details::GJK::Status gjk_status = gjk.evaluate(shape, -guess);
     if(enable_cached_guess) cached_guess = gjk.getGuessFromSimplex();
 
@@ -653,7 +653,7 @@ struct GJKSolver_indep
     shape.toshape1 = tf.getRotation();
     shape.toshape0 = inverse(tf);
 
-    details::GJK gjk(gjk_max_iterations, gjk_tolerance);
+    details::GJK gjk((unsigned int )gjk_max_iterations, gjk_tolerance);
     details::GJK::Status gjk_status = gjk.evaluate(shape, -guess);
     if(enable_cached_guess) cached_guess = gjk.getGuessFromSimplex();
     
@@ -703,7 +703,7 @@ struct GJKSolver_indep
     shape.toshape1 = tf2.getRotation().transpose() * tf1.getRotation();
     shape.toshape0 = tf1.inverseTimes(tf2);
 
-    details::GJK gjk(gjk_max_iterations, gjk_tolerance);
+    details::GJK gjk((unsigned int )gjk_max_iterations, gjk_tolerance);
     details::GJK::Status gjk_status = gjk.evaluate(shape, -guess);
     if(enable_cached_guess) cached_guess = gjk.getGuessFromSimplex();