diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 92fd52d..f73e12f 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -2,7 +2,7 @@ ci:
     autoupdate_branch: 'devel'
 repos:
 -   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v20.1.8
+    rev: v21.1.2
     hooks:
     -   id: clang-format
         args: [--style=Google]
@@ -24,8 +24,8 @@ repos:
     -   id: fix-byte-order-marker
     -   id: mixed-line-ending
     -   id: trailing-whitespace
--   repo: https://github.com/psf/black
-    rev: 25.1.0
+-   repo: https://github.com/psf/black-pre-commit-mirror
+    rev: 25.9.0
     hooks:
     -   id: black
 -   repo: https://github.com/PyCQA/flake8
diff --git a/src/log.cpp b/src/log.cpp
index e2b1a0f..deb81b9 100644
--- a/src/log.cpp
+++ b/src/log.cpp
@@ -16,7 +16,7 @@ using namespace rc_sot_system;
 
 DataToLog::DataToLog() {}
 
-void DataToLog::init(ProfileLog &aProfileLog) {
+void DataToLog::init(ProfileLog& aProfileLog) {
   profileLog_ = aProfileLog;
   motor_angle.resize(aProfileLog.nbDofs * aProfileLog.length);
   joint_angle.resize(aProfileLog.nbDofs * aProfileLog.length);
@@ -53,7 +53,7 @@ void DataToLog::init(ProfileLog &aProfileLog) {
 
 Log::Log() : lref_(0), lrefts_(0) {}
 
-void Log::init(ProfileLog &aProfileLog) {
+void Log::init(ProfileLog& aProfileLog) {
   profileLog_ = aProfileLog;
   lref_ = 0;
   lrefts_ = 0;
@@ -64,7 +64,7 @@ void Log::init(ProfileLog &aProfileLog) {
   timeorigin_ = (double)current.tv_sec + 0.000001 * ((double)current.tv_usec);
 }
 
-void Log::record(DataToLog &aDataToLog) {
+void Log::record(DataToLog& aDataToLog) {
   if ((aDataToLog.motor_angle.size() != profileLog_.nbDofs) ||
       (aDataToLog.velocities.size() != profileLog_.nbDofs))
     return;
@@ -148,7 +148,7 @@ double Log::stop_it() {
   return time_stop_it_ - time_start_it_;
 }
 
-void Log::save(std::string &fileName) {
+void Log::save(std::string& fileName) {
   assert(lref_ == lrefts_ * profileLog_.nbDofs);
 
   std::string suffix("-mastate.log");
@@ -184,22 +184,22 @@ void Log::save(std::string &fileName) {
   saveVector(fileName, suffix, StoredData_.duration, 1);
 }
 
-inline void writeHeaderToBinaryBuffer(ofstream &of, const std::size_t &nVector,
-                                      const std::size_t &vectorSize) {
-  of.write((const char *)(&nVector), sizeof(std::size_t));
-  of.write((const char *)(&vectorSize), sizeof(std::size_t));
+inline void writeHeaderToBinaryBuffer(ofstream& of, const std::size_t& nVector,
+                                      const std::size_t& vectorSize) {
+  of.write((const char*)(&nVector), sizeof(std::size_t));
+  of.write((const char*)(&vectorSize), sizeof(std::size_t));
 }
 
-inline void writeToBinaryFile(ofstream &of, const double &t, const double &dt,
-                              const std::vector<double> &data,
-                              const std::size_t &idx, const std::size_t &size) {
-  of.write((const char *)&t, sizeof(double));
-  of.write((const char *)&dt, sizeof(double));
-  of.write((const char *)(&data[idx]), size * (sizeof(double)));
+inline void writeToBinaryFile(ofstream& of, const double& t, const double& dt,
+                              const std::vector<double>& data,
+                              const std::size_t& idx, const std::size_t& size) {
+  of.write((const char*)&t, sizeof(double));
+  of.write((const char*)&dt, sizeof(double));
+  of.write((const char*)(&data[idx]), size * (sizeof(double)));
 }
 
-void Log::saveVector(std::string &fileName, std::string &suffix,
-                     const std::vector<double> &avector, std::size_t size) {
+void Log::saveVector(std::string& fileName, std::string& suffix,
+                     const std::vector<double>& avector, std::size_t size) {
   ostringstream oss;
   oss << fileName;
   oss << suffix.c_str();
diff --git a/src/log.hh b/src/log.hh
index a840a08..8ac4e12 100644
--- a/src/log.hh
+++ b/src/log.hh
@@ -50,7 +50,7 @@ struct DataToLog {
   ProfileLog profileLog_;
 
   DataToLog();
-  void init(ProfileLog &aProfileLog);
+  void init(ProfileLog& aProfileLog);
   std::size_t nbDofs() { return profileLog_.nbDofs; }
   std::size_t nbForceSensors() { return profileLog_.nbForceSensors; }
   std::size_t length() { return profileLog_.length; }
@@ -78,16 +78,16 @@ class Log {
   // \param size number of contiguous values of avector that forms one line.
   // \note avector is a circular buffer. Data will be written from
   //       start to N, and then from 0 to start.
-  void saveVector(std::string &filename, std::string &suffix,
-                  const std::vector<double> &avector, std::size_t size);
+  void saveVector(std::string& filename, std::string& suffix,
+                  const std::vector<double>& avector, std::size_t size);
 
  public:
   Log();
 
-  void init(ProfileLog &aProfileLog);
-  void record(DataToLog &aDataToLog);
+  void init(ProfileLog& aProfileLog);
+  void record(DataToLog& aDataToLog);
 
-  void save(std::string &fileName);
+  void save(std::string& fileName);
   void start_it();
   /// \return the elapsed time since the previous \ref start_it
   double stop_it();
diff --git a/src/roscontrol-sot-controller.cpp b/src/roscontrol-sot-controller.cpp
index 73d79fa..fc386f7 100644
--- a/src/roscontrol-sot-controller.cpp
+++ b/src/roscontrol-sot-controller.cpp
@@ -47,7 +47,7 @@
 
 class LoggerROSStream : public ::dynamicgraph::LoggerStream {
  public:
-  void write(const char *c) { ROS_ERROR("%s", c); }
+  void write(const char* c) { ROS_ERROR("%s", c); }
 };
 
 /// lhi: nickname for local_hardware_interface
@@ -65,7 +65,7 @@ typedef dynamicgraph::size_type size_type;
 ControlPDMotorControlData::ControlPDMotorControlData() {}
 
 void ControlPDMotorControlData::read_from_xmlrpc_value(
-    const std::string &prefix) {
+    const std::string& prefix) {
   pid_controller.initParam(prefix);
 }
 
@@ -98,13 +98,13 @@ RCSotController::~RCSotController() {
 }
 
 void RCSotController::displayClaimedResources(
-    ClaimedResources &claimed_resources) {
+    ClaimedResources& claimed_resources) {
 #ifdef CONTROLLER_INTERFACE_KINETIC
   ClaimedResources::iterator it_claim;
   ROS_INFO_STREAM("Size of claimed resources: " << claimed_resources.size());
   for (it_claim = claimed_resources.begin();
        it_claim != claimed_resources.end(); ++it_claim) {
-    hardware_interface::InterfaceResources &aclaim = *it_claim;
+    hardware_interface::InterfaceResources& aclaim = *it_claim;
     ROS_INFO_STREAM(
         "Claimed by RCSotController: " << aclaim.hardware_interface);
 
@@ -124,7 +124,7 @@ void RCSotController::displayClaimedResources(
 #endif
 }
 
-void RCSotController::initLogs(ros::NodeHandle &robot_nh) {
+void RCSotController::initLogs(ros::NodeHandle& robot_nh) {
   ROS_INFO_STREAM("Initialize log data structure");
 
   int length = 300000;
@@ -153,10 +153,10 @@ void RCSotController::initLogs(ros::NodeHandle &robot_nh) {
       LoggerStreamPtr_t(new LoggerROSStream()));
 }
 
-bool RCSotController::initRequest(lhi::RobotHW *robot_hw,
-                                  ros::NodeHandle &robot_nh,
-                                  ros::NodeHandle &controller_nh,
-                                  ClaimedResources &claimed_resources) {
+bool RCSotController::initRequest(lhi::RobotHW* robot_hw,
+                                  ros::NodeHandle& robot_nh,
+                                  ros::NodeHandle& controller_nh,
+                                  ClaimedResources& claimed_resources) {
   ROS_WARN("initRequest 1");
   /// Read the parameter server
   if (!readParams(robot_nh)) return false;
@@ -176,9 +176,9 @@ bool RCSotController::initRequest(lhi::RobotHW *robot_hw,
   return true;
 }
 
-bool RCSotController::initInterfaces(lhi::RobotHW *robot_hw, ros::NodeHandle &,
-                                     ros::NodeHandle &,
-                                     ClaimedResources &claimed_resources) {
+bool RCSotController::initInterfaces(lhi::RobotHW* robot_hw, ros::NodeHandle&,
+                                     ros::NodeHandle&,
+                                     ClaimedResources& claimed_resources) {
   std::string lns;
   lns = "hardware_interface";
 
@@ -349,7 +349,7 @@ bool RCSotController::init() {
 
   // Initialize ros node.
   int argc = 1;
-  char *argv[1];
+  char* argv[1];
   argv[0] = new char[10];
   strcpy(argv[0], "libsot");
   SotLoaderBasic::initializeRosNode(argc, argv);
@@ -357,7 +357,7 @@ bool RCSotController::init() {
   return true;
 }
 
-void RCSotController::readParamsVerbosityLevel(ros::NodeHandle &robot_nh) {
+void RCSotController::readParamsVerbosityLevel(ros::NodeHandle& robot_nh) {
   if (robot_nh.hasParam("/sot_controller/verbosity_level")) {
     robot_nh.getParam("/sot_controller/verbosity_level", verbosity_level_);
     ROS_INFO_STREAM("Verbosity_level " << verbosity_level_);
@@ -370,7 +370,7 @@ void RCSotController::readParamsVerbosityLevel(ros::NodeHandle &robot_nh) {
   }
 }
 
-bool RCSotController::readParamsSotLibName(ros::NodeHandle &robot_nh) {
+bool RCSotController::readParamsSotLibName(ros::NodeHandle& robot_nh) {
   // Read param to find the library to load
   std::string dynamic_library_name;
 
@@ -393,12 +393,12 @@ bool RCSotController::readParamsSotLibName(ros::NodeHandle &robot_nh) {
   return true;
 }
 
-bool RCSotController::readParamsPositionControlData(ros::NodeHandle &) {
+bool RCSotController::readParamsPositionControlData(ros::NodeHandle&) {
   return false;
 }
 
 bool RCSotController::readParamsEffortControlPDMotorControlData(
-    ros::NodeHandle &robot_nh) {
+    ros::NodeHandle& robot_nh) {
   // Read libname
   if (robot_nh.hasParam("/sot_controller/effort_control_pd_motor_init/gains")) {
     XmlRpc::XmlRpcValue xml_rpc_ecpd_init;
@@ -444,7 +444,7 @@ bool RCSotController::readParamsEffortControlPDMotorControlData(
 }
 
 bool RCSotController::readParamsVelocityControlPDMotorControlData(
-    ros::NodeHandle &robot_nh) {
+    ros::NodeHandle& robot_nh) {
   // Read libname
   if (robot_nh.hasParam("/sot_controller/velocity_control_pd_motor_init/"
                         "gains")) {
@@ -491,7 +491,7 @@ bool RCSotController::readParamsVelocityControlPDMotorControlData(
   return false;
 }
 
-bool RCSotController::readParamsFromRCToSotDevice(ros::NodeHandle &robot_nh) {
+bool RCSotController::readParamsFromRCToSotDevice(ros::NodeHandle& robot_nh) {
   // Read libname
   if (robot_nh.hasParam("/sot_controller/map_rc_to_sot_device")) {
     if (robot_nh.getParam("/sot_controller/map_rc_to_sot_device",
@@ -519,7 +519,7 @@ bool RCSotController::readParamsFromRCToSotDevice(ros::NodeHandle &robot_nh) {
   return true;
 }
 
-bool RCSotController::readParamsJointNames(ros::NodeHandle &robot_nh) {
+bool RCSotController::readParamsJointNames(ros::NodeHandle& robot_nh) {
   /// Check if the /sot_controller/joint_names parameter exists.
   if (robot_nh.hasParam("/sot_controller/joint_names")) {
     /// Read the joint_names list from this parameter
@@ -557,8 +557,8 @@ bool RCSotController::readParamsJointNames(ros::NodeHandle &robot_nh) {
   return true;
 }
 
-bool RCSotController::getJointControlMode(std::string &joint_name,
-                                          JointSotHandle &aJointSotHandle) {
+bool RCSotController::getJointControlMode(std::string& joint_name,
+                                          JointSotHandle& aJointSotHandle) {
   std::string scontrol_mode;
   static const std::string seffort("EFFORT"), svelocity("VELOCITY"),
       sposition("POSITION");
@@ -593,7 +593,7 @@ bool RCSotController::getJointControlMode(std::string &joint_name,
   return true;
 }
 
-bool RCSotController::readParamsControlMode(ros::NodeHandle &robot_nh) {
+bool RCSotController::readParamsControlMode(ros::NodeHandle& robot_nh) {
   std::map<std::string, std::string> mapControlMode;
 
   // Read param from control_mode.
@@ -601,7 +601,7 @@ bool RCSotController::readParamsControlMode(ros::NodeHandle &robot_nh) {
     /// For each listed joint
     for (unsigned int idJoint = 0; idJoint < joints_name_.size(); idJoint++) {
       std::string joint_name = joints_name_[idJoint];
-      JointSotHandle &aJoint = joints_[joint_name];
+      JointSotHandle& aJoint = joints_[joint_name];
       if (!getJointControlMode(joint_name, aJoint)) return false;
       ROS_INFO("joint_name[%d]=%s, control_mode=%d", idJoint,
                joint_name.c_str(), aJoint.ros_control_mode);
@@ -613,7 +613,7 @@ bool RCSotController::readParamsControlMode(ros::NodeHandle &robot_nh) {
   return true;
 }
 
-bool RCSotController::readParamsdt(ros::NodeHandle &robot_nh) {
+bool RCSotController::readParamsdt(ros::NodeHandle& robot_nh) {
   // Get subsampling ratio of the stack of task: sot period / roscontrol period
   // If param does not exist default value is 1
   robot_nh.getParam("/sot_controller/subsampling", subSampling_);
@@ -628,7 +628,7 @@ bool RCSotController::readParamsdt(ros::NodeHandle &robot_nh) {
   return false;
 }
 
-bool RCSotController::readUrdf(ros::NodeHandle &robot_nh) {
+bool RCSotController::readUrdf(ros::NodeHandle& robot_nh) {
   /// Reading the parameter /robot_description which contains the robot
   /// description
   if (!robot_nh.hasParam("/robot_description")) {
@@ -645,7 +645,7 @@ bool RCSotController::readUrdf(ros::NodeHandle &robot_nh) {
   return true;
 }
 
-bool RCSotController::readParams(ros::NodeHandle &robot_nh) {
+bool RCSotController::readParams(ros::NodeHandle& robot_nh) {
   /// Read the level of verbosity for the controller
   /// (0: quiet, 1: info, 2: debug).
   /// Default to quiet
@@ -692,9 +692,9 @@ bool RCSotController::initJoints() {
     bool notok = true;
 
     while (notok) {
-      std::string &joint_name = joints_name_[i];
+      std::string& joint_name = joints_name_[i];
       try {
-        JointSotHandle &aJointSotHandle = joints_[joint_name];
+        JointSotHandle& aJointSotHandle = joints_[joint_name];
         switch (aJointSotHandle.ros_control_mode) {
           case POSITION:
             aJointSotHandle.joint = pos_iface_->getHandle(joint_name);
@@ -736,7 +736,7 @@ bool RCSotController::initIMU() {
   if (!imu_iface_) return false;
 
   // get all imu sensor names
-  const std ::vector<std ::string> &imu_iface_names = imu_iface_->getNames();
+  const std ::vector<std ::string>& imu_iface_names = imu_iface_->getNames();
   if (verbosity_level_ > 0) {
     for (unsigned i = 0; i < imu_iface_names.size(); i++)
       ROS_INFO("Got sensor %s", imu_iface_names[i].c_str());
@@ -753,7 +753,7 @@ bool RCSotController::initForceSensors() {
   if (!ft_iface_) return false;
 
   // get force torque sensors names package.
-  const std::vector<std::string> &ft_iface_names = ft_iface_->getNames();
+  const std::vector<std::string>& ft_iface_names = ft_iface_->getNames();
   if (verbosity_level_ > 0) {
     for (unsigned i = 0; i < ft_iface_names.size(); i++)
       ROS_INFO("Got sensor %s", ft_iface_names[i].c_str());
@@ -772,7 +772,7 @@ bool RCSotController::initTemperatureSensors() {
     if (!act_temp_iface_) return false;
 
     // get temperature sensors names
-    const std::vector<std::string> &act_temp_iface_names =
+    const std::vector<std::string>& act_temp_iface_names =
         act_temp_iface_->getNames();
 
     if (verbosity_level_ > 0) {
@@ -794,8 +794,8 @@ bool RCSotController::initTemperatureSensors() {
   return true;
 }
 
-void RCSotController::fillSensorsIn(std::string &title,
-                                    std::vector<double> &data) {
+void RCSotController::fillSensorsIn(std::string& title,
+                                    std::vector<double>& data) {
   /// Tries to find the mapping from the local validation
   /// to the SoT device.
   it_map_rt_to_sot it_mapRC2Sot = mapFromRCToSotDevice_.find(title);
@@ -813,7 +813,7 @@ void RCSotController::fillJoints() {
   for (unsigned int idJoint = 0; idJoint < joints_name_.size(); idJoint++) {
     it_joint_sot_h anItJoint = joints_.find(joints_name_[idJoint]);
     if (anItJoint != joints_.end()) {
-      JointSotHandle &aJoint = anItJoint->second;
+      JointSotHandle& aJoint = anItJoint->second;
       DataOneIter_.motor_angle[idJoint] = aJoint.joint.getPosition();
 
 #ifdef TEMPERATURE_SENSOR_CONTROLLER
@@ -841,8 +841,8 @@ void RCSotController::fillJoints() {
   fillSensorsIn(ltitle, DataOneIter_.motor_currents);
 }
 
-void RCSotController::setSensorsImu(std::string &name, int IMUnb,
-                                    std::vector<double> &data) {
+void RCSotController::setSensorsImu(std::string& name, int IMUnb,
+                                    std::vector<double>& data) {
   std::ostringstream labelOss;
   labelOss << name << IMUnb;
   std::string label_s = labelOss.str();
@@ -920,13 +920,13 @@ void RCSotController::fillSensors() {
 }
 
 void RCSotController::readControl(
-    std::map<std::string, dgs::ControlValues> &controlValues) {
+    std::map<std::string, dgs::ControlValues>& controlValues) {
   ODEBUG4("joints_.size() = " << joints_.size());
   std::string cmdTitle = "control";
 
   it_map_rt_to_sot it_mapRC2Sot = mapFromRCToSotDevice_.find(cmdTitle);
   if (it_mapRC2Sot != mapFromRCToSotDevice_.end()) {
-    std::string &lmapRC2Sot = it_mapRC2Sot->second;
+    std::string& lmapRC2Sot = it_mapRC2Sot->second;
     command_ = controlValues[lmapRC2Sot].getValues();
     ODEBUG4("angleControl_.size() = " << command_.size());
     for (unsigned int i = 0; i < std::min(command_.size(), joints_.size());
@@ -943,7 +943,7 @@ void RCSotController::readControl(
   }
 }
 
-void RCSotController::one_iteration(const ros::Duration &period) {
+void RCSotController::one_iteration(const ros::Duration& period) {
   sotComputing_ = true;
   // Chrono start
   RcSotLog_.start_it();
@@ -954,7 +954,7 @@ void RCSotController::one_iteration(const ros::Duration &period) {
   /// Generate a control law.
   try {
     sotController_->nominalSetSensors(sensorsIn_);
-  } catch (std::exception &e) {
+  } catch (std::exception& e) {
     std::cerr << "Failure happened during one_iteration(): "
               << "when calling nominalSetSensors " << std::endl;
     std::cerr << __FILE__ << " " << __LINE__ << std::endl
@@ -964,7 +964,7 @@ void RCSotController::one_iteration(const ros::Duration &period) {
   }
   try {
     sotController_->getControl(controlValues_copy_, period.toSec());
-  } catch (std::exception &e) {
+  } catch (std::exception& e) {
     std::cerr << "Failure happened during one_iteration(): "
               << "when calling getControl " << std::endl;
     std::cerr << __FILE__ << " " << __LINE__ << std::endl
@@ -993,7 +993,7 @@ void RCSotController::one_iteration(const ros::Duration &period) {
 }
 
 void RCSotController::localStandbyEffortControlMode(
-    const ros::Duration &period) {
+    const ros::Duration& period) {
   // ROS_INFO("Compute command for effort mode: %d %d",joints_.size(),
   // effort_mode_pd_motors_.size());
   for (unsigned int idJoint = 0; idJoint < joints_.size(); idJoint++) {
@@ -1002,9 +1002,9 @@ void RCSotController::localStandbyEffortControlMode(
         effort_mode_pd_motors_.find(joint_name);
 
     if (search_ecpd != effort_mode_pd_motors_.end()) {
-      ControlPDMotorControlData &ecpdcdata = search_ecpd->second;
-      JointSotHandle &aJointSotHandle = joints_[joint_name];
-      lhi::JointHandle &aJoint = aJointSotHandle.joint;
+      ControlPDMotorControlData& ecpdcdata = search_ecpd->second;
+      JointSotHandle& aJointSotHandle = joints_[joint_name];
+      lhi::JointHandle& aJoint = aJointSotHandle.joint;
 
       double vel_err = 0 - aJoint.getVelocity();
       double err = aJointSotHandle.desired_init_pose - aJoint.getPosition();
@@ -1018,7 +1018,7 @@ void RCSotController::localStandbyEffortControlMode(
 }
 
 void RCSotController::localStandbyVelocityControlMode(
-    const ros::Duration &period) {
+    const ros::Duration& period) {
   static bool first_time = true;
 
   /// Iterate over all the joints
@@ -1029,9 +1029,9 @@ void RCSotController::localStandbyVelocityControlMode(
         velocity_mode_pd_motors_.find(joint_name);
 
     if (search_ecpd != velocity_mode_pd_motors_.end()) {
-      ControlPDMotorControlData &ecpdcdata = search_ecpd->second;
-      JointSotHandle &aJointSotHandle = joints_[joint_name];
-      lhi::JointHandle &aJoint = aJointSotHandle.joint;
+      ControlPDMotorControlData& ecpdcdata = search_ecpd->second;
+      JointSotHandle& aJointSotHandle = joints_[joint_name];
+      lhi::JointHandle& aJoint = aJointSotHandle.joint;
 
       double vel_err = 0 - aJoint.getVelocity();
       double err = aJointSotHandle.desired_init_pose - aJoint.getPosition();
@@ -1062,8 +1062,8 @@ void RCSotController::localStandbyPositionControlMode() {
 
     // If it is position mode control.
     if (joints_[joint_name].ros_control_mode == POSITION) {
-      JointSotHandle &aJointSotHandle = joints_[joint_name];
-      lhi::JointHandle &aJoint = aJointSotHandle.joint;
+      JointSotHandle& aJointSotHandle = joints_[joint_name];
+      lhi::JointHandle& aJoint = aJointSotHandle.joint;
 
       aJoint.setCommand(aJointSotHandle.desired_init_pose);
 
@@ -1092,7 +1092,7 @@ void RCSotController::computeSubSampling() {
     thread_created_ = true;
   }
 }
-void RCSotController::update(const ros::Time &, const ros::Duration &period) {
+void RCSotController::update(const ros::Time&, const ros::Duration& period) {
   // Do not send any control if the dynamic graph is not started
   if (!isDynamicGraphStopped()) {
     // Increment step at beginning of this method since the end time may
@@ -1129,7 +1129,7 @@ void RCSotController::update(const ros::Time &, const ros::Duration &period) {
           // controlled in position.
           if (controlValues_.find("velocity") != controlValues_.end()) {
             std::vector<double> control = controlValues_["control"].getValues();
-            const std::vector<double> &velocity =
+            const std::vector<double>& velocity =
                 controlValues_["velocity"].getValues();
             for (std::size_t i = 0; i < control.size(); ++i) {
               control[i] += period.toSec() * velocity[i];
@@ -1142,7 +1142,7 @@ void RCSotController::update(const ros::Time &, const ros::Duration &period) {
         }
       }
 
-    } catch (std::exception const &exc) {
+    } catch (std::exception const& exc) {
       ROS_ERROR_STREAM("Failure happened during one_iteration evaluation: "
                        << exc.what()
                        << "\nUse gdb to investiguate the problem\n"
@@ -1161,7 +1161,7 @@ void RCSotController::update(const ros::Time &, const ros::Duration &period) {
     fillSensors();
     try {
       sotController_->setupSetSensors(sensorsIn_);
-    } catch (std::exception &e) {
+    } catch (std::exception& e) {
       ROS_ERROR_STREAM("RCSotController::update: " << e.what());
       throw;
     }
@@ -1174,12 +1174,12 @@ void RCSotController::update(const ros::Time &, const ros::Duration &period) {
   }
 }
 
-void RCSotController::starting(const ros::Time &) {
+void RCSotController::starting(const ros::Time&) {
   using namespace ::dynamicgraph;
   fillSensors();
 }
 
-void RCSotController::stopping(const ros::Time &) {}
+void RCSotController::stopping(const ros::Time&) {}
 
 PLUGINLIB_EXPORT_CLASS(sot_controller::RCSotController, lci::ControllerBase)
 }  // namespace sot_controller
diff --git a/src/roscontrol-sot-controller.hh b/src/roscontrol-sot-controller.hh
index 84a656d..66dd1e4 100644
--- a/src/roscontrol-sot-controller.hh
+++ b/src/roscontrol-sot-controller.hh
@@ -39,7 +39,7 @@ namespace lci = controller_interface;
 
 class XmlrpcHelperException : public ros::Exception {
  public:
-  XmlrpcHelperException(const std::string &what) : ros::Exception(what) {}
+  XmlrpcHelperException(const std::string& what) : ros::Exception(what) {}
 };
 
 struct ControlPDMotorControlData {
@@ -47,7 +47,7 @@ struct ControlPDMotorControlData {
 
   ControlPDMotorControlData();
   //    void read_from_xmlrpc_value(XmlRpc::XmlRpcValue &aXRV);
-  void read_from_xmlrpc_value(const std::string &prefix);
+  void read_from_xmlrpc_value(const std::string& prefix);
 };
 
 struct JointSotHandle {
@@ -97,23 +97,23 @@ class RCSotController : public lci::ControllerBase, SotLoaderBasic {
 #endif
 
   /// \brief Interface to the joints controlled in position.
-  lhi::PositionJointInterface *pos_iface_;
+  lhi::PositionJointInterface* pos_iface_;
 
   /// \brief Interface to the joints controlled in position.
-  lhi::VelocityJointInterface *vel_iface_;
+  lhi::VelocityJointInterface* vel_iface_;
 
   /// \brief Interface to the joints controlled in force.
-  lhi::EffortJointInterface *effort_iface_;
+  lhi::EffortJointInterface* effort_iface_;
 
   /// \brief Interface to the sensors (IMU).
-  lhi::ImuSensorInterface *imu_iface_;
+  lhi::ImuSensorInterface* imu_iface_;
 
   /// \brief Interface to the sensors (Force).
-  lhi::ForceTorqueSensorInterface *ft_iface_;
+  lhi::ForceTorqueSensorInterface* ft_iface_;
 
 #ifdef TEMPERATURE_SENSOR_CONTROLLER
   /// \brief Interface to the actuator temperature sensor.
-  lhi::ActuatorTemperatureSensorInterface *act_temp_iface_;
+  lhi::ActuatorTemperatureSensorInterface* act_temp_iface_;
 #endif
   /// @}
 
@@ -177,12 +177,12 @@ class RCSotController : public lci::ControllerBase, SotLoaderBasic {
 
   /// \brief Read the configuration files,
   /// claims the request to the robot and initialize the Stack-Of-Tasks.
-  bool initRequest(lhi::RobotHW *robot_hw, ros::NodeHandle &robot_nh,
-                   ros::NodeHandle &controller_nh,
-                   ClaimedResources &claimed_resources);
+  bool initRequest(lhi::RobotHW* robot_hw, ros::NodeHandle& robot_nh,
+                   ros::NodeHandle& controller_nh,
+                   ClaimedResources& claimed_resources);
 
   /// \brief Display claimed resources
-  void displayClaimedResources(ClaimedResources &claimed_resources);
+  void displayClaimedResources(ClaimedResources& claimed_resources);
 
   /// \brief Claims
   bool init();
@@ -190,16 +190,16 @@ class RCSotController : public lci::ControllerBase, SotLoaderBasic {
   /// \brief Read the sensor values, calls the control graph, and apply the
   /// control.
   ///
-  void update(const ros::Time &, const ros::Duration &);
+  void update(const ros::Time&, const ros::Duration&);
   /// \brief Starting by filling the sensors.
-  void starting(const ros::Time &);
+  void starting(const ros::Time&);
   /// \brief Stopping the control
-  void stopping(const ros::Time &);
+  void stopping(const ros::Time&);
 
  protected:
   /// Initialize the roscontrol interfaces
-  bool initInterfaces(lhi::RobotHW *robot_hw, ros::NodeHandle &,
-                      ros::NodeHandle &, ClaimedResources &claimed_resources);
+  bool initInterfaces(lhi::RobotHW* robot_hw, ros::NodeHandle&,
+                      ros::NodeHandle&, ClaimedResources& claimed_resources);
 
   /// Initialize the hardware interface using the joints.
   bool initJoints();
@@ -212,52 +212,52 @@ class RCSotController : public lci::ControllerBase, SotLoaderBasic {
 
   /// Initialize internal structure for the logs based on nbDofs
   /// number of force sensors and size of the buffer.
-  void initLogs(ros::NodeHandle &robot_nh);
+  void initLogs(ros::NodeHandle& robot_nh);
 
   ///@{ \name Read the parameter server
   /// \brief Entry point
-  bool readParams(ros::NodeHandle &robot_nh);
+  bool readParams(ros::NodeHandle& robot_nh);
 
   /// \brief Creates the list of joint names.
-  bool readParamsJointNames(ros::NodeHandle &robot_nh);
+  bool readParamsJointNames(ros::NodeHandle& robot_nh);
 
   /// \brief Set the SoT library name.
-  bool readParamsSotLibName(ros::NodeHandle &robot_nh);
+  bool readParamsSotLibName(ros::NodeHandle& robot_nh);
 
   /// \Brief Set the mapping between ros-control and the robot device
   /// For instance the yaml file should have a line with map_rc_to_sot_device:
   ///   map_rc_to_sot_device: [ ]
-  bool readParamsFromRCToSotDevice(ros::NodeHandle &robot_nh);
+  bool readParamsFromRCToSotDevice(ros::NodeHandle& robot_nh);
 
   /// \brief Read the control mode.
-  bool readParamsControlMode(ros::NodeHandle &robot_nh);
+  bool readParamsControlMode(ros::NodeHandle& robot_nh);
 
   /// \brief Read the PID information of the robot in velocity mode.
-  bool readParamsVelocityControlPDMotorControlData(ros::NodeHandle &robot_nh);
+  bool readParamsVelocityControlPDMotorControlData(ros::NodeHandle& robot_nh);
 
   /// \brief Read the PID information of the robot in effort mode.
-  bool readParamsEffortControlPDMotorControlData(ros::NodeHandle &robot_nh);
+  bool readParamsEffortControlPDMotorControlData(ros::NodeHandle& robot_nh);
 
   /// \brief Read the desired initial pose of the robot in position mode.
-  bool readParamsPositionControlData(ros::NodeHandle &robot_nh);
+  bool readParamsPositionControlData(ros::NodeHandle& robot_nh);
 
   /// \brief Read the control period.
-  bool readParamsdt(ros::NodeHandle &robot_nh);
+  bool readParamsdt(ros::NodeHandle& robot_nh);
 
   /// \brief Read verbosity level to display messages mostly during
   /// initialization
-  void readParamsVerbosityLevel(ros::NodeHandle &robot_nh);
+  void readParamsVerbosityLevel(ros::NodeHandle& robot_nh);
   ///@}
 
   /// \brief Fill the SoT map structures
-  void fillSensorsIn(std::string &title, std::vector<double> &data);
+  void fillSensorsIn(std::string& title, std::vector<double>& data);
 
   /// \brief Get the information from the low level and calls fillSensorsIn.
   void fillJoints();
 
   /// In the map sensorsIn_ creates the key "name_IMUNb"
   /// and associate to this key the vector data.
-  void setSensorsImu(std::string &name, int IMUNb, std::vector<double> &data);
+  void setSensorsImu(std::string& name, int IMUNb, std::vector<double>& data);
 
   /// @{ \name Fill the sensors
   /// Read the imus and set the interface to the SoT.
@@ -272,9 +272,9 @@ class RCSotController : public lci::ControllerBase, SotLoaderBasic {
 
   ///@{ Control the robot while waiting for the SoT
   /// Default control in effort.
-  void localStandbyEffortControlMode(const ros::Duration &period);
+  void localStandbyEffortControlMode(const ros::Duration& period);
   /// Default control in velocity.
-  void localStandbyVelocityControlMode(const ros::Duration &period);
+  void localStandbyVelocityControlMode(const ros::Duration& period);
   /// Default control in position.
   void localStandbyPositionControlMode();
 
@@ -283,7 +283,7 @@ class RCSotController : public lci::ControllerBase, SotLoaderBasic {
   /// \param controlValues map string to vector of double. The function will
   /// fill in
   ///        controlValues["control"]
-  void readControl(std::map<std::string, dgs::ControlValues> &controlValues);
+  void readControl(std::map<std::string, dgs::ControlValues>& controlValues);
 
   /// Map of sensor readings
   std::map<std::string, dgs::SensorValues> sensorsIn_;
@@ -303,16 +303,16 @@ class RCSotController : public lci::ControllerBase, SotLoaderBasic {
   /// One iteration: read sensor, compute the control law, apply control.
   /// \param period time since last call. Useful when realtime is not enforced
   /// correctly.
-  void one_iteration(const ros::Duration &period);
+  void one_iteration(const ros::Duration& period);
 
   /// Read URDF model from /robot_description parameter.
-  bool readUrdf(ros::NodeHandle &robot_nh);
+  bool readUrdf(ros::NodeHandle& robot_nh);
 
   /// Returns control mode by reading rosparam.
   /// It reads /sot_controller/control_mode/joint_name
   /// and check
-  bool getJointControlMode(std::string &joint_name,
-                           JointSotHandle &aJointSotHandle);
+  bool getJointControlMode(std::string& joint_name,
+                           JointSotHandle& aJointSotHandle);
 };
 }  // namespace sot_controller
 
diff --git a/src/roscontrol-sot-parse-log.cc b/src/roscontrol-sot-parse-log.cc
index 657d91b..6c4e9c9 100644
--- a/src/roscontrol-sot-parse-log.cc
+++ b/src/roscontrol-sot-parse-log.cc
@@ -4,11 +4,11 @@
 #include <iomanip>
 #include <iostream>
 
-void usage(char *bin) {
+void usage(char* bin) {
   std::cerr << "Usage: " << bin << " [--separator sep] binary_file_name\n";
 }
 
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   if (argc < 2) {
     usage(argv[0]);
     return 1;
@@ -34,8 +34,8 @@ int main(int argc, char *argv[]) {
 
   // Read headers
   std::size_t nVector = 0, vectorSize = 0;
-  in.read((char *)&nVector, sizeof(std::size_t));
-  in.read((char *)&vectorSize, sizeof(std::size_t));
+  in.read((char*)&nVector, sizeof(std::size_t));
+  in.read((char*)&vectorSize, sizeof(std::size_t));
   if (!in.good()) {
     std::cerr << "Couldn't parse file: " << argv[iarg] << '\n';
     return 3;
@@ -47,7 +47,7 @@ int main(int argc, char *argv[]) {
 
   for (std::size_t i = 0; i < nVector; ++i) {
     for (std::size_t j = 0; j < vectorSize; ++j) {
-      in.read((char *)&v, sizeof(double));
+      in.read((char*)&v, sizeof(double));
       if (!in.good()) {
         std::cerr << "Stopped to parse at (" << i << ',' << j
                   << ") of file: " << argv[iarg] << '\n';
diff --git a/tests/roscontrol_sot_hardware.cpp b/tests/roscontrol_sot_hardware.cpp
index 0b43a29..b290a7b 100644
--- a/tests/roscontrol_sot_hardware.cpp
+++ b/tests/roscontrol_sot_hardware.cpp
@@ -9,7 +9,7 @@
 #include <sstream>
 
 // Threads
-void *RTloop(void *argument);
+void* RTloop(void* argument);
 
 pthread_mutex_t mutx = PTHREAD_MUTEX_INITIALIZER;  // mutex initialisation
 //******************************************************
@@ -181,14 +181,14 @@ int TestRobot01Class::UpdateCmd() {
 }
 
 typedef struct arg_struct {
-  controller_manager::ControllerManager *cm;
-  TestRobot01Class *testrobot01;
+  controller_manager::ControllerManager* cm;
+  TestRobot01Class* testrobot01;
 } RTloopArgs;
 
-void *RTloop(void *argument) {
+void* RTloop(void* argument) {
   ROS_INFO("IN thread1 OK");
-  RTloopArgs *aRTloopArgs;
-  aRTloopArgs = (RTloopArgs *)argument;
+  RTloopArgs* aRTloopArgs;
+  aRTloopArgs = (RTloopArgs*)argument;
 
   ros::Time last_time = ros::Time::now();
 
@@ -234,7 +234,7 @@ void *RTloop(void *argument) {
   pthread_exit(EXIT_SUCCESS);
 }
 
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   TestRobot01Class testrobot01;
 
   /*---------------- ROS Stuff ------------------ */
@@ -259,7 +259,7 @@ int main(int argc, char *argv[]) {
 
   // function sets the scheduling policy and parameters of the thread
   error_return = pthread_create(&thread1, NULL, RTloop,
-                                (void *)&aRTloopArgs);  // create a new thread
+                                (void*)&aRTloopArgs);  // create a new thread
   ROS_INFO("thread1 created OK");
 
   if (error_return) {
diff --git a/tests/sot-test-controller.cpp b/tests/sot-test-controller.cpp
index 19d7886..d194f90 100644
--- a/tests/sot-test-controller.cpp
+++ b/tests/sot-test-controller.cpp
@@ -35,7 +35,7 @@ boost::condition_variable cond;
 boost::mutex mut;
 bool data_ready;
 
-void workThread(SoTTestController *aSoTTest) {
+void workThread(SoTTestController* aSoTTest) {
   dynamicgraph::Interpreter aLocalInterpreter(
       dynamicgraph::rosInit(false, true));
 
@@ -74,34 +74,34 @@ void SoTTestController::init() {
 SoTTestController::~SoTTestController() {}
 
 void SoTTestController::setupSetSensors(
-    map<string, dgsot::SensorValues> &SensorsIn) {
+    map<string, dgsot::SensorValues>& SensorsIn) {
   device_->setupSetSensors(SensorsIn);
 }
 
 void SoTTestController::nominalSetSensors(
-    map<string, dgsot::SensorValues> &SensorsIn) {
+    map<string, dgsot::SensorValues>& SensorsIn) {
   device_->nominalSetSensors(SensorsIn);
 }
 
 void SoTTestController::cleanupSetSensors(
-    map<string, dgsot::SensorValues> &SensorsIn) {
+    map<string, dgsot::SensorValues>& SensorsIn) {
   device_->cleanupSetSensors(SensorsIn);
 }
 
 void SoTTestController::getControl(
-    map<string, dgsot::ControlValues> &controlOut, const double &period) {
+    map<string, dgsot::ControlValues>& controlOut, const double& period) {
   try {
     sotDEBUG(25) << __FILE__ << __FUNCTION__ << "(#" << __LINE__ << ")" << endl;
     device_->getControl(controlOut, period);
     sotDEBUG(25) << __FILE__ << __FUNCTION__ << "(#" << __LINE__ << ")" << endl;
-  } catch (dynamicgraph::sot::ExceptionAbstract &err) {
+  } catch (dynamicgraph::sot::ExceptionAbstract& err) {
     std::cout << __FILE__ << " " << __FUNCTION__ << " (" << __LINE__ << ") "
               << err.getStringMessage() << endl;
     throw err;
   }
 }
 
-void SoTTestController::setControlSize(const size_type &size) {
+void SoTTestController::setControlSize(const size_type& size) {
   device_->setControlSize(size);
 }
 
@@ -113,9 +113,9 @@ void SoTTestController::setSecondOrderIntegration(void) {
   device_->setSecondOrderIntegration();
 }
 
-void SoTTestController::runPython(std::ostream &file,
-                                  const std::string &command,
-                                  dynamicgraph::Interpreter &interpreter) {
+void SoTTestController::runPython(std::ostream& file,
+                                  const std::string& command,
+                                  dynamicgraph::Interpreter& interpreter) {
   file << ">>> " << command << std::endl;
   std::string lerr(""), lout(""), lres("");
   interpreter.runCommand(command, lres, lout, lerr);
@@ -151,7 +151,7 @@ void SoTTestController::startupPython() {
 }
 
 extern "C" {
-dgsot::AbstractSotExternalInterface *createSotExternalInterface() {
+dgsot::AbstractSotExternalInterface* createSotExternalInterface() {
   return new SoTTestController("test_robot");
 }
 }
diff --git a/tests/sot-test-controller.hh b/tests/sot-test-controller.hh
index 8f11e94..7fae7e6 100644
--- a/tests/sot-test-controller.hh
+++ b/tests/sot-test-controller.hh
@@ -33,16 +33,16 @@ class SoTTestController : public dgsot::AbstractSotExternalInterface {
   SoTTestController(std::string robotName);
   virtual ~SoTTestController();
 
-  void setupSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
+  void setupSetSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);
 
-  void nominalSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
+  void nominalSetSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);
 
-  void cleanupSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
+  void cleanupSetSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);
 
-  void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut,
-                  const double &period);
+  void getControl(std::map<std::string, dgsot::ControlValues>& anglesOut,
+                  const double& period);
 
-  void setControlSize(const size_type &size);
+  void setControlSize(const size_type& size);
   void initialize();
   void setNoIntegration(void);
   void setSecondOrderIntegration(void);
@@ -53,16 +53,16 @@ class SoTTestController : public dgsot::AbstractSotExternalInterface {
  protected:
   // Update output port with the control computed from the
   // dynamic graph.
-  void updateRobotState(std::vector<double> &anglesIn);
+  void updateRobotState(std::vector<double>& anglesIn);
 
-  void runPython(std::ostream &file, const std::string &command,
-                 dynamicgraph::Interpreter &interpreter);
+  void runPython(std::ostream& file, const std::string& command,
+                 dynamicgraph::Interpreter& interpreter);
 
   virtual void startupPython();
 
   void init();
 
-  SoTTestDevice *device_;
+  SoTTestDevice* device_;
 };
 
 #endif /* _SOT_TestController_H_ */
diff --git a/tests/sot-test-device.cpp b/tests/sot-test-device.cpp
index f9b7c5b..d0349a7 100644
--- a/tests/sot-test-device.cpp
+++ b/tests/sot-test-device.cpp
@@ -106,7 +106,7 @@ SoTTestDevice::SoTTestDevice(std::string RobotName)
 
 SoTTestDevice::~SoTTestDevice() {}
 
-void SoTTestDevice::setSensorsForce(map<string, dgsot::SensorValues> &SensorsIn,
+void SoTTestDevice::setSensorsForce(map<string, dgsot::SensorValues>& SensorsIn,
                                     sigtime_t t) {
   int map_sot_2_urdf[4] = {2, 0, 3, 1};
   sotDEBUGIN(15);
@@ -114,7 +114,7 @@ void SoTTestDevice::setSensorsForce(map<string, dgsot::SensorValues> &SensorsIn,
   it = SensorsIn.find("forces");
   if (it != SensorsIn.end()) {
     // Implements force recollection.
-    const vector<double> &forcesIn = it->second.getValues();
+    const vector<double>& forcesIn = it->second.getValues();
     if (forcesIn.size() != 0) {
       for (int i = 0; i < 4; ++i) {
         sotDEBUG(15) << "Force sensor " << i << std::endl;
@@ -132,13 +132,13 @@ void SoTTestDevice::setSensorsForce(map<string, dgsot::SensorValues> &SensorsIn,
   sotDEBUGIN(15);
 }
 
-void SoTTestDevice::setSensorsIMU(map<string, dgsot::SensorValues> &SensorsIn,
+void SoTTestDevice::setSensorsIMU(map<string, dgsot::SensorValues>& SensorsIn,
                                   sigtime_t t) {
   map<string, dgsot::SensorValues>::iterator it;
   // TODO: Confirm if this can be made quaternion
   it = SensorsIn.find("attitude");
   if (it != SensorsIn.end()) {
-    const vector<double> &attitude = it->second.getValues();
+    const vector<double>& attitude = it->second.getValues();
     for (unsigned int i = 0; i < 3; ++i)
       for (unsigned int j = 0; j < 3; ++j) pose(i, j) = attitude[i * 3 + j];
     attitudeSOUT.setConstant(pose);
@@ -147,7 +147,7 @@ void SoTTestDevice::setSensorsIMU(map<string, dgsot::SensorValues> &SensorsIn,
 
   it = SensorsIn.find("accelerometer_0");
   if (it != SensorsIn.end()) {
-    const vector<double> &accelerometer =
+    const vector<double>& accelerometer =
         SensorsIn["accelerometer_0"].getValues();
     for (std::size_t i = 0; i < 3; ++i) accelerometer_(i) = accelerometer[i];
     accelerometerSOUT_.setConstant(accelerometer_);
@@ -156,7 +156,7 @@ void SoTTestDevice::setSensorsIMU(map<string, dgsot::SensorValues> &SensorsIn,
 
   it = SensorsIn.find("gyrometer_0");
   if (it != SensorsIn.end()) {
-    const vector<double> &gyrometer = SensorsIn["gyrometer_0"].getValues();
+    const vector<double>& gyrometer = SensorsIn["gyrometer_0"].getValues();
     for (std::size_t i = 0; i < 3; ++i) gyrometer_(i) = gyrometer[i];
     gyrometerSOUT_.setConstant(gyrometer_);
     gyrometerSOUT_.setTime(t);
@@ -164,12 +164,12 @@ void SoTTestDevice::setSensorsIMU(map<string, dgsot::SensorValues> &SensorsIn,
 }
 
 void SoTTestDevice::setSensorsEncoders(
-    map<string, dgsot::SensorValues> &SensorsIn, sigtime_t t) {
+    map<string, dgsot::SensorValues>& SensorsIn, sigtime_t t) {
   map<string, dgsot::SensorValues>::iterator it;
 
   it = SensorsIn.find("motor-angles");
   if (it != SensorsIn.end()) {
-    const vector<double> &anglesIn = it->second.getValues();
+    const vector<double>& anglesIn = it->second.getValues();
     dgRobotState_.resize(anglesIn.size() + 6);
     motor_angles_.resize(anglesIn.size());
     for (unsigned i = 0; i < 6; ++i) dgRobotState_(i) = 0.;
@@ -185,7 +185,7 @@ void SoTTestDevice::setSensorsEncoders(
 
   it = SensorsIn.find("joint-angles");
   if (it != SensorsIn.end()) {
-    const vector<double> &joint_anglesIn = it->second.getValues();
+    const vector<double>& joint_anglesIn = it->second.getValues();
     joint_angles_.resize(joint_anglesIn.size());
     for (unsigned i = 0; i < joint_anglesIn.size(); ++i)
       joint_angles_(i) = joint_anglesIn[i];
@@ -195,12 +195,12 @@ void SoTTestDevice::setSensorsEncoders(
 }
 
 void SoTTestDevice::setSensorsVelocities(
-    map<string, dgsot::SensorValues> &SensorsIn, sigtime_t t) {
+    map<string, dgsot::SensorValues>& SensorsIn, sigtime_t t) {
   map<string, dgsot::SensorValues>::iterator it;
 
   it = SensorsIn.find("velocities");
   if (it != SensorsIn.end()) {
-    const vector<double> &velocitiesIn = it->second.getValues();
+    const vector<double>& velocitiesIn = it->second.getValues();
     dgRobotVelocity_.resize(velocitiesIn.size() + 6);
     for (unsigned i = 0; i < 6; ++i) dgRobotVelocity_(i) = 0.;
     for (unsigned i = 0; i < velocitiesIn.size(); ++i) {
@@ -212,11 +212,11 @@ void SoTTestDevice::setSensorsVelocities(
 }
 
 void SoTTestDevice::setSensorsTorquesCurrents(
-    map<string, dgsot::SensorValues> &SensorsIn, sigtime_t t) {
+    map<string, dgsot::SensorValues>& SensorsIn, sigtime_t t) {
   map<string, dgsot::SensorValues>::iterator it;
   it = SensorsIn.find("torques");
   if (it != SensorsIn.end()) {
-    const std::vector<double> &torques = SensorsIn["torques"].getValues();
+    const std::vector<double>& torques = SensorsIn["torques"].getValues();
     torques_.resize(torques.size());
     for (std::size_t i = 0; i < torques.size(); ++i) torques_(i) = torques[i];
     pseudoTorqueSOUT.setConstant(torques_);
@@ -225,7 +225,7 @@ void SoTTestDevice::setSensorsTorquesCurrents(
 
   it = SensorsIn.find("currents");
   if (it != SensorsIn.end()) {
-    const std::vector<double> &currents = SensorsIn["currents"].getValues();
+    const std::vector<double>& currents = SensorsIn["currents"].getValues();
     currents_.resize(currents.size());
     for (std::size_t i = 0; i < currents.size(); ++i)
       currents_(i) = currents[i];
@@ -234,12 +234,12 @@ void SoTTestDevice::setSensorsTorquesCurrents(
   }
 }
 
-void SoTTestDevice::setSensorsGains(map<string, dgsot::SensorValues> &SensorsIn,
+void SoTTestDevice::setSensorsGains(map<string, dgsot::SensorValues>& SensorsIn,
                                     sigtime_t t) {
   map<string, dgsot::SensorValues>::iterator it;
   it = SensorsIn.find("p_gains");
   if (it != SensorsIn.end()) {
-    const std::vector<double> &p_gains = SensorsIn["p_gains"].getValues();
+    const std::vector<double>& p_gains = SensorsIn["p_gains"].getValues();
     p_gains_.resize(p_gains.size());
     for (std::size_t i = 0; i < p_gains.size(); ++i) p_gains_(i) = p_gains[i];
     p_gainsSOUT_.setConstant(p_gains_);
@@ -248,7 +248,7 @@ void SoTTestDevice::setSensorsGains(map<string, dgsot::SensorValues> &SensorsIn,
 
   it = SensorsIn.find("d_gains");
   if (it != SensorsIn.end()) {
-    const std::vector<double> &d_gains = SensorsIn["d_gains"].getValues();
+    const std::vector<double>& d_gains = SensorsIn["d_gains"].getValues();
     d_gains_.resize(d_gains.size());
     for (std::size_t i = 0; i < d_gains.size(); ++i) d_gains_(i) = d_gains[i];
     d_gainsSOUT_.setConstant(d_gains_);
@@ -256,7 +256,7 @@ void SoTTestDevice::setSensorsGains(map<string, dgsot::SensorValues> &SensorsIn,
   }
 }
 
-void SoTTestDevice::setSensors(map<string, dgsot::SensorValues> &SensorsIn) {
+void SoTTestDevice::setSensors(map<string, dgsot::SensorValues>& SensorsIn) {
   sotDEBUGIN(25);
   map<string, dgsot::SensorValues>::iterator it;
   sigtime_t t = stateSOUT.getTime() + 1;
@@ -272,22 +272,22 @@ void SoTTestDevice::setSensors(map<string, dgsot::SensorValues> &SensorsIn) {
 }
 
 void SoTTestDevice::setupSetSensors(
-    map<string, dgsot::SensorValues> &SensorsIn) {
+    map<string, dgsot::SensorValues>& SensorsIn) {
   setSensors(SensorsIn);
 }
 
 void SoTTestDevice::nominalSetSensors(
-    map<string, dgsot::SensorValues> &SensorsIn) {
+    map<string, dgsot::SensorValues>& SensorsIn) {
   setSensors(SensorsIn);
 }
 
 void SoTTestDevice::cleanupSetSensors(
-    map<string, dgsot::SensorValues> &SensorsIn) {
+    map<string, dgsot::SensorValues>& SensorsIn) {
   setSensors(SensorsIn);
 }
 
-void SoTTestDevice::getControl(map<string, dgsot::ControlValues> &controlOut,
-                               const double &) {
+void SoTTestDevice::getControl(map<string, dgsot::ControlValues>& controlOut,
+                               const double&) {
   ODEBUG5FULL("start");
   sotDEBUGIN(25);
   vector<double> anglesOut;
@@ -327,18 +327,18 @@ using namespace dynamicgraph::sot;
 namespace dynamicgraph {
 namespace sot {
 #ifdef WIN32
-const char *DebugTrace::DEBUG_FILENAME_DEFAULT = "c:/tmp/sot-core-traces.txt";
+const char* DebugTrace::DEBUG_FILENAME_DEFAULT = "c:/tmp/sot-core-traces.txt";
 #else   // WIN32
-const char *DebugTrace::DEBUG_FILENAME_DEFAULT = "/tmp/sot-core-traces.txt";
+const char* DebugTrace::DEBUG_FILENAME_DEFAULT = "/tmp/sot-core-traces.txt";
 #endif  // WIN32
 
 #ifdef VP_DEBUG
 #ifdef WIN32
 std::ofstream debugfile("C:/tmp/sot-core-traces.txt",
-                        std::ios::trunc &std::ios::out);
+                        std::ios::trunc& std::ios::out);
 #else   // WIN32
 std::ofstream debugfile("/tmp/sot-core-traces.txt",
-                        std::ios::trunc &std::ios::out);
+                        std::ios::trunc& std::ios::out);
 #endif  // WIN32
 #else   // VP_DEBUG
 
diff --git a/tests/sot-test-device.hh b/tests/sot-test-device.hh
index 38cbf8c..5f5105e 100644
--- a/tests/sot-test-device.hh
+++ b/tests/sot-test-device.hh
@@ -29,21 +29,21 @@ class SoTTestDevice : public dgsot::Device {
   static const std::string CLASS_NAME;
   static const double TIMESTEP_DEFAULT;
 
-  virtual const std::string &getClassName() const { return CLASS_NAME; }
+  virtual const std::string& getClassName() const { return CLASS_NAME; }
 
   SoTTestDevice(std::string RobotName);
   virtual ~SoTTestDevice();
 
-  void setSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
+  void setSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);
 
-  void setupSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
+  void setupSetSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);
 
-  void nominalSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
+  void nominalSetSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);
 
-  void cleanupSetSensors(std::map<std::string, dgsot::SensorValues> &sensorsIn);
+  void cleanupSetSensors(std::map<std::string, dgsot::SensorValues>& sensorsIn);
 
-  void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut,
-                  const double &period);
+  void getControl(std::map<std::string, dgsot::ControlValues>& anglesOut,
+                  const double& period);
 
   void timeStep(double ts) { timestep_ = ts; }
 
@@ -71,17 +71,17 @@ class SoTTestDevice : public dgsot::Device {
   dynamicgraph::Signal<dg::Vector, sigtime_t> d_gainsSOUT_;
 
   /// Protected methods for internal variables filling
-  void setSensorsForce(std::map<std::string, dgsot::SensorValues> &SensorsIn,
+  void setSensorsForce(std::map<std::string, dgsot::SensorValues>& SensorsIn,
                        sigtime_t t);
-  void setSensorsIMU(std::map<std::string, dgsot::SensorValues> &SensorsIn,
+  void setSensorsIMU(std::map<std::string, dgsot::SensorValues>& SensorsIn,
                      sigtime_t t);
-  void setSensorsEncoders(std::map<std::string, dgsot::SensorValues> &SensorsIn,
+  void setSensorsEncoders(std::map<std::string, dgsot::SensorValues>& SensorsIn,
                           sigtime_t t);
   void setSensorsVelocities(
-      std::map<std::string, dgsot::SensorValues> &SensorsIn, sigtime_t t);
+      std::map<std::string, dgsot::SensorValues>& SensorsIn, sigtime_t t);
   void setSensorsTorquesCurrents(
-      std::map<std::string, dgsot::SensorValues> &SensorsIn, sigtime_t t);
-  void setSensorsGains(std::map<std::string, dgsot::SensorValues> &SensorsIn,
+      std::map<std::string, dgsot::SensorValues>& SensorsIn, sigtime_t t);
+  void setSensorsGains(std::map<std::string, dgsot::SensorValues>& SensorsIn,
                        sigtime_t t);
 
   /// Intermediate variables to avoid allocation during control