diff --git a/CMakeLists.txt b/CMakeLists.txt
index 50c95d0f..703a8eae 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,13 +1,19 @@
 # Disable in-source builds to prevent source tree corruption
-if ("${CMAKE_CURRENT_SOURCE_DIR}" STREQUAL "${CMAKE_CURRENT_BINARY_DIR}")
-  message(FATAL_ERROR "
+if("${CMAKE_CURRENT_SOURCE_DIR}" STREQUAL "${CMAKE_CURRENT_BINARY_DIR}")
+    message(
+        FATAL_ERROR
+        "
 FATAL: In-source builds are not allowed.
        You should create a separate directory for build files.
-")
+"
+    )
 endif()
 
 cmake_minimum_required(VERSION 3.24)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
+set(CMAKE_MODULE_PATH
+    ${CMAKE_MODULE_PATH}
+    "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules"
+)
 
 project(TrajoptLib LANGUAGES CXX)
 
@@ -23,20 +29,25 @@ set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # The RPATH to be used when installing, but only if it's not a system directory
-list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
-if ("${isSystemDir}" STREQUAL "-1")
-  list(APPEND CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+list(
+    FIND
+    CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES
+    "${CMAKE_INSTALL_PREFIX}/lib"
+    isSystemDir
+)
+if("${isSystemDir}" STREQUAL "-1")
+    list(APPEND CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
 endif()
 
 # Set default build type to release with debug info (i.e. release mode
 # optimizations are performed, but debug info still exists).
-if (NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
 endif()
 
 # Generate compile_commands.json by default
-if (NOT CMAKE_EXPORT_COMPILE_COMMANDS)
-  set(CMAKE_EXPORT_COMPILE_COMMANDS "YES" CACHE STRING "" FORCE)
+if(NOT CMAKE_EXPORT_COMPILE_COMMANDS)
+    set(CMAKE_EXPORT_COMPILE_COMMANDS "YES" CACHE STRING "" FORCE)
 endif()
 
 # Control where the static and shared libraries are built so that on Windows,
@@ -54,9 +65,7 @@ include(TrajoptLibCompilerFlags)
 file(GLOB_RECURSE src src/*.cpp)
 add_library(TrajoptLib ${src})
 trajoptlib_compiler_flags(TrajoptLib)
-target_include_directories(TrajoptLib
-                           PRIVATE
-                           ${CMAKE_CURRENT_SOURCE_DIR}/src)
+target_include_directories(TrajoptLib PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
 
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 
@@ -72,18 +81,20 @@ set(BUILD_SHARED_LIBS_SAVE ${BUILD_SHARED_LIBS})
 set(BUILD_SHARED_LIBS OFF)
 set(CMAKE_POSITION_INDEPENDENT_CODE ${BUILD_SHARED_LIBS_SAVE})
 set(FMT_INSTALL ON)
-FetchContent_Declare(
-  fmt
-  GIT_REPOSITORY https://github.com/fmtlib/fmt.git
-  GIT_TAG        10.1.1
+fetchcontent_declare(
+    fmt
+    GIT_REPOSITORY https://github.com/fmtlib/fmt.git
+    GIT_TAG 10.1.1
 )
-FetchContent_MakeAvailable(fmt)
+fetchcontent_makeavailable(fmt)
 set(BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS_SAVE})
 
-if (${OPTIMIZER_BACKEND} STREQUAL "casadi" AND
-    ${CMAKE_SYSTEM_NAME} STREQUAL "Linux" AND
-    ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU")
-  target_compile_definitions(fmt PRIVATE _GLIBCXX_USE_CXX11_ABI=0)
+if(
+    ${OPTIMIZER_BACKEND} STREQUAL "casadi"
+    AND ${CMAKE_SYSTEM_NAME} STREQUAL "Linux"
+    AND ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU"
+)
+    target_compile_definitions(fmt PRIVATE _GLIBCXX_USE_CXX11_ABI=0)
 endif()
 
 target_link_libraries(TrajoptLib PUBLIC fmt)
@@ -92,12 +103,12 @@ target_link_libraries(TrajoptLib PUBLIC fmt)
 set(BUILD_SHARED_LIBS_SAVE ${BUILD_SHARED_LIBS})
 set(BUILD_SHARED_LIBS OFF)
 set(JSON_Install ON)
-FetchContent_Declare(
-  nlohmann_json
-  GIT_REPOSITORY https://github.com/nlohmann/json
-  GIT_TAG        v3.11.2
+fetchcontent_declare(
+    nlohmann_json
+    GIT_REPOSITORY https://github.com/nlohmann/json
+    GIT_TAG v3.11.2
 )
-FetchContent_MakeAvailable(nlohmann_json)
+fetchcontent_makeavailable(nlohmann_json)
 set(BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS_SAVE})
 
 target_link_libraries(TrajoptLib PUBLIC nlohmann_json)
@@ -105,187 +116,244 @@ target_link_libraries(TrajoptLib PUBLIC nlohmann_json)
 set(OPTIMIZER_BACKEND "casadi" CACHE STRING "Optimizer backend")
 set_property(CACHE OPTIMIZER_BACKEND PROPERTY STRINGS casadi sleipnir)
 
-if (${OPTIMIZER_BACKEND} STREQUAL "casadi")
-  message(STATUS "Using CasADi optimizer")
-  include(FetchCasADi)
-  fetch_casadi()
-  target_compile_definitions(TrajoptLib PRIVATE OPTIMIZER_BACKEND_CASADI)
-  target_include_directories(TrajoptLib SYSTEM PRIVATE ${CASADI_INCLUDEDIR})
-  target_link_directories(TrajoptLib PRIVATE ${CASADI_LIBDIR})
-  target_link_libraries(TrajoptLib PRIVATE casadi)
-
-  # Add current directory to RPATH
-  if (APPLE)
-    set_property(TARGET TrajoptLib
-                 APPEND PROPERTY INSTALL_RPATH
-                 "@loader_path/../lib;@loader_path"
-    )
-  elseif (UNIX)
-    set_property(TARGET TrajoptLib
-                 APPEND PROPERTY INSTALL_RPATH
-                 "$ORIGIN/../lib;$ORIGIN"
-    )
-  endif()
-
-  # Install CasADi libraries since FetchContent setting that up properly
-  install(FILES ${CASADI_INSTALL_LIBS} DESTINATION ${CASADI_INSTALL_DEST})
+if(${OPTIMIZER_BACKEND} STREQUAL "casadi")
+    message(STATUS "Using CasADi optimizer")
+    include(FetchCasADi)
+    fetch_casadi()
+    target_compile_definitions(TrajoptLib PRIVATE OPTIMIZER_BACKEND_CASADI)
+    target_include_directories(TrajoptLib SYSTEM PRIVATE ${CASADI_INCLUDEDIR})
+    target_link_directories(TrajoptLib PRIVATE ${CASADI_LIBDIR})
+    target_link_libraries(TrajoptLib PRIVATE casadi)
+
+    # Add current directory to RPATH
+    if(APPLE)
+        set_property(
+            TARGET TrajoptLib
+            APPEND
+            PROPERTY INSTALL_RPATH "@loader_path/../lib;@loader_path"
+        )
+    elseif(UNIX)
+        set_property(
+            TARGET TrajoptLib
+            APPEND
+            PROPERTY INSTALL_RPATH "$ORIGIN/../lib;$ORIGIN"
+        )
+    endif()
 
+    # Install CasADi libraries since FetchContent setting that up properly
+    install(FILES ${CASADI_INSTALL_LIBS} DESTINATION ${CASADI_INSTALL_DEST})
 elseif(${OPTIMIZER_BACKEND} STREQUAL "sleipnir")
-  message(STATUS "Using Sleipnir optimizer")
-  include(FetchSleipnir)
-  fetch_sleipnir()
-  target_compile_definitions(TrajoptLib PRIVATE OPTIMIZER_BACKEND_SLEIPNIR)
-  target_link_libraries(TrajoptLib PRIVATE Sleipnir)
-
-  # Install Sleipnir manually because EXCLUDE_FROM_ALL was used during import
-  install(TARGETS Sleipnir)
+    message(STATUS "Using Sleipnir optimizer")
+    include(FetchSleipnir)
+    fetch_sleipnir()
+    target_compile_definitions(TrajoptLib PRIVATE OPTIMIZER_BACKEND_SLEIPNIR)
+    target_link_libraries(TrajoptLib PRIVATE Sleipnir)
+
+    # Install Sleipnir manually because EXCLUDE_FROM_ALL was used during import
+    install(TARGETS Sleipnir)
 endif()
 
-target_include_directories(TrajoptLib
-                           PUBLIC
-                           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-                           $<INSTALL_INTERFACE:include>)
-
-install(TARGETS TrajoptLib
-        EXPORT TrajoptLibTargets
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib
-        RUNTIME DESTINATION bin
-        INCLUDES DESTINATION include)
-export(TARGETS TrajoptLib
-       FILE TrajoptLib.cmake
-       NAMESPACE TrajoptLib::)
+target_include_directories(
+    TrajoptLib
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>
+)
+
+install(
+    TARGETS TrajoptLib
+    EXPORT TrajoptLibTargets
+    LIBRARY
+    DESTINATION lib
+    ARCHIVE
+    DESTINATION lib
+    RUNTIME
+    DESTINATION bin
+    INCLUDES DESTINATION include
+)
+export(TARGETS TrajoptLib FILE TrajoptLib.cmake NAMESPACE TrajoptLib::)
 install(DIRECTORY include/ DESTINATION "include")
-install(EXPORT TrajoptLibTargets
-        FILE TrajoptLib.cmake
-        NAMESPACE TrajoptLib::
-        DESTINATION lib/cmake/TrajoptLib)
+install(
+    EXPORT TrajoptLibTargets
+    FILE TrajoptLib.cmake
+    NAMESPACE TrajoptLib::
+    DESTINATION lib/cmake/TrajoptLib
+)
 
 include(CMakePackageConfigHelpers)
 
 # Generate the config file that includes the exports
 configure_package_config_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/TrajoptLibConfig.cmake.in
-  ${CMAKE_CURRENT_BINARY_DIR}/TrajoptLibConfig.cmake
-  INSTALL_DESTINATION "lib/cmake/TrajoptLib"
-  NO_SET_AND_CHECK_MACRO
-  NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+    ${CMAKE_CURRENT_SOURCE_DIR}/TrajoptLibConfig.cmake.in
+    ${CMAKE_CURRENT_BINARY_DIR}/TrajoptLibConfig.cmake
+    INSTALL_DESTINATION "lib/cmake/TrajoptLib"
+    NO_SET_AND_CHECK_MACRO
+    NO_CHECK_REQUIRED_COMPONENTS_MACRO
+)
 
 # Install the config file
-install(FILES
-  ${CMAKE_CURRENT_BINARY_DIR}/TrajoptLibConfig.cmake
-  DESTINATION lib/cmake/TrajoptLib)
+install(
+    FILES ${CMAKE_CURRENT_BINARY_DIR}/TrajoptLibConfig.cmake
+    DESTINATION lib/cmake/TrajoptLib
+)
 
 # GoogleTest dependency (static linkage)
 set(BUILD_SHARED_LIBS_SAVE ${BUILD_SHARED_LIBS})
 set(BUILD_SHARED_LIBS OFF)
 option(INSTALL_GMOCK "Install GoogleTest's GMock" OFF)
 option(INSTALL_GTEST "Install GoogleTest's GTest" OFF)
-FetchContent_Declare(
-  googletest
-  GIT_REPOSITORY https://github.com/google/googletest.git
-  GIT_TAG        v1.14.0
-  CMAKE_ARGS     "-DCMAKE_BUILD_TYPE=ReleaseWithDebInfo"
-  FIND_PACKAGE_ARGS NAMES GTest
+fetchcontent_declare(
+    googletest
+    GIT_REPOSITORY https://github.com/google/googletest.git
+    GIT_TAG v1.14.0
+    CMAKE_ARGS
+    "-DCMAKE_BUILD_TYPE=ReleaseWithDebInfo"
+    FIND_PACKAGE_ARGS NAMES GTest
 )
-FetchContent_MakeAvailable(googletest)
+fetchcontent_makeavailable(googletest)
 set(BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS_SAVE})
 
 include(CMakeDependentOption)
 
-cmake_dependent_option(BUILD_TESTING "Enable creation of tests." OFF "PROJECT_IS_TOP_LEVEL" OFF)
-if (BUILD_TESTING)
-  enable_testing()
-  include(GoogleTest)
+cmake_dependent_option(
+    BUILD_TESTING
+    "Enable creation of tests."
+    OFF
+    "PROJECT_IS_TOP_LEVEL"
+    OFF
+)
+if(BUILD_TESTING)
+    enable_testing()
+    include(GoogleTest)
 endif()
 
 # Build TrajoptLib tests
-if (BUILD_TESTING)
-  file(GLOB_RECURSE TrajoptLib_test_src test/src/*.cpp)
-  add_executable(TrajoptLibTest ${TrajoptLib_test_src})
-  TrajoptLib_compiler_flags(TrajoptLibTest)
-  target_include_directories(TrajoptLibTest
-                             PRIVATE
-                             ${CMAKE_CURRENT_SOURCE_DIR}/src
-                             ${CMAKE_CURRENT_SOURCE_DIR}/test/include
-                             ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/units/include)
-  target_link_libraries(TrajoptLibTest
-                        PRIVATE
-                        TrajoptLib
-                        fmt::fmt
-                        GTest::gtest
-                        GTest::gtest_main)
-  if (NOT CMAKE_TOOLCHAIN_FILE)
-    gtest_discover_tests(TrajoptLibTest)
-  endif()
+if(BUILD_TESTING)
+    file(GLOB_RECURSE TrajoptLib_test_src test/src/*.cpp)
+    add_executable(TrajoptLibTest ${TrajoptLib_test_src})
+    trajoptlib_compiler_flags(TrajoptLibTest)
+    target_include_directories(
+        TrajoptLibTest
+        PRIVATE
+            ${CMAKE_CURRENT_SOURCE_DIR}/src
+            ${CMAKE_CURRENT_SOURCE_DIR}/test/include
+            ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/units/include
+    )
+    target_link_libraries(
+        TrajoptLibTest
+        PRIVATE TrajoptLib fmt::fmt GTest::gtest GTest::gtest_main
+    )
+    if(NOT CMAKE_TOOLCHAIN_FILE)
+        gtest_discover_tests(TrajoptLibTest)
+    endif()
 endif()
 
-
-
 # Build examples and example tests
 include(TrajoptLibSubdirList)
 trajoptlib_subdir_list(EXAMPLES ${CMAKE_CURRENT_SOURCE_DIR}/examples)
 foreach(example ${EXAMPLES})
-  # Build example
-  file(GLOB_RECURSE sources examples/${example}/src/*.cpp)
-  add_executable(${example} ${sources})
-  trajoptlib_compiler_flags(${example})
-  target_include_directories(${example}
-                             PRIVATE
-                             ${CMAKE_CURRENT_SOURCE_DIR}/examples/${example}/include)
-  target_link_libraries(${example} PRIVATE TrajoptLib)
-
-  # Build example test if files exist for it
-  if (BUILD_TESTING AND EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/examples/${example}/test)
-    file(GLOB_RECURSE test_sources examples/${example}/test/*.cpp)
-    add_executable(${example}Test ${sources} ${test_sources})
-    target_include_directories(${example}Test
-                               PRIVATE
-                               ${CMAKE_CURRENT_SOURCE_DIR}/examples/${example}/src
-                               ${CMAKE_CURRENT_SOURCE_DIR}/examples/${example}/test)
-    trajoptlib_compiler_flags(${example}Test)
-    target_compile_definitions(${example}Test PUBLIC RUNNING_TESTS)
-    target_include_directories(${example}Test
-                               PRIVATE
-                               ${CMAKE_CURRENT_SOURCE_DIR}/examples/${example}/include)
-    target_link_libraries(${example}Test
-                          PRIVATE
-                          TrajoptLib
-                          GTest::gtest
-                          GTest::gtest_main)
-    if (NOT CMAKE_TOOLCHAIN_FILE)
-      gtest_discover_tests(${example}Test)
+    # Build example
+    file(GLOB_RECURSE sources examples/${example}/src/*.cpp)
+    add_executable(${example} ${sources})
+    trajoptlib_compiler_flags(${example})
+    target_include_directories(
+        ${example}
+        PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/examples/${example}/include
+    )
+    target_link_libraries(${example} PRIVATE TrajoptLib)
+
+    # Build example test if files exist for it
+    if(
+        BUILD_TESTING
+        AND EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/examples/${example}/test
+    )
+        file(GLOB_RECURSE test_sources examples/${example}/test/*.cpp)
+        add_executable(${example}Test ${sources} ${test_sources})
+        target_include_directories(
+            ${example}Test
+            PRIVATE
+                ${CMAKE_CURRENT_SOURCE_DIR}/examples/${example}/src
+                ${CMAKE_CURRENT_SOURCE_DIR}/examples/${example}/test
+        )
+        trajoptlib_compiler_flags(${example}Test)
+        target_compile_definitions(${example}Test PUBLIC RUNNING_TESTS)
+        target_include_directories(
+            ${example}Test
+            PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/examples/${example}/include
+        )
+        target_link_libraries(
+            ${example}Test
+            PRIVATE TrajoptLib GTest::gtest GTest::gtest_main
+        )
+        if(NOT CMAKE_TOOLCHAIN_FILE)
+            gtest_discover_tests(${example}Test)
+        endif()
     endif()
-  endif()
 endforeach()
 
 # Build the Java bindings
 
 option(WITH_JAVA "Build Java bindings" OFF)
-cmake_dependent_option(JAVA_INSTALL_JAR "Install jar file." ON "WITH_JAVA" ON)
-
-if (WITH_JAVA)
-  add_library(TrajoptLib-java SHARED ${CMAKE_CURRENT_SOURCE_DIR}/jni/TrajoptLibJNI.cpp)
-  target_link_libraries(TrajoptLib-java PRIVATE TrajoptLib)
-  target_include_directories(TrajoptLib-java PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/jni/jni.h)
-  if (${CMAKE_SYSTEM_NAME} MATCHES "MINGW" OR ${CMAKE_SYSTEM_NAME} MATCHES "MSYS" OR WIN32)
-    target_include_directories(TrajoptLib-java PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/jni/win32)
-  elseif (APPLE)
-    target_include_directories(TrajoptLib-java PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/jni/darwin)
-  elseif (UNIX)
-    target_include_directories(TrajoptLib-java PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/jni/linux)
-  endif()
-  include(InstallJavaLibs)
-  installjavalibs()
-
-  # Build Jar containing embedded native libraries
-  if (JAVA_INSTALL_JAR)
-    if (UNIX)
-      install(CODE "execute_process(COMMAND ./gradlew jar WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/java)")
-    elseif(${CMAKE_SYSTEM_NAME} MATCHES "MINGW" OR ${CMAKE_SYSTEM_NAME} MATCHES "MSYS" OR WIN32)
-      install(CODE "execute_process(COMMAND .\\gradlew.bat jar WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/java)")
+cmake_dependent_option(
+    JAVA_INSTALL_JAR
+    "Install jar file."
+    ON
+    "WITH_JAVA"
+    ON
+)
+
+if(WITH_JAVA)
+    add_library(
+        TrajoptLib-java
+        SHARED
+        ${CMAKE_CURRENT_SOURCE_DIR}/jni/TrajoptLibJNI.cpp
+    )
+    target_link_libraries(TrajoptLib-java PRIVATE TrajoptLib)
+    target_include_directories(
+        TrajoptLib-java
+        PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/jni/jni.h
+    )
+    if(
+        ${CMAKE_SYSTEM_NAME} MATCHES "MINGW"
+        OR ${CMAKE_SYSTEM_NAME} MATCHES "MSYS"
+        OR WIN32
+    )
+        target_include_directories(
+            TrajoptLib-java
+            PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/jni/win32
+        )
+    elseif(APPLE)
+        target_include_directories(
+            TrajoptLib-java
+            PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/jni/darwin
+        )
+    elseif(UNIX)
+        target_include_directories(
+            TrajoptLib-java
+            PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/jni/linux
+        )
+    endif()
+    include(InstallJavaLibs)
+    installjavalibs()
+
+    # Build Jar containing embedded native libraries
+    if(JAVA_INSTALL_JAR)
+        if(UNIX)
+            install(
+                CODE
+                    "execute_process(COMMAND ./gradlew jar WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/java)"
+            )
+        elseif(
+            ${CMAKE_SYSTEM_NAME} MATCHES "MINGW"
+            OR ${CMAKE_SYSTEM_NAME} MATCHES "MSYS"
+            OR WIN32
+        )
+            install(
+                CODE
+                    "execute_process(COMMAND .\\gradlew.bat jar WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/java)"
+            )
+        endif()
+        file(GLOB jar_files "${CMAKE_CURRENT_SOURCE_DIR}/java/build/libs/*jar")
+        install(FILES ${jar_files} DESTINATION java)
     endif()
-    file(GLOB jar_files "${CMAKE_CURRENT_SOURCE_DIR}/java/build/libs/*jar")
-    install(FILES ${jar_files} DESTINATION java)
-  endif()
 endif()
diff --git a/cmake/modules/FetchCasADi.cmake b/cmake/modules/FetchCasADi.cmake
index d25a5792..631f55f3 100644
--- a/cmake/modules/FetchCasADi.cmake
+++ b/cmake/modules/FetchCasADi.cmake
@@ -1,89 +1,111 @@
 macro(fetch_casadi)
-  cmake_POLICY(SET CMP0135 NEW)
-  set(CASADI_LIBDIR ${CMAKE_BINARY_DIR}/_deps/casadi-src/casadi)
-  set(CASADI_INCLUDEDIR ${CMAKE_BINARY_DIR}/_deps/casadi-src/casadi/include)
-  if (${CMAKE_SYSTEM_NAME} MATCHES "MINGW" OR ${CMAKE_SYSTEM_NAME} MATCHES "MSYS" OR WIN32)
-    message(STATUS "Building for Windows")
-    set(CASADI_URL https://github.com/casadi/casadi/releases/download/3.6.4/casadi-3.6.4-windows64-py311.zip)
-    set(CASADI_INSTALL_LIBS
-      ${CASADI_LIBDIR}/libcasadi-tp-openblas.dll
-      ${CASADI_LIBDIR}/libcasadi.dll
-      ${CASADI_LIBDIR}/libcasadi_nlpsol_ipopt.dll
-      ${CASADI_LIBDIR}/libcoinmetis-2.dll
-      ${CASADI_LIBDIR}/libcoinmumps-3.dll
-      ${CASADI_LIBDIR}/libgcc_s_seh-1.dll
-      ${CASADI_LIBDIR}/libgfortran-5.dll
-      ${CASADI_LIBDIR}/libipopt-3.dll
-      ${CASADI_LIBDIR}/libquadmath-0.dll
-      ${CASADI_LIBDIR}/libstdc++-6.dll
-      ${CASADI_LIBDIR}/libwinpthread-1.dll)
-    set(CASADI_INSTALL_DEST "bin")
-  elseif (APPLE)
-    if (CMAKE_APPLE_SILICON_PROCESSOR MATCHES "arm64" OR CMAKE_OSX_ARCHITECTURES MATCHES "arm64")
-      message(STATUS "Building for macOS arm64")
-      set(CASADI_URL https://github.com/casadi/casadi/releases/download/3.6.4/casadi-3.6.4-osx_arm64-py311.zip)
-      set(CASADI_INSTALL_LIBS
-        ${CASADI_LIBDIR}/libcasadi.3.7.dylib
-        ${CASADI_LIBDIR}/libc++.1.0.dylib
-        ${CASADI_LIBDIR}/libcasadi_nlpsol_ipopt.dylib
-        ${CASADI_LIBDIR}/libipopt.3.dylib
-        ${CASADI_LIBDIR}/libcoinmumps.3.dylib
-        ${CASADI_LIBDIR}/libcoinmetis.2.dylib
-        ${CASADI_LIBDIR}/libgfortran.5.dylib
-        ${CASADI_LIBDIR}/libquadmath.0.dylib
-        ${CASADI_LIBDIR}/libgcc_s.1.1.dylib)
-    elseif(CMAKE_APPLE_SILICON_PROCESSOR MATCHES "x86_64" OR CMAKE_OSX_ARCHITECTURES MATCHES "x86_64")
-      message(STATUS "Building for macOS x86_64")
-      set(CASADI_URL https://github.com/casadi/casadi/releases/download/3.6.4/casadi-3.6.4-osx64-py311.zip)
-      set(CASADI_INSTALL_LIBS
-        ${CASADI_LIBDIR}/libcasadi.3.7.dylib
-        ${CASADI_LIBDIR}/libc++.1.0.dylib
-        ${CASADI_LIBDIR}/libcasadi_nlpsol_ipopt.dylib
-        ${CASADI_LIBDIR}/libipopt.3.dylib
-        ${CASADI_LIBDIR}/libcoinmumps.3.dylib
-        ${CASADI_LIBDIR}/libcoinmetis.2.dylib
-        ${CASADI_LIBDIR}/libgfortran.5.dylib
-        ${CASADI_LIBDIR}/libquadmath.0.dylib
-        ${CASADI_LIBDIR}/libgcc_s.1.dylib
-        ${CASADI_LIBDIR}/libgcc_s.1.1.dylib)
+    cmake_policy(SET CMP0135 NEW)
+    set(CASADI_LIBDIR ${CMAKE_BINARY_DIR}/_deps/casadi-src/casadi)
+    set(CASADI_INCLUDEDIR ${CMAKE_BINARY_DIR}/_deps/casadi-src/casadi/include)
+    if(
+        ${CMAKE_SYSTEM_NAME} MATCHES "MINGW"
+        OR ${CMAKE_SYSTEM_NAME} MATCHES "MSYS"
+        OR WIN32
+    )
+        message(STATUS "Building for Windows")
+        set(CASADI_URL
+            https://github.com/casadi/casadi/releases/download/3.6.4/casadi-3.6.4-windows64-py311.zip
+        )
+        set(CASADI_INSTALL_LIBS
+            ${CASADI_LIBDIR}/libcasadi-tp-openblas.dll
+            ${CASADI_LIBDIR}/libcasadi.dll
+            ${CASADI_LIBDIR}/libcasadi_nlpsol_ipopt.dll
+            ${CASADI_LIBDIR}/libcoinmetis-2.dll
+            ${CASADI_LIBDIR}/libcoinmumps-3.dll
+            ${CASADI_LIBDIR}/libgcc_s_seh-1.dll
+            ${CASADI_LIBDIR}/libgfortran-5.dll
+            ${CASADI_LIBDIR}/libipopt-3.dll
+            ${CASADI_LIBDIR}/libquadmath-0.dll
+            ${CASADI_LIBDIR}/libstdc++-6.dll
+            ${CASADI_LIBDIR}/libwinpthread-1.dll
+        )
+        set(CASADI_INSTALL_DEST "bin")
+    elseif(APPLE)
+        if(
+            CMAKE_APPLE_SILICON_PROCESSOR MATCHES "arm64"
+            OR CMAKE_OSX_ARCHITECTURES MATCHES "arm64"
+        )
+            message(STATUS "Building for macOS arm64")
+            set(CASADI_URL
+                https://github.com/casadi/casadi/releases/download/3.6.4/casadi-3.6.4-osx_arm64-py311.zip
+            )
+            set(CASADI_INSTALL_LIBS
+                ${CASADI_LIBDIR}/libcasadi.3.7.dylib
+                ${CASADI_LIBDIR}/libc++.1.0.dylib
+                ${CASADI_LIBDIR}/libcasadi_nlpsol_ipopt.dylib
+                ${CASADI_LIBDIR}/libipopt.3.dylib
+                ${CASADI_LIBDIR}/libcoinmumps.3.dylib
+                ${CASADI_LIBDIR}/libcoinmetis.2.dylib
+                ${CASADI_LIBDIR}/libgfortran.5.dylib
+                ${CASADI_LIBDIR}/libquadmath.0.dylib
+                ${CASADI_LIBDIR}/libgcc_s.1.1.dylib
+            )
+        elseif(
+            CMAKE_APPLE_SILICON_PROCESSOR MATCHES "x86_64"
+            OR CMAKE_OSX_ARCHITECTURES MATCHES "x86_64"
+        )
+            message(STATUS "Building for macOS x86_64")
+            set(CASADI_URL
+                https://github.com/casadi/casadi/releases/download/3.6.4/casadi-3.6.4-osx64-py311.zip
+            )
+            set(CASADI_INSTALL_LIBS
+                ${CASADI_LIBDIR}/libcasadi.3.7.dylib
+                ${CASADI_LIBDIR}/libc++.1.0.dylib
+                ${CASADI_LIBDIR}/libcasadi_nlpsol_ipopt.dylib
+                ${CASADI_LIBDIR}/libipopt.3.dylib
+                ${CASADI_LIBDIR}/libcoinmumps.3.dylib
+                ${CASADI_LIBDIR}/libcoinmetis.2.dylib
+                ${CASADI_LIBDIR}/libgfortran.5.dylib
+                ${CASADI_LIBDIR}/libquadmath.0.dylib
+                ${CASADI_LIBDIR}/libgcc_s.1.dylib
+                ${CASADI_LIBDIR}/libgcc_s.1.1.dylib
+            )
+        endif()
+        set(CASADI_INSTALL_DEST "lib")
+    elseif(UNIX)
+        if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "ARM64")
+            message(STATUS "Building for Linux arm64")
+            set(CASADI_URL
+                https://github.com/casadi/casadi/releases/download/3.6.4/casadi-3.6.4-linux-aarch64-py311.zip
+            )
+            set(CASADI_INSTALL_LIBS
+                ${CASADI_LIBDIR}/libcasadi.so.3.7
+                ${CASADI_LIBDIR}/libcasadi_nlpsol_ipopt.so
+                ${CASADI_LIBDIR}/libipopt.so.3
+                ${CASADI_LIBDIR}/libcoinmumps.so.3
+                ${CASADI_LIBDIR}/libcoinmetis.so.2
+                ${CASADI_LIBDIR}/libgfortran-040039e1.so.5.0.0
+                ${CASADI_LIBDIR}/libquadmath-96973f99.so.0.0.0
+                ${CASADI_LIBDIR}/libcasadi-tp-openblas.so.0
+            )
+        else()
+            message(STATUS "Building for Linux x64")
+            set(CASADI_URL
+                https://github.com/casadi/casadi/releases/download/3.6.4/casadi-3.6.4-linux64-py311.zip
+            )
+            set(CASADI_INSTALL_LIBS
+                ${CASADI_LIBDIR}/libcasadi.so.3.7
+                ${CASADI_LIBDIR}/libcasadi_nlpsol_ipopt.so
+                ${CASADI_LIBDIR}/libipopt.so.3
+                ${CASADI_LIBDIR}/libcoinmumps.so.3
+                ${CASADI_LIBDIR}/libcoinmetis.so.2
+                ${CASADI_LIBDIR}/libgfortran-040039e1.so.5.0.0
+                ${CASADI_LIBDIR}/libquadmath-96973f99.so.0.0.0
+                ${CASADI_LIBDIR}/libcasadi-tp-openblas.so.0
+            )
+        endif()
+        set(CASADI_INSTALL_DEST "lib")
     endif()
-    set(CASADI_INSTALL_DEST "lib")
-  elseif (UNIX)
-    if (${CMAKE_SYSTEM_PROCESSOR} MATCHES "ARM64")
-      message(STATUS "Building for Linux arm64")
-      set(CASADI_URL https://github.com/casadi/casadi/releases/download/3.6.4/casadi-3.6.4-linux-aarch64-py311.zip)
-      set(CASADI_INSTALL_LIBS
-        ${CASADI_LIBDIR}/libcasadi.so.3.7
-        ${CASADI_LIBDIR}/libcasadi_nlpsol_ipopt.so
-        ${CASADI_LIBDIR}/libipopt.so.3
-        ${CASADI_LIBDIR}/libcoinmumps.so.3
-        ${CASADI_LIBDIR}/libcoinmetis.so.2
-        ${CASADI_LIBDIR}/libgfortran-040039e1.so.5.0.0
-        ${CASADI_LIBDIR}/libquadmath-96973f99.so.0.0.0
-        ${CASADI_LIBDIR}/libcasadi-tp-openblas.so.0)
-    else()
-      message(STATUS "Building for Linux x64")
-      set(CASADI_URL https://github.com/casadi/casadi/releases/download/3.6.4/casadi-3.6.4-linux64-py311.zip)
-      set(CASADI_INSTALL_LIBS
-        ${CASADI_LIBDIR}/libcasadi.so.3.7
-        ${CASADI_LIBDIR}/libcasadi_nlpsol_ipopt.so
-        ${CASADI_LIBDIR}/libipopt.so.3
-        ${CASADI_LIBDIR}/libcoinmumps.so.3
-        ${CASADI_LIBDIR}/libcoinmetis.so.2
-        ${CASADI_LIBDIR}/libgfortran-040039e1.so.5.0.0
-        ${CASADI_LIBDIR}/libquadmath-96973f99.so.0.0.0
-        ${CASADI_LIBDIR}/libcasadi-tp-openblas.so.0)
-    endif()
-    set(CASADI_INSTALL_DEST "lib")
-  endif()
-  message(STATUS "Downloading CasADi from ${CASADI_URL}")
+    message(STATUS "Downloading CasADi from ${CASADI_URL}")
 
-  include(FetchContent)
+    include(FetchContent)
 
-  FetchContent_Declare(
-    casadi
-    URL ${CASADI_URL}
-  )
+    fetchcontent_declare(casadi URL ${CASADI_URL})
 
-  FetchContent_MakeAvailable(casadi)
+    fetchcontent_makeavailable(casadi)
 endmacro()
diff --git a/cmake/modules/FetchSleipnir.cmake b/cmake/modules/FetchSleipnir.cmake
index 7961ca40..78e81f94 100644
--- a/cmake/modules/FetchSleipnir.cmake
+++ b/cmake/modules/FetchSleipnir.cmake
@@ -1,15 +1,19 @@
 macro(fetch_sleipnir)
-  include(FetchContent)
+    include(FetchContent)
 
-  FetchContent_Declare(
-    Sleipnir
-    GIT_REPOSITORY https://github.com/SleipnirGroup/Sleipnir.git
-    GIT_TAG 0d20a9f712f1e997f734038a977392d8bc6a19f4
-  )
+    fetchcontent_declare(
+        Sleipnir
+        GIT_REPOSITORY https://github.com/SleipnirGroup/Sleipnir.git
+        GIT_TAG 0d20a9f712f1e997f734038a977392d8bc6a19f4
+    )
 
-  FetchContent_GetProperties(Sleipnir)
-  if(NOT Sleipnir_POPULATED)
-    FetchContent_Populate(Sleipnir)
-    add_subdirectory(${sleipnir_SOURCE_DIR} ${sleipnir_BINARY_DIR} EXCLUDE_FROM_ALL)
-  endif()
+    fetchcontent_getproperties(Sleipnir)
+    if(NOT Sleipnir_POPULATED)
+        fetchcontent_populate(Sleipnir)
+        add_subdirectory(
+            ${sleipnir_SOURCE_DIR}
+            ${sleipnir_BINARY_DIR}
+            EXCLUDE_FROM_ALL
+        )
+    endif()
 endmacro()
diff --git a/cmake/modules/InstallJavaLibs.cmake b/cmake/modules/InstallJavaLibs.cmake
index fcc6f5e0..c8f9a8f8 100644
--- a/cmake/modules/InstallJavaLibs.cmake
+++ b/cmake/modules/InstallJavaLibs.cmake
@@ -1,37 +1,54 @@
 macro(installjavalibs)
-  set(JAVA_LIB_TARGET_PATH ${CMAKE_CURRENT_SOURCE_DIR}/java/src/main/resources)
-  if (${CMAKE_SYSTEM_NAME} MATCHES "MINGW" OR ${CMAKE_SYSTEM_NAME} MATCHES "MSYS" OR WIN32)
-    if (CMAKE_SIZEOF_VOID_P EQUAL 8)
-      set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/windows/x86_64)
-    elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)
-      set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/windows/x86)
+    set(JAVA_LIB_TARGET_PATH
+        ${CMAKE_CURRENT_SOURCE_DIR}/java/src/main/resources
+    )
+    if(
+        ${CMAKE_SYSTEM_NAME} MATCHES "MINGW"
+        OR ${CMAKE_SYSTEM_NAME} MATCHES "MSYS"
+        OR WIN32
+    )
+        if(CMAKE_SIZEOF_VOID_P EQUAL 8)
+            set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/windows/x86_64)
+        elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)
+            set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/windows/x86)
+        endif()
+    elseif(APPLE)
+        if(CMAKE_APPLE_SILICON_PROCESSOR MATCHES "arm64")
+            set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/osx/arm64)
+        elseif(CMAKE_APPLE_SILICON_PROCESSOR MATCHES "x86_64")
+            set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/osx/x86_64)
+        endif()
+    elseif(UNIX)
+        set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/linux/x86_64)
     endif()
-  elseif (APPLE)
-    if (CMAKE_APPLE_SILICON_PROCESSOR MATCHES "arm64")
-      set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/osx/arm64)
-    elseif(CMAKE_APPLE_SILICON_PROCESSOR MATCHES "x86_64")
-      set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/osx/x86_64)
-    endif()
-  elseif (UNIX)
-    set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/linux/x86_64)
-  endif()
 
-  message(STATUS "Path to use for java: ${JAVA_LIB_TARGET_PATH}")
-  install(TARGETS TrajoptLib
-      LIBRARY DESTINATION ${JAVA_LIB_TARGET_PATH}
-      RUNTIME DESTINATION ${JAVA_LIB_TARGET_PATH})
-  install(TARGETS TrajoptLib-java
-      LIBRARY DESTINATION ${JAVA_LIB_TARGET_PATH}
-      RUNTIME DESTINATION ${JAVA_LIB_TARGET_PATH})
+    message(STATUS "Path to use for java: ${JAVA_LIB_TARGET_PATH}")
+    install(
+        TARGETS TrajoptLib
+        LIBRARY
+        DESTINATION ${JAVA_LIB_TARGET_PATH}
+        RUNTIME
+        DESTINATION ${JAVA_LIB_TARGET_PATH}
+    )
+    install(
+        TARGETS TrajoptLib-java
+        LIBRARY
+        DESTINATION ${JAVA_LIB_TARGET_PATH}
+        RUNTIME
+        DESTINATION ${JAVA_LIB_TARGET_PATH}
+    )
 
-  if (OPTIMIZER_BACKEND STREQUAL "casadi")
-    install(FILES ${CASADI_INSTALL_LIBS} DESTINATION ${JAVA_LIB_TARGET_PATH})
-  endif()
+    if(OPTIMIZER_BACKEND STREQUAL "casadi")
+        install(
+            FILES ${CASADI_INSTALL_LIBS}
+            DESTINATION ${JAVA_LIB_TARGET_PATH}
+        )
+    endif()
 
-  configure_file(
-    "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules/GenerateJNILibsJSON.cmake.in"
-    "${CMAKE_BINARY_DIR}/GenerateJNILibsJSON.cmake"
-    @ONLY
-  )
-  install(SCRIPT "${CMAKE_BINARY_DIR}/GenerateJNILibsJSON.cmake")
+    configure_file(
+        "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules/GenerateJNILibsJSON.cmake.in"
+        "${CMAKE_BINARY_DIR}/GenerateJNILibsJSON.cmake"
+        @ONLY
+    )
+    install(SCRIPT "${CMAKE_BINARY_DIR}/GenerateJNILibsJSON.cmake")
 endmacro()
diff --git a/cmake/modules/TrajoptLibCompilerFlags.cmake b/cmake/modules/TrajoptLibCompilerFlags.cmake
index c57b364c..48e787f9 100644
--- a/cmake/modules/TrajoptLibCompilerFlags.cmake
+++ b/cmake/modules/TrajoptLibCompilerFlags.cmake
@@ -1,50 +1,88 @@
 macro(trajoptlib_compiler_flags target)
-  if (NOT MSVC)
-    target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter -Wno-missing-braces)
+    if(NOT MSVC)
+        target_compile_options(
+            ${target}
+            PRIVATE
+                -Wall
+                -pedantic
+                -Wextra
+                -Werror
+                -Wno-unused-parameter
+                -Wno-missing-braces
+        )
 
-    # clang 18 warns on `operator"" _a` in dependencies
-    if (${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang" AND
-        ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "18")
-      target_compile_options(${target} PRIVATE -Wno-deprecated-literal-operator)
-    endif()
+        # clang 18 warns on `operator"" _a` in dependencies
+        if(
+            ${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang"
+            AND ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "18"
+        )
+            target_compile_options(
+                ${target}
+                PRIVATE -Wno-deprecated-literal-operator
+            )
+        endif()
 
-    if (${OPTIMIZER_BACKEND} STREQUAL "casadi" AND
-        ${CMAKE_SYSTEM_NAME} STREQUAL "Linux" AND
-        ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU")
-      target_compile_definitions(${target} PRIVATE _GLIBCXX_USE_CXX11_ABI=0)
-    endif()
+        if(
+            ${OPTIMIZER_BACKEND} STREQUAL "casadi"
+            AND ${CMAKE_SYSTEM_NAME} STREQUAL "Linux"
+            AND ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU"
+        )
+            target_compile_definitions(
+                ${target}
+                PRIVATE _GLIBCXX_USE_CXX11_ABI=0
+            )
+        endif()
 
-    # Disable warning false positives in Eigen
-    if (${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU" AND
-        ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "8")
-      target_compile_options(${target} PRIVATE -Wno-class-memaccess)
-    endif()
-    if (${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU" AND
-        ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "11")
-      target_compile_options(${target} PRIVATE -Wno-maybe-uninitialized)
-    endif()
-    if (${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU" AND
-        ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "12")
-      target_compile_options(${target} PRIVATE -Wno-array-bounds)
-    endif()
+        # Disable warning false positives in Eigen
+        if(
+            ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU"
+            AND ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "8"
+        )
+            target_compile_options(${target} PRIVATE -Wno-class-memaccess)
+        endif()
+        if(
+            ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU"
+            AND ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "11"
+        )
+            target_compile_options(${target} PRIVATE -Wno-maybe-uninitialized)
+        endif()
+        if(
+            ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU"
+            AND ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "12"
+        )
+            target_compile_options(${target} PRIVATE -Wno-array-bounds)
+        endif()
 
-    # Disable deprecated-anon-enum-enum-conversion warning in Eigen
-    if (${CMAKE_CXX_COMPILER_ID} STREQUAL "AppleClang" AND
-        ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "13")
-      target_compile_options(${target} PRIVATE -Wno-deprecated-anon-enum-enum-conversion)
-    endif()
+        # Disable deprecated-anon-enum-enum-conversion warning in Eigen
+        if(
+            ${CMAKE_CXX_COMPILER_ID} STREQUAL "AppleClang"
+            AND ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "13"
+        )
+            target_compile_options(
+                ${target}
+                PRIVATE -Wno-deprecated-anon-enum-enum-conversion
+            )
+        endif()
 
-    # Disable warning false positives in fmt
-    if (${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU" AND
-        ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "13")
-      target_compile_options(${target} PRIVATE -Wno-dangling-reference -Wno-stringop-overflow)
+        # Disable warning false positives in fmt
+        if(
+            ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU"
+            AND ${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER_EQUAL "13"
+        )
+            target_compile_options(
+                ${target}
+                PRIVATE -Wno-dangling-reference -Wno-stringop-overflow
+            )
+        endif()
+    else()
+        target_compile_options(
+            ${target}
+            PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /WX
+        )
     endif()
-  else()
-    target_compile_options(${target} PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /WX)
-  endif()
 
-  target_compile_features(${target} PUBLIC cxx_std_20)
-  if (MSVC)
-    target_compile_options(${target} PUBLIC /bigobj)
-  endif()
+    target_compile_features(${target} PUBLIC cxx_std_20)
+    if(MSVC)
+        target_compile_options(${target} PUBLIC /bigobj)
+    endif()
 endmacro()
diff --git a/cmake/modules/TrajoptLibSubdirList.cmake b/cmake/modules/TrajoptLibSubdirList.cmake
index d43186cb..e64b797f 100644
--- a/cmake/modules/TrajoptLibSubdirList.cmake
+++ b/cmake/modules/TrajoptLibSubdirList.cmake
@@ -1,10 +1,10 @@
 macro(trajoptlib_subdir_list result curdir)
-  file(GLOB children RELATIVE ${curdir} ${curdir}/*)
-  set(dirlist "")
-  foreach(child ${children})
-    if (IS_DIRECTORY ${curdir}/${child})
-      LIST(APPEND dirlist ${child})
-    endif()
-  endforeach()
-  set(${result} ${dirlist})
+    file(GLOB children RELATIVE ${curdir} ${curdir}/*)
+    set(dirlist "")
+    foreach(child ${children})
+        if(IS_DIRECTORY ${curdir}/${child})
+            list(APPEND dirlist ${child})
+        endif()
+    endforeach()
+    set(${result} ${dirlist})
 endmacro()
diff --git a/node/CMakeLists.txt b/node/CMakeLists.txt
index ab42560c..399366d4 100644
--- a/node/CMakeLists.txt
+++ b/node/CMakeLists.txt
@@ -6,7 +6,7 @@ set(CMAKE_CXX_STANDARD 20)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
-project (trajoptlib-node)
+project(trajoptlib-node)
 
 add_definitions(-DNAPI_VERSION=7)
 
@@ -29,22 +29,31 @@ target_link_libraries(${PROJECT_NAME} ${CMAKE_JS_LIB})
 
 set(OPTIMIZER_BACKEND casadi)
 set(CMAKE_APPLE_SILICON_PROCESSOR arm64)
-add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/.. ${CMAKE_CURRENT_SOURCE_DIR}/../build EXCLUDE_FROM_ALL)
+add_subdirectory(
+    ${CMAKE_CURRENT_SOURCE_DIR}/..
+    ${CMAKE_CURRENT_SOURCE_DIR}/../build
+    EXCLUDE_FROM_ALL
+)
 
 target_link_libraries(${PROJECT_NAME} PRIVATE TrajoptLib)
 
 if(MSVC AND CMAKE_JS_NODELIB_DEF AND CMAKE_JS_NODELIB_TARGET)
-  # Generate node.lib
-  execute_process(COMMAND ${CMAKE_AR} /def:${CMAKE_JS_NODELIB_DEF} /out:${CMAKE_JS_NODELIB_TARGET} ${CMAKE_STATIC_LINKER_FLAGS})
+    # Generate node.lib
+    execute_process(
+        COMMAND
+            ${CMAKE_AR} /def:${CMAKE_JS_NODELIB_DEF}
+            /out:${CMAKE_JS_NODELIB_TARGET} ${CMAKE_STATIC_LINKER_FLAGS}
+    )
 endif()
 
 # Include N-API wrappers
 # $ node -p "require('node-addon-api').include"
 # "/home/will/projects/financialcpp/financialcpp/node_modules/node-addon-api"
-execute_process(COMMAND node -p "require('node-addon-api').include"
-        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-        OUTPUT_VARIABLE NODE_ADDON_API_DIR
-        )
+execute_process(
+    COMMAND node -p "require('node-addon-api').include"
+    WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    OUTPUT_VARIABLE NODE_ADDON_API_DIR
+)
 
 # strip `"` and `\n` from the output above
 string(REPLACE "\n" "" NODE_ADDON_API_DIR ${NODE_ADDON_API_DIR})