diff --git a/dart/collision/Option.hpp b/dart/collision/Option.hpp
index 7a7a48d476305..6652a57158d5f 100644
--- a/dart/collision/Option.hpp
+++ b/dart/collision/Option.hpp
@@ -35,7 +35,7 @@
 
 #pragma message(                                                               \
     "This header has been deprecated in DART 6.1. "                            \
-    "Please include CollisionOption.hpp intead.")
+    "Please include CollisionOption.hpp instead.")
 
 #include <dart/collision/CollisionOption.hpp>
 
diff --git a/dart/collision/Result.hpp b/dart/collision/Result.hpp
index 5c9714682a42a..3db857732934c 100644
--- a/dart/collision/Result.hpp
+++ b/dart/collision/Result.hpp
@@ -35,7 +35,7 @@
 
 #pragma message(                                                               \
     "This header has been deprecated in DART 6.1. "                            \
-    "Please include CollisionResult.hpp intead.")
+    "Please include CollisionResult.hpp instead.")
 
 #include <dart/collision/CollisionResult.hpp>
 
diff --git a/dart/common/MemoryAllocator.hpp b/dart/common/MemoryAllocator.hpp
index 23929683c18a0..0964c760d4cf2 100644
--- a/dart/common/MemoryAllocator.hpp
+++ b/dart/common/MemoryAllocator.hpp
@@ -33,6 +33,8 @@
 #ifndef DART_COMMON_MEMORYALLOCATOR_HPP_
 #define DART_COMMON_MEMORYALLOCATOR_HPP_
 
+#include <dart/config.hpp>
+
 #include <dart/common/Castable.hpp>
 
 #include <iostream>
diff --git a/dart/constraint/ConstrainedGroup.hpp b/dart/constraint/ConstrainedGroup.hpp
index 2a25163d32780..aa79ae559b28d 100644
--- a/dart/constraint/ConstrainedGroup.hpp
+++ b/dart/constraint/ConstrainedGroup.hpp
@@ -33,6 +33,8 @@
 #ifndef DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_
 #define DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_
 
+#include <dart/config.hpp>
+
 #include <dart/constraint/SmartPointer.hpp>
 
 #include <Eigen/Dense>
diff --git a/dart/constraint/DantzigLCPSolver.hpp b/dart/constraint/DantzigLCPSolver.hpp
index 33216eafc61b8..2937657977759 100644
--- a/dart/constraint/DantzigLCPSolver.hpp
+++ b/dart/constraint/DantzigLCPSolver.hpp
@@ -43,7 +43,7 @@ namespace dart {
 namespace constraint {
 
 /// \deprecated This header has been deprecated in DART 6.7. Please include
-/// DantzigBoxedLcpSolver.hpp intead.
+/// DantzigBoxedLcpSolver.hpp instead.
 ///
 /// DantzigLCPSolver is a LCP solver that uses ODE's implementation of Dantzig
 /// algorithm
@@ -64,7 +64,7 @@ class DantzigLCPSolver : public LCPSolver
   /// Return true if the matrix is symmetric
   bool isSymmetric(std::size_t _n, double* _A);
 
-  /// Return true if the diagonla block of matrix is symmetric
+  /// Return true if the diagonal block of matrix is symmetric
   bool isSymmetric(
       std::size_t _n, double* _A, std::size_t _begin, std::size_t _end);
 
diff --git a/dart/constraint/JointConstraint.cpp b/dart/constraint/JointConstraint.cpp
index db1dbc777e89c..32ebec57fdfc1 100644
--- a/dart/constraint/JointConstraint.cpp
+++ b/dart/constraint/JointConstraint.cpp
@@ -374,8 +374,7 @@ void JointConstraint::getInformation(ConstraintInfo* lcp)
       continue;
 
 #if DART_BUILD_MODE_DEBUG
-    if (std::abs(lcp->w[index]) > 1e-6)
-    {
+    if (std::abs(lcp->w[index]) > 1e-6) {
       dterr << "Invalid " << index
             << "-th slack variable. Expected: 0.0. Actual: " << lcp->w[index]
             << ".\n";
@@ -389,8 +388,7 @@ void JointConstraint::getInformation(ConstraintInfo* lcp)
     lcp->hi[index] = mImpulseUpperBound[i];
 
 #if DART_BUILD_MODE_DEBUG
-    if (lcp->findex[index] != -1)
-    {
+    if (lcp->findex[index] != -1) {
       dterr << "Invalid " << index
             << "-th friction index. Expected: -1. Actual: "
             << lcp->findex[index] << ".\n";
diff --git a/dart/constraint/PGSLCPSolver.hpp b/dart/constraint/PGSLCPSolver.hpp
index d7b4eabaa53c3..7d72b1b22eb88 100644
--- a/dart/constraint/PGSLCPSolver.hpp
+++ b/dart/constraint/PGSLCPSolver.hpp
@@ -63,7 +63,7 @@ class PGSLCPSolver : public LCPSolver
   /// Return true if the matrix is symmetric
   bool isSymmetric(std::size_t _n, double* _A);
 
-  /// Return true if the diagonla block of matrix is symmetric
+  /// Return true if the diagonal block of matrix is symmetric
   bool isSymmetric(
       std::size_t _n, double* _A, std::size_t _begin, std::size_t _end);
 
diff --git a/dart/dynamics/MultiSphereShape.hpp b/dart/dynamics/MultiSphereShape.hpp
index 3b6fd265956b4..647da74ff5bbd 100644
--- a/dart/dynamics/MultiSphereShape.hpp
+++ b/dart/dynamics/MultiSphereShape.hpp
@@ -35,7 +35,7 @@
 
 #pragma message(                                                               \
     "This header has been deprecated in DART 6.2. "                            \
-    "Please include MultiSphereConvexHullShape.hpp intead.")
+    "Please include MultiSphereConvexHullShape.hpp instead.")
 
 #include <dart/dynamics/MultiSphereConvexHullShape.hpp>
 
diff --git a/dart/dynamics/Skeleton.cpp b/dart/dynamics/Skeleton.cpp
index 153722f254f12..16a76c4616f0b 100644
--- a/dart/dynamics/Skeleton.cpp
+++ b/dart/dynamics/Skeleton.cpp
@@ -2156,10 +2156,8 @@ void Skeleton::registerBodyNode(BodyNode* _newBodyNode)
   updateCacheDimensions(_newBodyNode->mTreeIndex);
 
 #if DART_BUILD_MODE_DEBUG
-  for (std::size_t i = 0; i < mSkelCache.mBodyNodes.size(); ++i)
-  {
-    if (mSkelCache.mBodyNodes[i]->mIndexInSkeleton != i)
-    {
+  for (std::size_t i = 0; i < mSkelCache.mBodyNodes.size(); ++i) {
+    if (mSkelCache.mBodyNodes[i]->mIndexInSkeleton != i) {
       dterr << "[Skeleton::registerBodyNode] BodyNode named ["
             << mSkelCache.mBodyNodes[i]->getName() << "] in Skeleton ["
             << getName() << "] is mistaken about its index in the Skeleton ( "
diff --git a/dart/utils/urdf/URDFTypes.hpp b/dart/utils/urdf/URDFTypes.hpp
index c77d568af551f..e41408533c52e 100644
--- a/dart/utils/urdf/URDFTypes.hpp
+++ b/dart/utils/urdf/URDFTypes.hpp
@@ -35,7 +35,7 @@
 
 #pragma message(                                                               \
     "This header has been deprecated in DART 6.2. "                            \
-    "Please include dart/utils/urdf/BackwardCompatibility.hpp intead.")
+    "Please include dart/utils/urdf/BackwardCompatibility.hpp instead.")
 
 #include <dart/utils/urdf/BackwardCompatibility.hpp>
 
diff --git a/tests/integration/test_Dynamics.cpp b/tests/integration/test_Dynamics.cpp
index 44f961534d939..09f9755505e56 100644
--- a/tests/integration/test_Dynamics.cpp
+++ b/tests/integration/test_Dynamics.cpp
@@ -2020,8 +2020,7 @@ void DynamicsTest::testCenterOfMassFreeFall(const common::Uri& uri)
 
     auto dof = skel->getNumDofs();
 
-    if (nullptr == rootFreeJoint || !skel->isMobile() || 0 == dof)
-    {
+    if (nullptr == rootFreeJoint || !skel->isMobile() || 0 == dof) {
 #if DART_BUILD_MODE_DEBUG
       dtmsg << "Skipping COM free fall test for Skeleton [" << skel->getName()
             << "] since the Skeleton doesn't have FreeJoint at the root body "
@@ -2260,8 +2259,7 @@ void DynamicsTest::testImpulseBasedDynamics(const common::Uri& uri)
 //==============================================================================
 TEST_F(DynamicsTest, testJacobians)
 {
-  for (std::size_t i = 0; i < getList().size(); ++i)
-  {
+  for (std::size_t i = 0; i < getList().size(); ++i) {
 #if DART_BUILD_MODE_DEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
@@ -2272,8 +2270,7 @@ TEST_F(DynamicsTest, testJacobians)
 //==============================================================================
 TEST_F(DynamicsTest, testFiniteDifference)
 {
-  for (std::size_t i = 0; i < getList().size(); ++i)
-  {
+  for (std::size_t i = 0; i < getList().size(); ++i) {
 #if DART_BUILD_MODE_DEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
@@ -2286,8 +2283,7 @@ TEST_F(DynamicsTest, testFiniteDifference)
 //==============================================================================
 TEST_F(DynamicsTest, testForwardKinematics)
 {
-  for (std::size_t i = 0; i < getList().size(); ++i)
-  {
+  for (std::size_t i = 0; i < getList().size(); ++i) {
 #if DART_BUILD_MODE_DEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
@@ -2298,8 +2294,7 @@ TEST_F(DynamicsTest, testForwardKinematics)
 //==============================================================================
 TEST_F(DynamicsTest, testInverseDynamics)
 {
-  for (std::size_t i = 0; i < getList().size(); ++i)
-  {
+  for (std::size_t i = 0; i < getList().size(); ++i) {
 #if DART_BUILD_MODE_DEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
@@ -2336,8 +2331,7 @@ TEST_F(DynamicsTest, compareEquationsOfMotion)
 //==============================================================================
 TEST_F(DynamicsTest, testCenterOfMass)
 {
-  for (std::size_t i = 0; i < getList().size(); ++i)
-  {
+  for (std::size_t i = 0; i < getList().size(); ++i) {
 #if DART_BUILD_MODE_DEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
@@ -2348,8 +2342,7 @@ TEST_F(DynamicsTest, testCenterOfMass)
 //==============================================================================
 TEST_F(DynamicsTest, testCenterOfMassFreeFall)
 {
-  for (std::size_t i = 0; i < getList().size(); ++i)
-  {
+  for (std::size_t i = 0; i < getList().size(); ++i) {
 #if DART_BUILD_MODE_DEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
@@ -2360,8 +2353,7 @@ TEST_F(DynamicsTest, testCenterOfMassFreeFall)
 //==============================================================================
 TEST_F(DynamicsTest, testConstraintImpulse)
 {
-  for (std::size_t i = 0; i < getList().size(); ++i)
-  {
+  for (std::size_t i = 0; i < getList().size(); ++i) {
 #if DART_BUILD_MODE_DEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
@@ -2372,8 +2364,7 @@ TEST_F(DynamicsTest, testConstraintImpulse)
 //==============================================================================
 TEST_F(DynamicsTest, testImpulseBasedDynamics)
 {
-  for (std::size_t i = 0; i < getList().size(); ++i)
-  {
+  for (std::size_t i = 0; i < getList().size(); ++i) {
 #if DART_BUILD_MODE_DEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
@@ -2386,7 +2377,7 @@ TEST_F(DynamicsTest, HybridDynamics)
 {
   const double tol = 1e-8;
   const double timeStep = 1e-3;
-#if DART_BUILD_MODE_DEBUG 
+#if DART_BUILD_MODE_DEBUG
   const std::size_t numFrames = 50; // 0.05 secs
 #else
   const std::size_t numFrames = 5e+3; // 5 secs