diff --git a/CHANGELOG.md b/CHANGELOG.md
index a7ec90e329..52f4bfef3e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Changed
+- Set NOMINMAX as a public definitions on Windows ([#2139](https://github.com/stack-of-tasks/pinocchio/pull/2139))
+
+### Fixed
+- Remove a lot of warnings ([#2139](https://github.com/stack-of-tasks/pinocchio/pull/2139))
+
 ## [2.7.0] - 2024-01-23
 
 ### Added
diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
index 3d23cc158e..2a561644f1 100644
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -5,10 +5,6 @@
 # ----------------------------------------------------
 # --- BENCHMARK --------------------------------------
 # ----------------------------------------------------
-IF(WIN32)
-  ADD_DEFINITIONS("-DNOMINMAX")
-ENDIF()
-
 ADD_CUSTOM_TARGET(bench)
 
 MACRO(ADD_BENCH bench_name)
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index 72c88be6dd..4c37b0c789 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -44,10 +44,12 @@ IF(BUILD_PYTHON_INTERFACE)
   # Do not report:
   #  -Wconversion as the BOOST_PYTHON_FUNCTION_OVERLOADS implicitly converts.
   #  -Wcomment as latex equations have multi-line comments.
-  #  -Wself-assign-overloaded as bp::self operations trigger this
-  IF(NOT WIN32)
-    TARGET_COMPILE_OPTIONS(${PYWRAP} PRIVATE -Wno-conversion -Wno-comment -Wno-self-assign-overloaded)
-  ENDIF(NOT WIN32)
+  #  -Wself-assign-overloaded as bp::self operations trigger this (Clang only)
+  CXX_FLAGS_BY_COMPILER_FRONTEND(
+    GNU -Wno-conversion -Wno-comment -Wno-self-assign-overloaded
+    OUTPUT PRIVATE_OPTIONS
+    FILTER)
+  TARGET_COMPILE_OPTIONS(${PYWRAP} PRIVATE ${PRIVATE_OPTIONS})
 
   SET_TARGET_PROPERTIES(${PYWRAP} PROPERTIES VERSION ${PROJECT_VERSION})
   IF(BUILD_WITH_COMMIT_VERSION)
@@ -61,7 +63,6 @@ IF(BUILD_PYTHON_INTERFACE)
     TARGET_COMPILE_DEFINITIONS(${PYWRAP} PRIVATE -DPINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS)
   ENDIF(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
   IF(WIN32)
-    TARGET_COMPILE_DEFINITIONS(${PYWRAP} PRIVATE -DNOMINMAX)
     TARGET_LINK_LIBRARIES(${PYWRAP} PUBLIC ${PYTHON_LIBRARY})
   ENDIF(WIN32)
 
diff --git a/bindings/python/parsers/urdf/geometry.cpp b/bindings/python/parsers/urdf/geometry.cpp
index 04b204554b..4078e4cbce 100644
--- a/bindings/python/parsers/urdf/geometry.cpp
+++ b/bindings/python/parsers/urdf/geometry.cpp
@@ -29,7 +29,10 @@ namespace pinocchio
       MeshLoaderPtr mesh_loader = MeshLoaderPtr();
       if (!py_mesh_loader.is_none()) {
 #ifdef PINOCCHIO_WITH_HPP_FCL
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
         mesh_loader = bp::extract<::hpp::fcl::MeshLoaderPtr>(py_mesh_loader);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 #else
         PyErr_WarnEx(PyExc_UserWarning, "Mesh loader is ignored because Pinocchio is not built with hpp-fcl", 1);
 #endif
diff --git a/cmake b/cmake
index fff972a050..5e91513ba7 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit fff972a050d2f8812c3c55bea92b6a67d71f615b
+Subproject commit 5e91513ba70fef30a67b2a8c4b8d8214b554949d
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index e8f6141724..ea2aa397b5 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -2,12 +2,21 @@
 # Copyright (c) 2015-2022 CNRS INRIA
 #
 
+# Compute flags outside the macro to avoid recomputing it for each tests
+CXX_FLAGS_BY_COMPILER_FRONTEND(
+  MSVC _USE_MATH_DEFINES
+  OUTPUT EXAMPLE_PRIVATE_DEFINITIONS)
+
 FUNCTION(ADD_PINOCCHIO_CPP_EXAMPLE EXAMPLE)
   GET_FILENAME_COMPONENT(EXAMPLE_NAME ${EXAMPLE} NAME)
   SET(EXAMPLE_NAME "example-cpp-${EXAMPLE_NAME}")
   ADD_UNIT_TEST(${EXAMPLE_NAME} "${EXAMPLE}.cpp")
   TARGET_LINK_LIBRARIES(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME})
 
+  TARGET_COMPILE_DEFINITIONS(${EXAMPLE_NAME}
+    PRIVATE ${EXAMPLE_PRIVATE_DEFINITIONS}
+            PINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
+
   # There is no RPATH in Windows, then we must use the PATH to find the DLL
   IF(WIN32)
     STRING(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
@@ -51,12 +60,6 @@ IF(hpp-fcl_FOUND)
   ENDIF()
 ENDIF(hpp-fcl_FOUND)
 
-ADD_DEFINITIONS(-DPINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
-
-IF(WIN32)
-  ADD_DEFINITIONS("-DNOMINMAX -D_USE_MATH_DEFINES")
-ENDIF(WIN32)
-
 FOREACH(EXAMPLE ${${PROJECT_NAME}_EXAMPLES})
   ADD_PINOCCHIO_CPP_EXAMPLE(${EXAMPLE})
 ENDFOREACH(EXAMPLE ${${PROJECT_NAME}_EXAMPLES})
diff --git a/examples/overview-lie.cpp b/examples/overview-lie.cpp
index 74689e311a..168145d8d5 100644
--- a/examples/overview-lie.cpp
+++ b/examples/overview-lie.cpp
@@ -12,6 +12,7 @@ int main()
   SE2Operation aSE2;
   SE2Operation::ConfigVector_t pose_s,pose_g;
   SE2Operation::TangentVector_t delta_u;
+  delta_u.setZero();
 
   // Starting configuration
   pose_s(0) = 1.0; pose_s(1) = 1.0;
diff --git a/include/pinocchio/bindings/python/multibody/data.hpp b/include/pinocchio/bindings/python/multibody/data.hpp
index 7698a5de6d..841c4022af 100644
--- a/include/pinocchio/bindings/python/multibody/data.hpp
+++ b/include/pinocchio/bindings/python/multibody/data.hpp
@@ -20,7 +20,9 @@
 
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Data)
+#endif
 
 namespace pinocchio
 {
diff --git a/include/pinocchio/bindings/python/multibody/geometry-data.hpp b/include/pinocchio/bindings/python/multibody/geometry-data.hpp
index 099efd74fc..b8dcef27fe 100644
--- a/include/pinocchio/bindings/python/multibody/geometry-data.hpp
+++ b/include/pinocchio/bindings/python/multibody/geometry-data.hpp
@@ -15,7 +15,9 @@
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
 #include "pinocchio/bindings/python/serialization/serializable.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryData)
+#endif
 
 namespace pinocchio
 {
diff --git a/include/pinocchio/bindings/python/multibody/geometry-model.hpp b/include/pinocchio/bindings/python/multibody/geometry-model.hpp
index fe28d81311..70ee906e1e 100644
--- a/include/pinocchio/bindings/python/multibody/geometry-model.hpp
+++ b/include/pinocchio/bindings/python/multibody/geometry-model.hpp
@@ -11,7 +11,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/multibody/geometry.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryModel)
+#endif
 
 namespace pinocchio
 {
diff --git a/include/pinocchio/bindings/python/multibody/geometry-object.hpp b/include/pinocchio/bindings/python/multibody/geometry-object.hpp
index 5c44b2926e..e61f95cdac 100644
--- a/include/pinocchio/bindings/python/multibody/geometry-object.hpp
+++ b/include/pinocchio/bindings/python/multibody/geometry-object.hpp
@@ -11,7 +11,9 @@
 
 #include "pinocchio/multibody/geometry.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryObject)
+#endif
 
 namespace pinocchio
 {
diff --git a/include/pinocchio/bindings/python/multibody/model.hpp b/include/pinocchio/bindings/python/multibody/model.hpp
index de7716e10a..976ff3c011 100644
--- a/include/pinocchio/bindings/python/multibody/model.hpp
+++ b/include/pinocchio/bindings/python/multibody/model.hpp
@@ -23,7 +23,9 @@
 #include "pinocchio/bindings/python/utils/pickle-map.hpp"
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Model)
+#endif
 
 namespace pinocchio
 {
diff --git a/include/pinocchio/bindings/python/multibody/pool/geometry.hpp b/include/pinocchio/bindings/python/multibody/pool/geometry.hpp
index 5505e18449..eb994d54bc 100644
--- a/include/pinocchio/bindings/python/multibody/pool/geometry.hpp
+++ b/include/pinocchio/bindings/python/multibody/pool/geometry.hpp
@@ -17,7 +17,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::GeometryPool)
+#endif
 
 namespace pinocchio
 {
diff --git a/include/pinocchio/bindings/python/multibody/pool/model.hpp b/include/pinocchio/bindings/python/multibody/pool/model.hpp
index e2191a9d3f..f3b418951d 100644
--- a/include/pinocchio/bindings/python/multibody/pool/model.hpp
+++ b/include/pinocchio/bindings/python/multibody/pool/model.hpp
@@ -17,7 +17,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/std-vector.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::ModelPool)
+#endif
 
 namespace pinocchio
 {
diff --git a/include/pinocchio/bindings/python/spatial/force.hpp b/include/pinocchio/bindings/python/spatial/force.hpp
index 91459b653a..50e946bb22 100644
--- a/include/pinocchio/bindings/python/spatial/force.hpp
+++ b/include/pinocchio/bindings/python/spatial/force.hpp
@@ -16,7 +16,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Force)
+#endif
 
 namespace pinocchio
 {
diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp
index 3141572c56..e9f43d97a3 100644
--- a/include/pinocchio/bindings/python/spatial/inertia.hpp
+++ b/include/pinocchio/bindings/python/spatial/inertia.hpp
@@ -16,7 +16,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Inertia)
+#endif
 
 namespace pinocchio
 {
diff --git a/include/pinocchio/bindings/python/spatial/motion.hpp b/include/pinocchio/bindings/python/spatial/motion.hpp
index 9458b6913f..6658b57cb7 100644
--- a/include/pinocchio/bindings/python/spatial/motion.hpp
+++ b/include/pinocchio/bindings/python/spatial/motion.hpp
@@ -17,7 +17,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Motion)
+#endif
 
 namespace pinocchio
 {
diff --git a/include/pinocchio/bindings/python/spatial/se3.hpp b/include/pinocchio/bindings/python/spatial/se3.hpp
index 13404661c4..889aff59f0 100644
--- a/include/pinocchio/bindings/python/spatial/se3.hpp
+++ b/include/pinocchio/bindings/python/spatial/se3.hpp
@@ -20,7 +20,9 @@
 #include "pinocchio/bindings/python/utils/copyable.hpp"
 #include "pinocchio/bindings/python/utils/printable.hpp"
 
+#if EIGENPY_VERSION_AT_MOST(2,8,1)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::SE3)
+#endif
 
 namespace pinocchio
 {
diff --git a/include/pinocchio/container/aligned-vector.hpp b/include/pinocchio/container/aligned-vector.hpp
index a6fe4cb5e7..e91e6fd851 100644
--- a/include/pinocchio/container/aligned-vector.hpp
+++ b/include/pinocchio/container/aligned-vector.hpp
@@ -39,8 +39,10 @@ namespace pinocchio
       aligned_vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type())
       : vector_base(first, last, a) {}
       aligned_vector(const aligned_vector & c) : vector_base(c) {}
-      explicit aligned_vector(size_type num, const value_type & val = value_type())
+      explicit aligned_vector(size_type num, const value_type & val)
       : vector_base(num, val) {}
+      explicit aligned_vector(size_type num)
+      : vector_base(num) {}
       aligned_vector(iterator start, iterator end) : vector_base(start, end) {}
       aligned_vector & operator=(const aligned_vector& x)
       { vector_base::operator=(x); return *this; }
diff --git a/include/pinocchio/macros.hpp b/include/pinocchio/macros.hpp
index ff268d8c2b..63842d126e 100644
--- a/include/pinocchio/macros.hpp
+++ b/include/pinocchio/macros.hpp
@@ -80,14 +80,21 @@ namespace pinocchio
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH  _Pragma("GCC diagnostic push")
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_POP   _Pragma("GCC diagnostic pop")
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS  _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+# if defined(__clang__)
+#  define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
+# else
+#  define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED  _Pragma("GCC diagnostic ignored \"-Wmaybe-uninitialized\"")
+# endif
 #elif defined (WIN32)
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH  _Pragma("warning(push)")
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_POP   _Pragma("warning(pop)")
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS  _Pragma("warning(disable : 4996)")
+# define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
 #else
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 # define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
+# define PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
 #endif // __GNUC__
 
 // Handle explicitely the GCC boring warning: 'anonymous variadic macros were introduced in C++11'
diff --git a/include/pinocchio/math/quaternion.hpp b/include/pinocchio/math/quaternion.hpp
index 218bb1d9f0..7c64a50f6d 100644
--- a/include/pinocchio/math/quaternion.hpp
+++ b/include/pinocchio/math/quaternion.hpp
@@ -105,7 +105,7 @@ namespace pinocchio
     
     /// Uniformly random quaternion sphere.
     template<typename Derived>
-    void uniformRandom(const Eigen::QuaternionBase<Derived> & q)
+    void uniformRandom(Eigen::QuaternionBase<Derived> & q)
     {
       typedef typename Derived::Scalar Scalar;
 
@@ -121,10 +121,10 @@ namespace pinocchio
       Scalar s2,c2; SINCOS(Scalar(2)*PI_value*u2,&s2,&c2);
       Scalar s3,c3; SINCOS(Scalar(2)*PI_value*u3,&s3,&c3);
       
-      PINOCCHIO_EIGEN_CONST_CAST(Derived,q).w() = mult1 * s2;
-      PINOCCHIO_EIGEN_CONST_CAST(Derived,q).x() = mult1 * c2;
-      PINOCCHIO_EIGEN_CONST_CAST(Derived,q).y() = mult2 * s3;
-      PINOCCHIO_EIGEN_CONST_CAST(Derived,q).z() = mult2 * c3;
+      q.w() = mult1 * s2;
+      q.x() = mult1 * c2;
+      q.y() = mult2 * s3;
+      q.z() = mult2 * c3;
     }
     
     namespace internal
diff --git a/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp b/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
index a8445c89a0..a8098e4fd5 100644
--- a/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
+++ b/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
@@ -496,7 +496,7 @@ namespace pinocchio
     
     typedef Eigen::Matrix<Scalar,3,1,_Options> Vector3;
     
-    JointModelPrismaticUnalignedTpl() {}
+    JointModelPrismaticUnalignedTpl(): axis(Vector3::UnitX()) {}
     JointModelPrismaticUnalignedTpl(const Scalar & x,
                                     const Scalar & y,
                                     const Scalar & z)
diff --git a/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp b/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
index 487a9eff71..871073b778 100644
--- a/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
+++ b/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
@@ -519,7 +519,7 @@ namespace pinocchio
     using Base::idx_v;
     using Base::setIndexes;
     
-    JointModelRevoluteUnalignedTpl() {}
+    JointModelRevoluteUnalignedTpl(): axis(Vector3::UnitX()) {}
     
     JointModelRevoluteUnalignedTpl(const Scalar & x,
                                    const Scalar & y,
diff --git a/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp b/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
index 8d61a3030d..01928e653e 100644
--- a/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
+++ b/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
@@ -114,7 +114,7 @@ namespace pinocchio
     using Base::idx_v;
     using Base::setIndexes;
     
-    JointModelRevoluteUnboundedUnalignedTpl() {}
+    JointModelRevoluteUnboundedUnalignedTpl(): axis(Vector3::UnitX()) {}
     
     JointModelRevoluteUnboundedUnalignedTpl(const Scalar & x,
                                             const Scalar & y,
diff --git a/include/pinocchio/multibody/liegroup/liegroup-base.hxx b/include/pinocchio/multibody/liegroup/liegroup-base.hxx
index a1d554a5fa..a51c52f480 100644
--- a/include/pinocchio/multibody/liegroup/liegroup-base.hxx
+++ b/include/pinocchio/multibody/liegroup/liegroup-base.hxx
@@ -557,8 +557,11 @@ namespace pinocchio {
       const AssignmentOperatorType op) const
   {
     Index nv_ (nv());
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     JacobianMatrix_t J (nv_, nv_);
     dIntegrate(q, v, J, arg);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     switch (op) {
       case SETTO:
         if(dIntegrateOnTheLeft) Jout = J * Jin;
@@ -585,8 +588,11 @@ namespace pinocchio {
                                                        const AssignmentOperatorType op) const
   {
     Index nv_ (nv());
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     JacobianMatrix_t J (nv_, nv_);
     dDifference<arg>(q0, q1, J);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     switch (op) {
       case SETTO:
         if(dDifferenceOnTheLeft) Jout = J * Jin;
@@ -627,8 +633,11 @@ namespace pinocchio {
       const Eigen::MatrixBase<ConfigL_t> & q0,
       const Eigen::MatrixBase<ConfigR_t> & q1) const
   {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     TangentVector_t t(nv());
     difference(q0.derived(), q1.derived(), t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     return t.squaredNorm();
   }
 
diff --git a/include/pinocchio/multibody/liegroup/liegroup-generic.hpp b/include/pinocchio/multibody/liegroup/liegroup-generic.hpp
index 616a01d9e2..b095d57830 100644
--- a/include/pinocchio/multibody/liegroup/liegroup-generic.hpp
+++ b/include/pinocchio/multibody/liegroup/liegroup-generic.hpp
@@ -43,15 +43,8 @@ namespace pinocchio
     : Base(lg_variant)
     {}
     
-    LieGroupGenericTpl(const LieGroupGenericTpl & lg_generic)
-    : Base(lg_generic)
-    {}
-
-    LieGroupGenericTpl & operator=(const LieGroupGenericTpl & other)
-    {
-      static_cast<Base&>(*this) = other.toVariant();
-      return *this;
-    }
+    LieGroupGenericTpl(const LieGroupGenericTpl & lg_generic) = default;
+    LieGroupGenericTpl & operator=(const LieGroupGenericTpl & other) = default;
 
     const LieGroupVariant & toVariant() const
     { return static_cast<const LieGroupVariant &>(*this); }
diff --git a/include/pinocchio/multibody/liegroup/special-euclidean.hpp b/include/pinocchio/multibody/liegroup/special-euclidean.hpp
index c6e7ebe678..bffd27ab37 100644
--- a/include/pinocchio/multibody/liegroup/special-euclidean.hpp
+++ b/include/pinocchio/multibody/liegroup/special-euclidean.hpp
@@ -222,9 +222,12 @@ namespace pinocchio
                                 const Eigen::MatrixBase<ConfigR_t> & q1,
                                 const Eigen::MatrixBase<Tangent_t> & d)
     {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix2 R0, R1; Vector2 t0, t1;
       forwardKinematics(R0, t0, q0);
       forwardKinematics(R1, t1, q1);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       Matrix2 R (R0.transpose() * R1);
       Vector2 t (R0.transpose() * (t1 - t0));
 
@@ -236,15 +239,21 @@ namespace pinocchio
                           const Eigen::MatrixBase<ConfigR_t> & q1,
                           const Eigen::MatrixBase<JacobianOut_t>& J) const
     {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix2 R0, R1; Vector2 t0, t1;
       forwardKinematics(R0, t0, q0);
       forwardKinematics(R1, t1, q1);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       Matrix2 R (R0.transpose() * R1);
       Vector2 t (R0.transpose() * (t1 - t0));
 
       if (arg == ARG0) {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
         JacobianMatrix_t J1;
         Jlog (R, t, J1);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
         // pcross = [ y1-y0, - (x1 - x0) ]
         Vector2 pcross (q1(1) - q0(1), q0(0) - q1(0));
@@ -267,10 +276,13 @@ namespace pinocchio
     {
       ConfigOut_t & out = PINOCCHIO_EIGEN_CONST_CAST(ConfigOut_t,qout);
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix2 R0, R;
       Vector2 t0, t;
       forwardKinematics(R0, t0, q);
       exp(v, R, t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       out.template head<2>().noalias() = R0 * t + t0;
       out.template tail<2>().noalias() = R0 * R.col(0);
@@ -300,9 +312,12 @@ namespace pinocchio
     {
       JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J);
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix2 R;
       Vector2 t;
       exp(v, R, t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       toInverseActionMatrix(R, t, Jout, op);
     }
@@ -316,8 +331,11 @@ namespace pinocchio
       JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J);
       // TODO sparse version
       MotionTpl<Scalar,0> nu; nu.toVector() << v.template head<2>(), 0, 0, 0, v[2]; 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Eigen::Matrix<Scalar,6,6> Jtmp6;
       Jexp6(nu, Jtmp6);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       switch(op)
         {
@@ -350,9 +368,12 @@ namespace pinocchio
                                      const Eigen::MatrixBase<JacobianOut_t> & J_out) const
     {
       JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix2 R;
       Vector2 t;
       exp(v, R, t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       Vector2 tinv = (R.transpose() * t).reverse();
       tinv[0] *= Scalar(-1.);
@@ -371,8 +392,11 @@ namespace pinocchio
       JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
       MotionTpl<Scalar,0> nu; nu.toVector() << v.template head<2>(), 0, 0, 0, v[2]; 
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Eigen::Matrix<Scalar,6,6> Jtmp6;
       Jexp6(nu, Jtmp6);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       
       Jout.template topRows<2>().noalias()
       = Jtmp6.template topLeftCorner<2,2>() * Jin.template topRows<2>();
@@ -391,9 +415,12 @@ namespace pinocchio
                                      const Eigen::MatrixBase<Jacobian_t> & J) const
     {
       Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J);
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix2 R;
       Vector2 t;
       exp(v, R, t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       Vector2 tinv = (R.transpose() * t).reverse();
       tinv[0] *= Scalar(-1);
@@ -411,8 +438,11 @@ namespace pinocchio
       Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J);
       MotionTpl<Scalar,0> nu; nu.toVector() << v.template head<2>(), 0, 0, 0, v[2]; 
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Eigen::Matrix<Scalar,6,6> Jtmp6;
       Jexp6(nu, Jtmp6);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       //TODO: Remove aliasing
       Jout.template topRows<2>()
       = Jtmp6.template topLeftCorner<2,2>() * Jout.template topRows<2>();
@@ -570,8 +600,11 @@ namespace pinocchio
                    * SE3(R1, q1.template head<3>()));
 
       if (arg == ARG0) {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
         JacobianMatrix_t J1;
         Jlog6 (M, J1);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
         const Vector3 p1_p0 = R1.transpose()*(q1.template head<3>() - q0.template head<3>());
 
@@ -638,6 +671,8 @@ namespace pinocchio
       
       typedef Eigen::Matrix<Scalar,4,3,JacobianPlainType::Options|Eigen::RowMajor> Jacobian43;
       typedef SE3Tpl<Scalar,ConfigPlainType::Options> SE3;
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Jacobian43 Jexp3QuatCoeffWise;
       
       Scalar theta;
@@ -645,6 +680,7 @@ namespace pinocchio
       quaternion::Jexp3CoeffWise(v,Jexp3QuatCoeffWise);
       typename SE3::Matrix3 Jlog;
       Jlog3(theta,v,Jlog);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       
 //      std::cout << "Jexp3QuatCoeffWise\n" << Jexp3QuatCoeffWise << std::endl;
 //      std::cout << "Jlog\n" << Jlog << std::endl;
@@ -729,8 +765,11 @@ namespace pinocchio
                                      const Eigen::MatrixBase<JacobianOut_t> & J_out) const
     {
       JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Eigen::Matrix<Scalar,6,6> Jtmp6;
       Jexp6<SETTO>(MotionRef<const Tangent_t>(v.derived()), Jtmp6);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       Jout.template topRows<3>().noalias()
       = Jtmp6.template topLeftCorner<3,3>() * Jin.template topRows<3>();
@@ -765,8 +804,11 @@ namespace pinocchio
                                      const Eigen::MatrixBase<Jacobian_t> & J_out) const
     {
       Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J_out);
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Eigen::Matrix<Scalar,6,6> Jtmp6;
       Jexp6<SETTO>(MotionRef<const Tangent_t>(v.derived()), Jtmp6);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       Jout.template topRows<3>()
       = Jtmp6.template topLeftCorner<3,3>() * Jout.template topRows<3>();
@@ -780,8 +822,11 @@ namespace pinocchio
     static Scalar squaredDistance_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
                                        const Eigen::MatrixBase<ConfigR_t> & q1)
     {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       TangentVector_t t;
       difference_impl(q0, q1, t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       return t.squaredNorm();
     }
     
diff --git a/include/pinocchio/multibody/liegroup/special-orthogonal.hpp b/include/pinocchio/multibody/liegroup/special-orthogonal.hpp
index 9884de93b3..b6e81b5918 100644
--- a/include/pinocchio/multibody/liegroup/special-orthogonal.hpp
+++ b/include/pinocchio/multibody/liegroup/special-orthogonal.hpp
@@ -401,8 +401,11 @@ namespace pinocchio
       const Quaternion_t quat_diff = quat0.conjugate() * quat1;
 
       if (arg == ARG0) {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
         JacobianMatrix_t J1;
         quaternion::Jlog3(quat_diff, J1);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
         const Matrix3 R = (quat_diff).matrix();
 
         PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J).noalias() = - J1 * R.transpose();
@@ -439,6 +442,8 @@ namespace pinocchio
       ConstQuaternionMap_t quat_map(q.derived().data());
       assert(quaternion::isNormalized(quat_map,RealScalar(PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE)));
       
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Eigen::Matrix<Scalar,NQ,NV,JacobianPlainType::Options|Eigen::RowMajor> Jexp3QuatCoeffWise;
       
       Scalar theta;
@@ -446,6 +451,7 @@ namespace pinocchio
       quaternion::Jexp3CoeffWise(v,Jexp3QuatCoeffWise);
       Matrix3 Jlog;
       Jlog3(theta,v,Jlog);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       
 //      if(quat_map.w() >= 0.) // comes from the log3 for quaternions which may change the sign.
       if(quat_map.coeffs()[3] >= 0.) // comes from the log3 for quaternions which may change the sign.
@@ -523,8 +529,11 @@ namespace pinocchio
     {
       typedef typename SE3::Matrix3 Matrix3;
       JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix3 Jtmp3;
       Jexp3<SETTO>(v, Jtmp3);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       Jout.noalias() = Jtmp3 * Jin;
     }
 
@@ -546,8 +555,11 @@ namespace pinocchio
     {
       typedef typename SE3::Matrix3 Matrix3;
       Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J_out);
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix3 Jtmp3;
       Jexp3<SETTO>(v, Jtmp3);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       Jout = Jtmp3 * Jout;
     }
 
@@ -573,8 +585,11 @@ namespace pinocchio
     static Scalar squaredDistance_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
                                        const Eigen::MatrixBase<ConfigR_t> & q1)
     {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       TangentVector_t t;
       difference_impl(q0, q1, t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       return t.squaredNorm();
     }
     
diff --git a/include/pinocchio/spatial/explog.hpp b/include/pinocchio/spatial/explog.hpp
index 5403961a79..3200d14456 100644
--- a/include/pinocchio/spatial/explog.hpp
+++ b/include/pinocchio/spatial/explog.hpp
@@ -485,8 +485,11 @@ namespace pinocchio
       }
       case ADDTO:
       {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
         Matrix3 Jtmp3;
         Jexp3<SETTO>(w, Jtmp3);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
         Jout.template bottomRightCorner<3,3>() += Jtmp3;
         Jout.template topLeftCorner<3,3>() += Jtmp3;
         const Vector3 p = Jtmp3.transpose() * v;
@@ -502,8 +505,11 @@ namespace pinocchio
       }
       case RMTO:
       {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
         Matrix3 Jtmp3;
         Jexp3<SETTO>(w, Jtmp3);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
         Jout.template bottomRightCorner<3,3>() -= Jtmp3;
         Jout.template topLeftCorner<3,3>() -= Jtmp3;
         const Vector3 p = Jtmp3.transpose() * v;
diff --git a/include/pinocchio/spatial/motion-tpl.hpp b/include/pinocchio/spatial/motion-tpl.hpp
index 18613847f1..e34f98b16f 100644
--- a/include/pinocchio/spatial/motion-tpl.hpp
+++ b/include/pinocchio/spatial/motion-tpl.hpp
@@ -79,11 +79,22 @@ namespace pinocchio
     : m_data(clone.toVector())
     {}
     
-    template<typename M2>
+    // Same explanation as converting constructor from MotionBase
+    template <typename M2,
+              typename std::enable_if<
+                !std::is_convertible<MotionDense<M2>, MotionTpl>::value,
+                bool>::type = true>
     explicit MotionTpl(const MotionDense<M2> & clone)
     { linear() = clone.linear(); angular() = clone.angular(); }
     
-    template<typename M2>
+    // MotionBase implement a conversion function to PlainReturnType.
+    // Usually, PlainReturnType is defined as MotionTpl.
+    // In this case, this converting constructor is redundant and
+    // create a warning with -Wconversion
+    template <typename M2,
+              typename std::enable_if<
+                !std::is_convertible<MotionBase<M2>, MotionTpl>::value,
+                bool>::type = true>
     explicit MotionTpl(const MotionBase<M2> & clone)
     { *this = clone; }
     
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index f2c3095893..cf46e21919 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -44,17 +44,21 @@ MODERNIZE_TARGET_LINK_LIBRARIES(${PROJECT_NAME}_headers SCOPE INTERFACE
   INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME}_headers INTERFACE $<INSTALL_INTERFACE:include>)
 
-IF(MSVC)
-  TARGET_COMPILE_OPTIONS(${PROJECT_NAME} PUBLIC "/bigobj")
-ENDIF()
+CXX_FLAGS_BY_COMPILER_FRONTEND(
+  MSVC "/bigobj"
+  OUTPUT PUBLIC_OPTIONS
+  FILTER)
+TARGET_COMPILE_OPTIONS(${PROJECT_NAME} PUBLIC ${PUBLIC_OPTIONS})
 
 SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES VERSION ${PROJECT_VERSION})
 IF(BUILD_WITH_COMMIT_VERSION)
   TAG_LIBRARY_VERSION(${PROJECT_NAME})
 ENDIF(BUILD_WITH_COMMIT_VERSION)
-IF(WIN32)
-  TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PRIVATE -DNOMINMAX)
-ENDIF(WIN32)
+
+CXX_FLAGS_BY_COMPILER_FRONTEND(
+  MSVC "NOMINMAX"
+  OUTPUT PUBLIC_DEFINITIONS)
+TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PUBLIC ${PUBLIC_DEFINITIONS})
 
 MODERNIZE_TARGET_LINK_LIBRARIES(${PROJECT_NAME} SCOPE PUBLIC
   TARGETS Eigen3::Eigen
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index d2e71d578e..d0b87bc1f4 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -7,8 +7,15 @@
 # --- MACROS ------------------------------------------------------------------
 # --- MACROS ------------------------------------------------------------------
 
-MACRO(ADD_TEST_CFLAGS target flag)
-  SET_PROPERTY(TARGET "test-cpp-${target}" APPEND_STRING PROPERTY COMPILE_FLAGS " ${flag}")
+# Compute flags outside the macro to avoid recomputing it for each tests
+CXX_FLAGS_BY_COMPILER_FRONTEND(
+  MSVC _USE_MATH_DEFINES
+  OUTPUT TEST_PRIVATE_DEFINITIONS)
+
+MACRO(ADD_TEST_CFLAGS target)
+  foreach(ARG ${ARGN})
+    SET_PROPERTY(TARGET "test-cpp-${target}" APPEND_STRING PROPERTY COMPILE_FLAGS "${ARG} ")
+  endforeach()
 ENDMACRO(ADD_TEST_CFLAGS)
 
 MACRO(ADD_PINOCCHIO_UNIT_TEST NAME)
@@ -23,6 +30,14 @@ MACRO(ADD_PINOCCHIO_UNIT_TEST NAME)
   SET(TEST_NAME "test-cpp-${NAME}")
   ADD_UNIT_TEST(${TEST_NAME} ${NAME}.cpp)
 
+  SET(MODULE_NAME "${NAME}Test")
+  STRING(REPLACE "-" "_" MODULE_NAME ${MODULE_NAME})
+  TARGET_COMPILE_DEFINITIONS(${TEST_NAME}
+    PRIVATE ${TEST_PRIVATE_DEFINITIONS}
+            BOOST_TEST_DYN_LINK
+            BOOST_TEST_MODULE=${MODULE_NAME}
+            PINOCCHIO_MODEL_DIR=\"${PINOCCHIO_MODEL_DIR}\")
+
   # There is no RPATH in Windows, then we must use the PATH to find the DLL
   IF(WIN32)
     STRING(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
@@ -33,15 +48,6 @@ MACRO(ADD_PINOCCHIO_UNIT_TEST NAME)
   SET_TARGET_PROPERTIES(${TEST_NAME} PROPERTIES LINKER_LANGUAGE CXX)
   TARGET_INCLUDE_DIRECTORIES(${TEST_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
-  ADD_TEST_CFLAGS(${NAME} "-DBOOST_TEST_DYN_LINK")
-  SET(MODULE_NAME "${NAME}Test")
-  STRING(REPLACE "-" "_" MODULE_NAME ${MODULE_NAME})
-  ADD_TEST_CFLAGS(${NAME} "-DBOOST_TEST_MODULE=${MODULE_NAME}")
-  ADD_TEST_CFLAGS(${NAME} "-DPINOCCHIO_MODEL_DIR=\\\\\"${PINOCCHIO_MODEL_DIR}\\\\\"")
-  IF(WIN32)
-    ADD_TEST_CFLAGS(${NAME} "-DNOMINMAX -D_USE_MATH_DEFINES")
-  ENDIF(WIN32)
-
   IF(NOT unit_test_HEADER_ONLY)
     TARGET_LINK_LIBRARIES(${TEST_NAME} PUBLIC ${PROJECT_NAME})
   ENDIF(NOT unit_test_HEADER_ONLY)
@@ -160,7 +166,16 @@ ADD_PINOCCHIO_UNIT_TEST(finite-differences)
 ADD_PINOCCHIO_UNIT_TEST(visitor)
 ADD_PINOCCHIO_UNIT_TEST(algo-check)
 
+# Warning ignore with pragma doesn't work for
+# a part of this test, so we ignore two warning
+# globally
+CXX_FLAGS_BY_COMPILER_FRONTEND(
+  GNU -Wno-maybe-uninitialized -Wuse-after-free=0
+  OUTPUT LIEGROUPS_OPTIONS
+  FILTER)
 ADD_PINOCCHIO_UNIT_TEST(liegroups)
+ADD_TEST_CFLAGS(liegroups ${LIEGROUPS_OPTIONS})
+
 ADD_PINOCCHIO_UNIT_TEST(cartesian-product-liegroups)
 ADD_PINOCCHIO_UNIT_TEST(regressor)
 ADD_PINOCCHIO_UNIT_TEST(version)
diff --git a/unittest/cartesian-product-liegroups.cpp b/unittest/cartesian-product-liegroups.cpp
index 30b53bdea7..a035174982 100644
--- a/unittest/cartesian-product-liegroups.cpp
+++ b/unittest/cartesian-product-liegroups.cpp
@@ -72,15 +72,21 @@ struct TestCartesianProduct
     ConfigVector q0 = lg.random();
     ConfigVector q1 = lg.random();
     TangentVector v = TangentVector_t::Random(lg.nv());
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     ConfigVector qout_ref(lg.nq()), qout(lg.nq());
     lg.integrate(q0, v, qout_ref);
     cp.integrate(q0, v, qout);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     
     BOOST_CHECK(qout.isApprox(qout_ref));
     
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     TangentVector v_diff_ref(lg.nv()), v_diff(lg.nv());
     lg.difference(q0,q1,v_diff_ref);
     cp.difference(q0,q1,v_diff);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     
     BOOST_CHECK(v_diff_ref.isApprox(v_diff));
     BOOST_CHECK_EQUAL(lg.squaredDistance(q0, q1), cp.squaredDistance(q0, q1));
@@ -111,6 +117,8 @@ struct TestCartesianProduct
     BOOST_CHECK(J.isApprox(J_ref));
     
     BOOST_CHECK(cp.isSameConfiguration(q0,q0));
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     ConfigVector q_rand;
     cp.random(q_rand);
     ConfigVector q_rand_copy = q_rand;
@@ -123,6 +131,7 @@ struct TestCartesianProduct
     const ConfigVector ub( ConfigVector::Ones(lg.nq()));
     
     cp.randomConfiguration(lb, ub, q_rand);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   }
 };
 
diff --git a/unittest/explog.cpp b/unittest/explog.cpp
index 208637fdba..0e16d9ebec 100644
--- a/unittest/explog.cpp
+++ b/unittest/explog.cpp
@@ -161,8 +161,11 @@ BOOST_AUTO_TEST_CASE(Jlog3_fd)
   SE3 M(SE3::Random());
   SE3::Matrix3 R (M.rotation());
   
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   SE3::Matrix3 Jfd, Jlog;
   Jlog3 (R, Jlog);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   Jfd.setZero();
 
   Motion::Vector3 dR; dR.setZero();
@@ -184,12 +187,15 @@ BOOST_AUTO_TEST_CASE(Jexp3_fd)
 
   Motion::Vector3 v = log3(R);
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   SE3::Matrix3 Jexp_fd, Jexp;
 
   Jexp3(Motion::Vector3::Zero(), Jexp);
   BOOST_CHECK(Jexp.isIdentity());
 
   Jexp3(v, Jexp);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
   Motion::Vector3 dv; dv.setZero();
   const double eps = 1e-8;
@@ -221,8 +227,11 @@ BOOST_AUTO_TEST_CASE(Jexp3_quat_fd)
   SE3::Quaternion quat; quaternion::exp3(w,quat);
   
   typedef Eigen::Matrix<Scalar,4,3> Matrix43;
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   Matrix43 Jexp3, Jexp3_fd;
   quaternion::Jexp3CoeffWise(w,Jexp3);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   SE3::Vector3 dw; dw.setZero();
   const double eps = 1e-8;
   
@@ -235,11 +244,14 @@ BOOST_AUTO_TEST_CASE(Jexp3_quat_fd)
   }
   BOOST_CHECK(Jexp3.isApprox(Jexp3_fd,sqrt(eps)));
   
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   SE3::Matrix3 Jlog;
   pinocchio::Jlog3(quat.toRotationMatrix(),Jlog);
   
   Matrix43 Jexp_quat_local;
   Jexp3QuatLocal(quat,Jexp_quat_local);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   
   
   Matrix43 Jcompositon = Jexp3 * Jlog;
@@ -274,7 +286,10 @@ BOOST_AUTO_TEST_CASE(Jexp3_quat)
   typedef Eigen::Matrix<double,7,6> Matrix76;
   Matrix76 Jexp6_fd, Jexp6_quat; Jexp6_quat.setZero();
   typedef Eigen::Matrix<double,4,3> Matrix43;
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   Matrix43 Jexp3_quat; Jexp3QuatLocal(quat,Jexp3_quat);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   SE3 M_next;
   
   Jexp6_quat.middleRows<3>(Motion::LINEAR).middleCols<3>(Motion::LINEAR) = M.rotation();
@@ -296,10 +311,13 @@ BOOST_AUTO_TEST_CASE(Jexplog3)
 {
   Motion v(Motion::Random());
   
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   Eigen::Matrix3d R (exp3(v.angular())),
     Jexp, Jlog;
   Jexp3 (v.angular(), Jexp);
   Jlog3 (R          , Jlog);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   
   BOOST_CHECK((Jlog * Jexp).isIdentity());
 
@@ -319,9 +337,12 @@ BOOST_AUTO_TEST_CASE(Jlog3_quat)
   
   SE3::Matrix3 R(quat.toRotationMatrix());
   
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   SE3::Matrix3 res, res_ref;
   quaternion::Jlog3(quat,res);
   Jlog3(R,res_ref);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   
   BOOST_CHECK(res.isApprox(res_ref));
 }
@@ -341,8 +362,11 @@ BOOST_AUTO_TEST_CASE(Jlog6_fd)
 {
   SE3 M(SE3::Random());
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   SE3::Matrix6 Jfd, Jlog;
   Jlog6 (M, Jlog);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   Jfd.setZero();
 
   Motion dM; dM.setZero();
@@ -363,8 +387,11 @@ BOOST_AUTO_TEST_CASE(Jlog6_of_product_fd)
   SE3 Ma(SE3::Random());
   SE3 Mb(SE3::Random());
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   SE3::Matrix6 Jlog, Ja, Jb, Jfda, Jfdb;
   Jlog6 (Ma.inverse() * Mb, Jlog);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   Ja = - Jlog * (Ma.inverse() * Mb).toActionMatrixInverse();
   Jb = Jlog;
   Jfda.setZero();
diff --git a/unittest/liegroups.cpp b/unittest/liegroups.cpp
index 065a6566eb..ae554a7938 100644
--- a/unittest/liegroups.cpp
+++ b/unittest/liegroups.cpp
@@ -243,6 +243,8 @@ struct LieGroup_Jdifference{
     ConfigVector_t q[2], q_dv[2];
     q[0] = lg.random();
     q[1] = lg.random();
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     TangentVector_t va, vb, dv;
     JacobianMatrix_t J[2];
     dv.setZero();
@@ -269,6 +271,7 @@ struct LieGroup_Jdifference{
         EIGEN_VECTOR_IS_APPROX (vb_va, J_dv, 1e-2);
         dv[i] = 0;
       }
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     }
 
     specificTests(lg);
@@ -374,9 +377,12 @@ struct LieGroup_Jintegrate{
 
     ConfigVector_t q_v = lg.integrate (q, v);
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     JacobianMatrix_t Jq, Jv;
     lg.dIntegrate_dq (q, v, Jq);
     lg.dIntegrate_dv (q, v, Jv);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
     const Scalar eps = 1e-6;
     for (int i = 0; i < v.size(); ++i)
@@ -409,6 +415,8 @@ struct LieGroup_JintegrateJdifference{
     typedef typename T::TangentVector_t TangentVector_t;
     typedef typename T::JacobianMatrix_t JacobianMatrix_t;
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     T lg;
     BOOST_TEST_MESSAGE (lg.name());
     ConfigVector_t qa, qb (lg.nq());
@@ -421,6 +429,7 @@ struct LieGroup_JintegrateJdifference{
 
     lg.template dDifference<ARG1> (qa, qb, Jd_qb);
     lg.template dIntegrate <ARG1> (qa, v , Ji_v );
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
     BOOST_CHECK_MESSAGE ((Jd_qb * Ji_v).isIdentity(),
         "Jd_qb\n" <<
diff --git a/unittest/spatial.cpp b/unittest/spatial.cpp
index 0da7ce1946..0fec8fd14a 100644
--- a/unittest/spatial.cpp
+++ b/unittest/spatial.cpp
@@ -707,6 +707,8 @@ BOOST_AUTO_TEST_CASE ( test_ActOnSet )
   Motion v = Motion::Random();
 
   // Forcet SET
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   Matrix6N iF = Matrix6N::Random(),jF,jFinv,jF_ref,jFinv_ref;
   
   // forceSet::se3Action
@@ -719,6 +721,7 @@ BOOST_AUTO_TEST_CASE ( test_ActOnSet )
   
   forceSet::se3ActionInverse(jMi.inverse(),iF,jFinv);
   BOOST_CHECK(jFinv.isApprox(jF));
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   
   Matrix6N iF2 = Matrix6N::Random();
   jF_ref += jMi.toDualActionMatrix() * iF2;
@@ -762,6 +765,8 @@ BOOST_AUTO_TEST_CASE ( test_ActOnSet )
   BOOST_CHECK(jF.isApprox(jF_ref));
   
   // Motion SET
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   Matrix6N iV = Matrix6N::Random(),jV,jV_ref,jVinv,jVinv_ref;
   
   // motionSet::se3Action
@@ -774,6 +779,7 @@ BOOST_AUTO_TEST_CASE ( test_ActOnSet )
   
   motionSet::se3ActionInverse(jMi.inverse(),iV,jVinv);
   BOOST_CHECK(jVinv.isApprox(jV));
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   
   Matrix6N iV2 = Matrix6N::Random();
   jV_ref += jMi.toActionMatrix()*iV2;
diff --git a/unittest/symmetric.cpp b/unittest/symmetric.cpp
index b0e4b365e6..2da18f81a4 100644
--- a/unittest/symmetric.cpp
+++ b/unittest/symmetric.cpp
@@ -29,11 +29,6 @@
 #include <boost/test/unit_test.hpp>
 #include <boost/utility/binary.hpp>
 
-
-#include <Eigen/StdVector>
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix3d)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(pinocchio::Symmetric3)
-
 void timeSym3(const pinocchio::Symmetric3 & S,
         const pinocchio::Symmetric3::Matrix3 & R,
         pinocchio::Symmetric3 & res)
diff --git a/utils/CMakeLists.txt b/utils/CMakeLists.txt
index 1981319721..27e9bfe32e 100644
--- a/utils/CMakeLists.txt
+++ b/utils/CMakeLists.txt
@@ -30,7 +30,4 @@ ADD_CUSTOM_TARGET(utils)
 
 IF(urdfdom_FOUND)
   ADD_UTIL(pinocchio_read_model pinocchio_read_model)
-  IF(WIN32)
-    TARGET_COMPILE_DEFINITIONS(pinocchio_read_model PRIVATE -DNOMINMAX)
-  ENDIF(WIN32)
 ENDIF(urdfdom_FOUND)