diff --git a/CMakeLists.txt b/CMakeLists.txt
index 864ba661435373afb6da8f785d293c95812c5067..322789c2adea6bec228872de4e325e2ea9247982 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,92 +1,96 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
+cmake_minimum_required(VERSION 3.1)
 
 # Project properties
-SET(PROJECT_NAME hpp-centroidal-dynamics)
-SET(PROJECT_DESCRIPTION
-  "Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods."
-  )
+set(PROJECT_NAME hpp-centroidal-dynamics)
+set(PROJECT_DESCRIPTION
+    "Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods."
+)
 
 # Project options
-OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
 
 # Project configuration
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(CUSTOM_HEADER_DIR "hpp/centroidal-dynamics")
-SET(CXX_DISABLE_WERROR TRUE)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(CUSTOM_HEADER_DIR "hpp/centroidal-dynamics")
+set(CXX_DISABLE_WERROR TRUE)
 
 # JRL-cmakemodule setup
-INCLUDE(cmake/hpp.cmake)
-INCLUDE(cmake/boost.cmake)
+include(cmake/hpp.cmake)
+include(cmake/boost.cmake)
 
 # Project definition
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
 
-IF(BUILD_PYTHON_INTERFACE)
-  STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
-  ADD_PROJECT_DEPENDENCY(eigenpy 2.7.12 REQUIRED)
-ENDIF(BUILD_PYTHON_INTERFACE)
+if(BUILD_PYTHON_INTERFACE)
+  string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+  add_project_dependency(eigenpy 2.7.12 REQUIRED)
+endif(BUILD_PYTHON_INTERFACE)
 
 # Project dependencies
-ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED)
+add_project_dependency(Eigen3 REQUIRED)
 
 set(CMAKE_MODULE_PATH
-  ${PROJECT_SOURCE_DIR}/cmake/find-external/CDD
-  ${PROJECT_SOURCE_DIR}/cmake/find-external/CLP
-  ${PROJECT_SOURCE_DIR}/cmake/find-external/qpOASES
-  )
+    ${PROJECT_SOURCE_DIR}/cmake/find-external/CDD
+    ${PROJECT_SOURCE_DIR}/cmake/find-external/CLP
+    ${PROJECT_SOURCE_DIR}/cmake/find-external/qpOASES)
 
 find_package(CDD REQUIRED)
 find_package(qpOASES REQUIRED)
 find_package(CLP)
 
-IF("${CLP_LIBRARY}" STREQUAL "CLP_LIBRARY-NOTFOUND")
-  MESSAGE(STATUS "CLP_LIBRARY equal to CLP_LIBRARY-NOTFOUND so I assume CLP was not found ")
-ELSE()
+if("${CLP_LIBRARY}" STREQUAL "CLP_LIBRARY-NOTFOUND")
+  message(
+    STATUS
+      "CLP_LIBRARY equal to CLP_LIBRARY-NOTFOUND so I assume CLP was not found "
+  )
+else()
   message(STATUS "CLP library found, defining macro CLP_FOUND")
   add_definitions(-DCLP_FOUND)
-ENDIF()
+endif()
 
 # Main Library
-SET(${PROJECT_NAME}_HEADERS
-  include/${CUSTOM_HEADER_DIR}/local_config.hh
-  include/${CUSTOM_HEADER_DIR}/util.hh
-  include/${CUSTOM_HEADER_DIR}/logger.hh
-  include/${CUSTOM_HEADER_DIR}/solver_LP_abstract.hh
-  include/${CUSTOM_HEADER_DIR}/solver_LP_qpoases.hh
-  include/${CUSTOM_HEADER_DIR}/solver_LP_clp.hh
-  include/${CUSTOM_HEADER_DIR}/centroidal_dynamics.hh
-  include/${CUSTOM_HEADER_DIR}/stop-watch.hh
-  )
-
-SET(${PROJECT_NAME}_SOURCES
-  src/centroidal_dynamics.cpp
-  src/solver_LP_abstract.cpp
-  src/solver_LP_qpoases.cpp
-  src/solver_LP_clp.cpp
-  src/util.cpp
-  src/logger.cpp
-  src/stop-watch.cpp
-  )
-
-ADD_LIBRARY(${PROJECT_NAME} SHARED
-  ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PUBLIC
-    ${EIGEN3_INCLUDE_DIR} ${CDD_INCLUDE_DIRS} ${qpOASES_INCLUDE_DIRS})
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CDD_LIBRARIES} ${qpOASES_LIBRARY})
-
-IF(CLP_FOUND)
-  TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PUBLIC "${CLP_INCLUDE_DIR}")
-  TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CLP_LIBRARIES}
-    /usr/lib/libCoinUtils.so)
-ENDIF(CLP_FOUND)
-
-INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
-
-ADD_SUBDIRECTORY(test)
-IF(BUILD_PYTHON_INTERFACE)
-  ADD_SUBDIRECTORY(python)
-ENDIF(BUILD_PYTHON_INTERFACE)
-
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+set(${PROJECT_NAME}_HEADERS
+    include/${CUSTOM_HEADER_DIR}/local_config.hh
+    include/${CUSTOM_HEADER_DIR}/util.hh
+    include/${CUSTOM_HEADER_DIR}/logger.hh
+    include/${CUSTOM_HEADER_DIR}/solver_LP_abstract.hh
+    include/${CUSTOM_HEADER_DIR}/solver_LP_qpoases.hh
+    include/${CUSTOM_HEADER_DIR}/solver_LP_clp.hh
+    include/${CUSTOM_HEADER_DIR}/centroidal_dynamics.hh
+    include/${CUSTOM_HEADER_DIR}/stop-watch.hh)
+
+set(${PROJECT_NAME}_SOURCES
+    src/centroidal_dynamics.cpp
+    src/solver_LP_abstract.cpp
+    src/solver_LP_qpoases.cpp
+    src/solver_LP_clp.cpp
+    src/util.cpp
+    src/logger.cpp
+    src/stop-watch.cpp)
+
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
+                                   ${${PROJECT_NAME}_HEADERS})
+target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+target_include_directories(
+  ${PROJECT_NAME} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIR} ${CDD_INCLUDE_DIRS}
+                                ${qpOASES_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME} ${CDD_LIBRARIES} ${qpOASES_LIBRARY})
+
+if(CLP_FOUND)
+  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${CLP_INCLUDE_DIR}")
+  target_link_libraries(${PROJECT_NAME} ${CLP_LIBRARIES}
+                        /usr/lib/libCoinUtils.so)
+endif(CLP_FOUND)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${TARGETS_EXPORT_NAME}
+  DESTINATION lib)
+
+add_subdirectory(test)
+if(BUILD_PYTHON_INTERFACE)
+  add_subdirectory(python)
+endif(BUILD_PYTHON_INTERFACE)
+
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 4903df9907dc704c95dd8a4a660456e82eb5a659..16dfe56823d44bd5fbb842084296c80b4d37588c 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,14 +1,15 @@
 # Define the wrapper library that wraps our library
-ADD_LIBRARY(${PY_NAME} SHARED centroidal_dynamics_python.cpp)
-TARGET_LINK_LIBRARIES(${PY_NAME} ${PROJECT_NAME} eigenpy::eigenpy)
+add_library(${PY_NAME} SHARED centroidal_dynamics_python.cpp)
+target_link_libraries(${PY_NAME} ${PROJECT_NAME} eigenpy::eigenpy)
 # don't prepend wrapper library name with lib
-SET_TARGET_PROPERTIES(${PY_NAME} PROPERTIES PREFIX "")
+set_target_properties(${PY_NAME} PROPERTIES PREFIX "")
 
-IF(APPLE)
+if(APPLE)
   # We need to change the extension for python bindings
-  SET_TARGET_PROPERTIES(${PY_NAME} PROPERTIES SUFFIX ".so")
-ENDIF(APPLE)
+  set_target_properties(${PY_NAME} PROPERTIES SUFFIX ".so")
+endif(APPLE)
 
-INSTALL(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB})
+install(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB})
 
-ADD_PYTHON_UNIT_TEST("python-centroidal-dynamics" "python/test/binding_tests.py" "python")
+add_python_unit_test("python-centroidal-dynamics"
+                     "python/test/binding_tests.py" "python")
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 6883f8ed9d207bccb2cd9da024e2e40cf929e308..0bb93fcd159bb29895164f089fd40525432ef339 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,11 +1,12 @@
-ADD_UNIT_TEST(static-equilibrium test_static_equilibrium.cpp)
-TARGET_LINK_LIBRARIES(static-equilibrium ${PROJECT_NAME})
+add_unit_test(static-equilibrium test_static_equilibrium.cpp)
+target_link_libraries(static-equilibrium ${PROJECT_NAME})
 
-ADD_UNIT_TEST(lp-solvers test_LP_solvers.cpp)
-TARGET_LINK_LIBRARIES(lp-solvers ${PROJECT_NAME})
+add_unit_test(lp-solvers test_LP_solvers.cpp)
+target_link_libraries(lp-solvers ${PROJECT_NAME})
 
-IF(NOT ${PROJECT_SOURCE_DIR} STREQUAL ${PROJECT_BINARY_DIR})
-    ADD_CUSTOM_TARGET(link_target ALL COMMAND ${CMAKE_COMMAND} -E create_symlink
-        "${PROJECT_SOURCE_DIR}/test_data"
-        "${PROJECT_BINARY_DIR}/test_data")
-ENDIF(NOT ${PROJECT_SOURCE_DIR} STREQUAL ${PROJECT_BINARY_DIR})
+if(NOT ${PROJECT_SOURCE_DIR} STREQUAL ${PROJECT_BINARY_DIR})
+  add_custom_target(
+    link_target ALL
+    COMMAND ${CMAKE_COMMAND} -E create_symlink
+            "${PROJECT_SOURCE_DIR}/test_data" "${PROJECT_BINARY_DIR}/test_data")
+endif(NOT ${PROJECT_SOURCE_DIR} STREQUAL ${PROJECT_BINARY_DIR})