diff --git a/dart/collision/CollisionDetector.hpp b/dart/collision/CollisionDetector.hpp
index 4459eca810497..b22120a76c180 100644
--- a/dart/collision/CollisionDetector.hpp
+++ b/dart/collision/CollisionDetector.hpp
@@ -41,9 +41,11 @@
 #include <dart/collision/RaycastOption.hpp>
 #include <dart/collision/RaycastResult.hpp>
 #include <dart/collision/SmartPointer.hpp>
-#include <dart/common/Factory.hpp>
+
 #include <dart/dynamics/SmartPointer.hpp>
 
+#include <dart/common/Factory.hpp>
+
 #include <Eigen/Dense>
 
 #include <map>
diff --git a/dart/collision/CollisionFilter.hpp b/dart/collision/CollisionFilter.hpp
index b06050392b715..5bfadcad430bc 100644
--- a/dart/collision/CollisionFilter.hpp
+++ b/dart/collision/CollisionFilter.hpp
@@ -34,6 +34,7 @@
 #define DART_COLLISION_COLLISIONFILTER_HPP_
 
 #include <dart/collision/detail/UnorderedPairs.hpp>
+
 #include <dart/common/Deprecated.hpp>
 
 namespace dart {
diff --git a/dart/collision/CollisionGroup.hpp b/dart/collision/CollisionGroup.hpp
index 33461ec2573b1..563c55c46b399 100644
--- a/dart/collision/CollisionGroup.hpp
+++ b/dart/collision/CollisionGroup.hpp
@@ -40,9 +40,11 @@
 #include <dart/collision/RaycastOption.hpp>
 #include <dart/collision/RaycastResult.hpp>
 #include <dart/collision/SmartPointer.hpp>
-#include <dart/common/Observer.hpp>
+
 #include <dart/dynamics/SmartPointer.hpp>
 
+#include <dart/common/Observer.hpp>
+
 #include <unordered_map>
 #include <unordered_set>
 #include <vector>
diff --git a/dart/collision/CollisionObject.hpp b/dart/collision/CollisionObject.hpp
index 6986f6ed56acd..4483b1b700d54 100644
--- a/dart/collision/CollisionObject.hpp
+++ b/dart/collision/CollisionObject.hpp
@@ -34,6 +34,7 @@
 #define DART_COLLISION_COLLISIONOBJECT_HPP_
 
 #include <dart/collision/SmartPointer.hpp>
+
 #include <dart/dynamics/SmartPointer.hpp>
 
 #include <Eigen/Dense>
diff --git a/dart/collision/Contact.hpp b/dart/collision/Contact.hpp
index f894a5ce0348c..2947c83d200f0 100644
--- a/dart/collision/Contact.hpp
+++ b/dart/collision/Contact.hpp
@@ -34,6 +34,7 @@
 #define DART_COLLISION_CONTACT_HPP_
 
 #include <dart/collision/SmartPointer.hpp>
+
 #include <dart/dynamics/SmartPointer.hpp>
 
 #include <Eigen/Dense>
diff --git a/dart/collision/detail/CollisionGroup.hpp b/dart/collision/detail/CollisionGroup.hpp
index f17fe22343b77..911d75144814b 100644
--- a/dart/collision/detail/CollisionGroup.hpp
+++ b/dart/collision/detail/CollisionGroup.hpp
@@ -34,6 +34,7 @@
 #define DART_COLLISION_DETAIL_COLLISIONGROUP_HPP_
 
 #include <dart/collision/CollisionGroup.hpp>
+
 #include <dart/dynamics/BodyNode.hpp>
 #include <dart/dynamics/Skeleton.hpp>
 
diff --git a/dart/collision/fcl/BackwardCompatibility.hpp b/dart/collision/fcl/BackwardCompatibility.hpp
index 8b3eabf38c18d..247ff90706fd8 100644
--- a/dart/collision/fcl/BackwardCompatibility.hpp
+++ b/dart/collision/fcl/BackwardCompatibility.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_COLLISION_FCL_BACKWARDCOMPATIBILITY_HPP_
 #define DART_COLLISION_FCL_BACKWARDCOMPATIBILITY_HPP_
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/config.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 #include <Eigen/Dense>
 
 // clang-format off
diff --git a/dart/collision/fcl/CollisionShapes.hpp b/dart/collision/fcl/CollisionShapes.hpp
index 9a507d881c1b9..413cd75e738a1 100644
--- a/dart/collision/fcl/CollisionShapes.hpp
+++ b/dart/collision/fcl/CollisionShapes.hpp
@@ -34,6 +34,7 @@
 #define DART_COLLISION_FCL_MESH_COLLISIONSHAPES_HPP_
 
 #include <dart/collision/fcl/BackwardCompatibility.hpp>
+
 #include <dart/math/Constants.hpp>
 
 #include <assimp/scene.h>
diff --git a/dart/collision/ode/detail/OdeHeightmap-impl.hpp b/dart/collision/ode/detail/OdeHeightmap-impl.hpp
index c8037890f7b08..b1541214c1079 100644
--- a/dart/collision/ode/detail/OdeHeightmap-impl.hpp
+++ b/dart/collision/ode/detail/OdeHeightmap-impl.hpp
@@ -31,6 +31,7 @@
  */
 
 #include <dart/collision/ode/detail/OdeHeightmap.hpp>
+
 #include <dart/dynamics/HeightmapShape.hpp>
 
 #include <type_traits>
diff --git a/dart/collision/ode/detail/OdeHeightmap.hpp b/dart/collision/ode/detail/OdeHeightmap.hpp
index 1cb8efcc24e1d..488ab291f75d2 100644
--- a/dart/collision/ode/detail/OdeHeightmap.hpp
+++ b/dart/collision/ode/detail/OdeHeightmap.hpp
@@ -34,6 +34,7 @@
 #define DART_COLLISION_ODE_DETAIL_ODEHEIGHTMAP_HPP_
 
 #include <dart/collision/ode/detail/OdeGeom.hpp>
+
 #include <dart/dynamics/HeightmapShape.hpp>
 
 #include <ode/ode.h>
diff --git a/dart/common/Memory.hpp b/dart/common/Memory.hpp
index fed17d1b44119..a392c24830019 100644
--- a/dart/common/Memory.hpp
+++ b/dart/common/Memory.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_COMMON_MEMORY_HPP_
 #define DART_COMMON_MEMORY_HPP_
 
+#include <dart/config.hpp>
+
 #include <dart/common/Deprecated.hpp>
 #include <dart/common/detail/AlignedAllocator.hpp>
-#include <dart/config.hpp>
 
 #include <map>
 #include <memory>
diff --git a/dart/constraint/BallJointConstraint.hpp b/dart/constraint/BallJointConstraint.hpp
index a9c50ee57969d..d1eeb18d2177f 100644
--- a/dart/constraint/BallJointConstraint.hpp
+++ b/dart/constraint/BallJointConstraint.hpp
@@ -34,6 +34,7 @@
 #define DART_CONSTRAINT_BALLJOINTCONSTRAINT_HPP_
 
 #include <dart/constraint/DynamicJointConstraint.hpp>
+
 #include <dart/math/MathTypes.hpp>
 
 #include <Eigen/Dense>
diff --git a/dart/constraint/ConstraintSolver.hpp b/dart/constraint/ConstraintSolver.hpp
index 24a1bbd7307af..4935eb5ffda98 100644
--- a/dart/constraint/ConstraintSolver.hpp
+++ b/dart/constraint/ConstraintSolver.hpp
@@ -33,12 +33,14 @@
 #ifndef DART_CONSTRAINT_CONSTRAINTSOVER_HPP_
 #define DART_CONSTRAINT_CONSTRAINTSOVER_HPP_
 
-#include <dart/collision/CollisionDetector.hpp>
-#include <dart/common/Deprecated.hpp>
 #include <dart/constraint/ConstrainedGroup.hpp>
 #include <dart/constraint/ConstraintBase.hpp>
 #include <dart/constraint/SmartPointer.hpp>
 
+#include <dart/collision/CollisionDetector.hpp>
+
+#include <dart/common/Deprecated.hpp>
+
 #include <Eigen/Dense>
 
 #include <vector>
diff --git a/dart/constraint/ContactConstraint.hpp b/dart/constraint/ContactConstraint.hpp
index b881c219f5357..f7e6d962bdf67 100644
--- a/dart/constraint/ContactConstraint.hpp
+++ b/dart/constraint/ContactConstraint.hpp
@@ -33,9 +33,11 @@
 #ifndef DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_
 #define DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_
 
-#include <dart/collision/CollisionDetector.hpp>
 #include <dart/constraint/ConstraintBase.hpp>
 #include <dart/constraint/ContactSurface.hpp>
+
+#include <dart/collision/CollisionDetector.hpp>
+
 #include <dart/math/MathTypes.hpp>
 
 namespace dart {
diff --git a/dart/constraint/ContactSurface.hpp b/dart/constraint/ContactSurface.hpp
index 6a48df4fa47d5..ed6a4bed7d11a 100644
--- a/dart/constraint/ContactSurface.hpp
+++ b/dart/constraint/ContactSurface.hpp
@@ -33,8 +33,10 @@
 #ifndef DART_CONSTRAINT_CONTACTSURFACE_HPP_
 #define DART_CONSTRAINT_CONTACTSURFACE_HPP_
 
-#include <dart/collision/Contact.hpp>
 #include <dart/constraint/SmartPointer.hpp>
+
+#include <dart/collision/Contact.hpp>
+
 #include <dart/dynamics/ShapeNode.hpp>
 
 #include <Eigen/Core>
diff --git a/dart/constraint/DantzigLCPSolver.hpp b/dart/constraint/DantzigLCPSolver.hpp
index 492e87d84e407..caf1d3ed5d37c 100644
--- a/dart/constraint/DantzigLCPSolver.hpp
+++ b/dart/constraint/DantzigLCPSolver.hpp
@@ -34,6 +34,7 @@
 #define DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
 
 #include <dart/config.hpp>
+
 #include <dart/constraint/LCPSolver.hpp>
 
 #include <cstddef>
diff --git a/dart/constraint/MimicMotorConstraint.hpp b/dart/constraint/MimicMotorConstraint.hpp
index d43a40a3fc65d..851f4c8177b36 100644
--- a/dart/constraint/MimicMotorConstraint.hpp
+++ b/dart/constraint/MimicMotorConstraint.hpp
@@ -34,6 +34,7 @@
 #define DART_CONSTRAINT_MIMICMOTORCONSTRAINT_HPP_
 
 #include <dart/constraint/ConstraintBase.hpp>
+
 #include <dart/dynamics/MimicDofProperties.hpp>
 
 #include <vector>
diff --git a/dart/constraint/PGSLCPSolver.hpp b/dart/constraint/PGSLCPSolver.hpp
index b996bba4099c4..e74e24aafe26a 100644
--- a/dart/constraint/PGSLCPSolver.hpp
+++ b/dart/constraint/PGSLCPSolver.hpp
@@ -34,6 +34,7 @@
 #define DART_CONSTRAINT_PGSLCPSOLVER_HPP_
 
 #include <dart/config.hpp>
+
 #include <dart/constraint/LCPSolver.hpp>
 
 #include <cstddef>
diff --git a/dart/constraint/SoftContactConstraint.hpp b/dart/constraint/SoftContactConstraint.hpp
index 861fa78065f48..d31e4371544fb 100644
--- a/dart/constraint/SoftContactConstraint.hpp
+++ b/dart/constraint/SoftContactConstraint.hpp
@@ -33,8 +33,10 @@
 #ifndef DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_
 #define DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_
 
-#include <dart/collision/CollisionDetector.hpp>
 #include <dart/constraint/ConstraintBase.hpp>
+
+#include <dart/collision/CollisionDetector.hpp>
+
 #include <dart/math/MathTypes.hpp>
 
 namespace dart {
diff --git a/dart/constraint/WeldJointConstraint.hpp b/dart/constraint/WeldJointConstraint.hpp
index dd10720864dcb..8fcc3df707dd0 100644
--- a/dart/constraint/WeldJointConstraint.hpp
+++ b/dart/constraint/WeldJointConstraint.hpp
@@ -34,6 +34,7 @@
 #define DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_
 
 #include <dart/constraint/DynamicJointConstraint.hpp>
+
 #include <dart/math/MathTypes.hpp>
 
 #include <Eigen/Dense>
diff --git a/dart/dynamics/BodyNode.hpp b/dart/dynamics/BodyNode.hpp
index 97d797b9953c5..83bc96a597dba 100644
--- a/dart/dynamics/BodyNode.hpp
+++ b/dart/dynamics/BodyNode.hpp
@@ -33,10 +33,8 @@
 #ifndef DART_DYNAMICS_BODYNODE_HPP_
 #define DART_DYNAMICS_BODYNODE_HPP_
 
-#include <dart/common/Deprecated.hpp>
-#include <dart/common/EmbeddedAspect.hpp>
-#include <dart/common/Signal.hpp>
 #include <dart/config.hpp>
+
 #include <dart/dynamics/EndEffector.hpp>
 #include <dart/dynamics/Frame.hpp>
 #include <dart/dynamics/Marker.hpp>
@@ -45,8 +43,13 @@
 #include <dart/dynamics/SpecializedNodeManager.hpp>
 #include <dart/dynamics/TemplatedJacobianNode.hpp>
 #include <dart/dynamics/detail/BodyNodeAspect.hpp>
+
 #include <dart/math/Geometry.hpp>
 
+#include <dart/common/Deprecated.hpp>
+#include <dart/common/EmbeddedAspect.hpp>
+#include <dart/common/Signal.hpp>
+
 #include <Eigen/Dense>
 #include <Eigen/StdVector>
 
diff --git a/dart/dynamics/CompositeNode.hpp b/dart/dynamics/CompositeNode.hpp
index 404c1cf3a2a89..3083cb42f6a33 100644
--- a/dart/dynamics/CompositeNode.hpp
+++ b/dart/dynamics/CompositeNode.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_DYNAMICS_COMPOSITENODE_HPP_
 #define DART_DYNAMICS_COMPOSITENODE_HPP_
 
-#include <dart/common/Composite.hpp>
 #include <dart/dynamics/Node.hpp>
 
+#include <dart/common/Composite.hpp>
+
 namespace dart {
 namespace dynamics {
 
diff --git a/dart/dynamics/DegreeOfFreedom.hpp b/dart/dynamics/DegreeOfFreedom.hpp
index 2ba5f45581134..8daa0b88c94bc 100644
--- a/dart/dynamics/DegreeOfFreedom.hpp
+++ b/dart/dynamics/DegreeOfFreedom.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_DYNAMICS_DEGREEOFFREEDOM_HPP_
 #define DART_DYNAMICS_DEGREEOFFREEDOM_HPP_
 
+#include <dart/dynamics/SmartPointer.hpp>
+
 #include <dart/common/ClassWithVirtualBase.hpp>
 #include <dart/common/Subject.hpp>
-#include <dart/dynamics/SmartPointer.hpp>
 
 #include <Eigen/Core>
 
diff --git a/dart/dynamics/EndEffector.hpp b/dart/dynamics/EndEffector.hpp
index 84043d615dadb..b5c1da3a9a208 100644
--- a/dart/dynamics/EndEffector.hpp
+++ b/dart/dynamics/EndEffector.hpp
@@ -33,13 +33,14 @@
 #ifndef DART_DYNAMICS_ENDEFFECTOR_HPP_
 #define DART_DYNAMICS_ENDEFFECTOR_HPP_
 
-#include <dart/common/Aspect.hpp>
-#include <dart/common/AspectWithVersion.hpp>
-#include <dart/common/SpecializedForAspect.hpp>
 #include <dart/dynamics/CompositeNode.hpp>
 #include <dart/dynamics/FixedJacobianNode.hpp>
 #include <dart/dynamics/detail/EndEffectorAspect.hpp>
 
+#include <dart/common/Aspect.hpp>
+#include <dart/common/AspectWithVersion.hpp>
+#include <dart/common/SpecializedForAspect.hpp>
+
 namespace dart {
 namespace dynamics {
 
diff --git a/dart/dynamics/Entity.hpp b/dart/dynamics/Entity.hpp
index 960c0e49e17fe..b80096de8d38e 100644
--- a/dart/dynamics/Entity.hpp
+++ b/dart/dynamics/Entity.hpp
@@ -33,11 +33,12 @@
 #ifndef DART_DYNAMICS_ENTITY_HPP_
 #define DART_DYNAMICS_ENTITY_HPP_
 
+#include <dart/dynamics/Shape.hpp>
+#include <dart/dynamics/SmartPointer.hpp>
+
 #include <dart/common/Composite.hpp>
 #include <dart/common/Signal.hpp>
 #include <dart/common/Subject.hpp>
-#include <dart/dynamics/Shape.hpp>
-#include <dart/dynamics/SmartPointer.hpp>
 
 #include <Eigen/Core>
 
diff --git a/dart/dynamics/FixedFrame.hpp b/dart/dynamics/FixedFrame.hpp
index 0868e1428cba9..d4d2c5d121562 100644
--- a/dart/dynamics/FixedFrame.hpp
+++ b/dart/dynamics/FixedFrame.hpp
@@ -33,11 +33,12 @@
 #ifndef DART_DYNAMICS_FIXEDFRAME_HPP_
 #define DART_DYNAMICS_FIXEDFRAME_HPP_
 
-#include <dart/common/EmbeddedAspect.hpp>
-#include <dart/common/VersionCounter.hpp>
 #include <dart/dynamics/Frame.hpp>
 #include <dart/dynamics/detail/FixedFrameAspect.hpp>
 
+#include <dart/common/EmbeddedAspect.hpp>
+#include <dart/common/VersionCounter.hpp>
+
 namespace dart {
 namespace dynamics {
 
diff --git a/dart/dynamics/Frame.hpp b/dart/dynamics/Frame.hpp
index bc223410024a1..e1f43d9df3150 100644
--- a/dart/dynamics/Frame.hpp
+++ b/dart/dynamics/Frame.hpp
@@ -34,6 +34,7 @@
 #define DART_DYNAMICS_FRAME_HPP_
 
 #include <dart/dynamics/Entity.hpp>
+
 #include <dart/math/MathTypes.hpp>
 
 #include <Eigen/Geometry>
diff --git a/dart/dynamics/FreeJoint.hpp b/dart/dynamics/FreeJoint.hpp
index 2ac0504dbfe74..67f684c22e306 100644
--- a/dart/dynamics/FreeJoint.hpp
+++ b/dart/dynamics/FreeJoint.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_DYNAMICS_FREEJOINT_HPP_
 #define DART_DYNAMICS_FREEJOINT_HPP_
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/dynamics/GenericJoint.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 #include <Eigen/Dense>
 
 #include <string>
diff --git a/dart/dynamics/IkFast.hpp b/dart/dynamics/IkFast.hpp
index e9a09763302aa..0644ef9a25f45 100644
--- a/dart/dynamics/IkFast.hpp
+++ b/dart/dynamics/IkFast.hpp
@@ -36,9 +36,10 @@
 #include <array>
 
 #define IKFAST_HAS_LIBRARY
-#include <dart/dynamics/InverseKinematics.hpp>
 #include "dart/external/ikfast/ikfast.h"
 
+#include <dart/dynamics/InverseKinematics.hpp>
+
 namespace dart {
 namespace dynamics {
 
diff --git a/dart/dynamics/InverseKinematics.hpp b/dart/dynamics/InverseKinematics.hpp
index bd47e3328cf4f..1dafe924f4564 100644
--- a/dart/dynamics/InverseKinematics.hpp
+++ b/dart/dynamics/InverseKinematics.hpp
@@ -33,16 +33,19 @@
 #ifndef DART_DYNAMICS_INVERSEKINEMATICS_HPP_
 #define DART_DYNAMICS_INVERSEKINEMATICS_HPP_
 
-#include <dart/common/Signal.hpp>
-#include <dart/common/Subject.hpp>
-#include <dart/common/sub_ptr.hpp>
 #include <dart/dynamics/JacobianNode.hpp>
 #include <dart/dynamics/SmartPointer.hpp>
-#include <dart/math/Geometry.hpp>
+
 #include <dart/optimizer/Function.hpp>
 #include <dart/optimizer/Problem.hpp>
 #include <dart/optimizer/Solver.hpp>
 
+#include <dart/math/Geometry.hpp>
+
+#include <dart/common/Signal.hpp>
+#include <dart/common/Subject.hpp>
+#include <dart/common/sub_ptr.hpp>
+
 #include <Eigen/SVD>
 
 #include <functional>
diff --git a/dart/dynamics/Joint.hpp b/dart/dynamics/Joint.hpp
index 1a86a940849fd..a49a787fdaae0 100644
--- a/dart/dynamics/Joint.hpp
+++ b/dart/dynamics/Joint.hpp
@@ -33,16 +33,18 @@
 #ifndef DART_DYNAMICS_JOINT_HPP_
 #define DART_DYNAMICS_JOINT_HPP_
 
-#include <dart/common/Deprecated.hpp>
-#include <dart/common/EmbeddedAspect.hpp>
-#include <dart/common/Subject.hpp>
-#include <dart/common/VersionCounter.hpp>
 #include <dart/dynamics/Frame.hpp>
 #include <dart/dynamics/MimicDofProperties.hpp>
 #include <dart/dynamics/SmartPointer.hpp>
 #include <dart/dynamics/detail/JointAspect.hpp>
+
 #include <dart/math/MathTypes.hpp>
 
+#include <dart/common/Deprecated.hpp>
+#include <dart/common/EmbeddedAspect.hpp>
+#include <dart/common/Subject.hpp>
+#include <dart/common/VersionCounter.hpp>
+
 #include <memory>
 #include <string>
 #include <vector>
diff --git a/dart/dynamics/Marker.hpp b/dart/dynamics/Marker.hpp
index 695e3b664b2c7..7cbf7e15a75b9 100644
--- a/dart/dynamics/Marker.hpp
+++ b/dart/dynamics/Marker.hpp
@@ -33,10 +33,11 @@
 #ifndef DART_DYNAMICS_MARKER_HPP_
 #define DART_DYNAMICS_MARKER_HPP_
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/dynamics/FixedJacobianNode.hpp>
 #include <dart/dynamics/detail/MarkerAspect.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 #include <Eigen/Dense>
 
 namespace dart {
diff --git a/dart/dynamics/MeshShape.hpp b/dart/dynamics/MeshShape.hpp
index 1a926950cfef3..acf4b9e39c84b 100644
--- a/dart/dynamics/MeshShape.hpp
+++ b/dart/dynamics/MeshShape.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_DYNAMICS_MESHSHAPE_HPP_
 #define DART_DYNAMICS_MESHSHAPE_HPP_
 
-#include <dart/common/ResourceRetriever.hpp>
 #include <dart/dynamics/Shape.hpp>
 
+#include <dart/common/ResourceRetriever.hpp>
+
 #include <assimp/scene.h>
 
 #include <string>
diff --git a/dart/dynamics/MetaSkeleton.hpp b/dart/dynamics/MetaSkeleton.hpp
index c20ee300299f3..a83affc750222 100644
--- a/dart/dynamics/MetaSkeleton.hpp
+++ b/dart/dynamics/MetaSkeleton.hpp
@@ -33,13 +33,15 @@
 #ifndef DART_DYNAMICS_METASKELETON_HPP_
 #define DART_DYNAMICS_METASKELETON_HPP_
 
-#include <dart/common/LockableReference.hpp>
-#include <dart/common/Signal.hpp>
-#include <dart/common/Subject.hpp>
 #include <dart/dynamics/Frame.hpp>
 #include <dart/dynamics/InvalidIndex.hpp>
+
 #include <dart/math/Geometry.hpp>
 
+#include <dart/common/LockableReference.hpp>
+#include <dart/common/Signal.hpp>
+#include <dart/common/Subject.hpp>
+
 #include <Eigen/Dense>
 
 #include <string>
diff --git a/dart/dynamics/Node.hpp b/dart/dynamics/Node.hpp
index 34ca578a0878a..41505d7db8ffe 100644
--- a/dart/dynamics/Node.hpp
+++ b/dart/dynamics/Node.hpp
@@ -33,11 +33,12 @@
 #ifndef DART_DYNAMICS_NODE_HPP_
 #define DART_DYNAMICS_NODE_HPP_
 
+#include <dart/dynamics/SmartPointer.hpp>
+
 #include <dart/common/Cloneable.hpp>
 #include <dart/common/EmbeddedAspect.hpp>
 #include <dart/common/Subject.hpp>
 #include <dart/common/VersionCounter.hpp>
-#include <dart/dynamics/SmartPointer.hpp>
 
 #include <memory>
 
diff --git a/dart/dynamics/PointMass.hpp b/dart/dynamics/PointMass.hpp
index 975749c2c732e..e9c1f5f411c42 100644
--- a/dart/dynamics/PointMass.hpp
+++ b/dart/dynamics/PointMass.hpp
@@ -34,6 +34,7 @@
 #define DART_DYNAMICS_POINTMASS_HPP_
 
 #include <dart/dynamics/Entity.hpp>
+
 #include <dart/math/Helpers.hpp>
 
 #include <Eigen/Dense>
diff --git a/dart/dynamics/Shape.hpp b/dart/dynamics/Shape.hpp
index bc9e8e429cdbe..2480eed8b2662 100644
--- a/dart/dynamics/Shape.hpp
+++ b/dart/dynamics/Shape.hpp
@@ -33,14 +33,16 @@
 #ifndef DART_DYNAMICS_SHAPE_HPP_
 #define DART_DYNAMICS_SHAPE_HPP_
 
+#include <dart/dynamics/SmartPointer.hpp>
+
+#include <dart/math/Geometry.hpp>
+
 #include <dart/common/Castable.hpp>
 #include <dart/common/ClassWithVirtualBase.hpp>
 #include <dart/common/Deprecated.hpp>
 #include <dart/common/Signal.hpp>
 #include <dart/common/Subject.hpp>
 #include <dart/common/VersionCounter.hpp>
-#include <dart/dynamics/SmartPointer.hpp>
-#include <dart/math/Geometry.hpp>
 
 #include <Eigen/Dense>
 
diff --git a/dart/dynamics/ShapeFrame.hpp b/dart/dynamics/ShapeFrame.hpp
index 6d1fba02e060a..9c0ee2d30aa66 100644
--- a/dart/dynamics/ShapeFrame.hpp
+++ b/dart/dynamics/ShapeFrame.hpp
@@ -33,14 +33,15 @@
 #ifndef DART_DYNAMICS_SHAPEFRAME_HPP_
 #define DART_DYNAMICS_SHAPEFRAME_HPP_
 
-#include <dart/common/AspectWithVersion.hpp>
-#include <dart/common/Signal.hpp>
-#include <dart/common/SpecializedForAspect.hpp>
 #include <dart/dynamics/EllipsoidShape.hpp>
 #include <dart/dynamics/FixedFrame.hpp>
 #include <dart/dynamics/TemplatedJacobianNode.hpp>
 #include <dart/dynamics/detail/ShapeFrameAspect.hpp>
 
+#include <dart/common/AspectWithVersion.hpp>
+#include <dart/common/Signal.hpp>
+#include <dart/common/SpecializedForAspect.hpp>
+
 #include <Eigen/Dense>
 
 namespace dart {
diff --git a/dart/dynamics/ShapeNode.hpp b/dart/dynamics/ShapeNode.hpp
index 528e1f99cdf24..2e66e481b373a 100644
--- a/dart/dynamics/ShapeNode.hpp
+++ b/dart/dynamics/ShapeNode.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_DYNAMICS_SHAPENODE_HPP_
 #define DART_DYNAMICS_SHAPENODE_HPP_
 
-#include <dart/common/Signal.hpp>
 #include <dart/dynamics/detail/ShapeNode.hpp>
 
+#include <dart/common/Signal.hpp>
+
 #include <Eigen/Dense>
 
 namespace dart {
diff --git a/dart/dynamics/SharedLibraryIkFast.hpp b/dart/dynamics/SharedLibraryIkFast.hpp
index 9b664f8ac8b63..97cd7a77af75d 100644
--- a/dart/dynamics/SharedLibraryIkFast.hpp
+++ b/dart/dynamics/SharedLibraryIkFast.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_DYNAMICS_SHAREDLIBRARYIKFAST_HPP_
 #define DART_DYNAMICS_SHAREDLIBRARYIKFAST_HPP_
 
-#include <dart/common/SharedLibrary.hpp>
 #include <dart/dynamics/IkFast.hpp>
 
+#include <dart/common/SharedLibrary.hpp>
+
 namespace dart {
 namespace dynamics {
 
diff --git a/dart/dynamics/Skeleton.hpp b/dart/dynamics/Skeleton.hpp
index 3f0b539e16a48..9d4259802e24e 100644
--- a/dart/dynamics/Skeleton.hpp
+++ b/dart/dynamics/Skeleton.hpp
@@ -33,8 +33,6 @@
 #ifndef DART_DYNAMICS_SKELETON_HPP_
 #define DART_DYNAMICS_SKELETON_HPP_
 
-#include <dart/common/NameManager.hpp>
-#include <dart/common/VersionCounter.hpp>
 #include <dart/dynamics/EndEffector.hpp>
 #include <dart/dynamics/HierarchicalIK.hpp>
 #include <dart/dynamics/Joint.hpp>
@@ -46,6 +44,9 @@
 #include <dart/dynamics/detail/BodyNodeAspect.hpp>
 #include <dart/dynamics/detail/SkeletonAspect.hpp>
 
+#include <dart/common/NameManager.hpp>
+#include <dart/common/VersionCounter.hpp>
+
 #include <mutex>
 
 namespace dart {
diff --git a/dart/dynamics/SmartPointer.hpp b/dart/dynamics/SmartPointer.hpp
index 9d5a2e4d9d79b..8adfbcc3ab4eb 100644
--- a/dart/dynamics/SmartPointer.hpp
+++ b/dart/dynamics/SmartPointer.hpp
@@ -33,13 +33,14 @@
 #ifndef DART_DYNAMICS_SMARTPOINTER_HPP_
 #define DART_DYNAMICS_SMARTPOINTER_HPP_
 
-#include <dart/common/SmartPointer.hpp>
 #include <dart/dynamics/detail/BodyNodePtr.hpp>
 #include <dart/dynamics/detail/DegreeOfFreedomPtr.hpp>
 #include <dart/dynamics/detail/InverseKinematicsPtr.hpp>
 #include <dart/dynamics/detail/JointPtr.hpp>
 #include <dart/dynamics/detail/NodePtr.hpp>
 
+#include <dart/common/SmartPointer.hpp>
+
 // This file is a lightweight means of providing the smart pointers which are
 // commonly used within the dart::dynamics namespace. It is 'lightweight' in the
 // sense that it does not depend on any types being fully defined, making this
diff --git a/dart/dynamics/SpecializedNodeManager.hpp b/dart/dynamics/SpecializedNodeManager.hpp
index 9759123e38571..8c8792429f434 100644
--- a/dart/dynamics/SpecializedNodeManager.hpp
+++ b/dart/dynamics/SpecializedNodeManager.hpp
@@ -33,10 +33,11 @@
 #ifndef DART_DYNAMICS_SPECIALIZEDNODEMANAGER_HPP_
 #define DART_DYNAMICS_SPECIALIZEDNODEMANAGER_HPP_
 
-#include <dart/common/Virtual.hpp>
 #include <dart/dynamics/NodeManagerJoiner.hpp>
 #include <dart/dynamics/detail/BasicNodeManager.hpp>
 
+#include <dart/common/Virtual.hpp>
+
 namespace dart {
 namespace dynamics {
 
diff --git a/dart/dynamics/VoxelGridShape.hpp b/dart/dynamics/VoxelGridShape.hpp
index 9dd24ee1f4af6..f480e8f5b3e00 100644
--- a/dart/dynamics/VoxelGridShape.hpp
+++ b/dart/dynamics/VoxelGridShape.hpp
@@ -38,6 +38,7 @@
 #if HAVE_OCTOMAP
 
   #include <dart/collision/fcl/BackwardCompatibility.hpp>
+
   #include <dart/dynamics/Frame.hpp>
   #include <dart/dynamics/Shape.hpp>
 
diff --git a/dart/dynamics/detail/BasicNodeManager.hpp b/dart/dynamics/detail/BasicNodeManager.hpp
index 59d664e45e61f..95535f140cf29 100644
--- a/dart/dynamics/detail/BasicNodeManager.hpp
+++ b/dart/dynamics/detail/BasicNodeManager.hpp
@@ -33,10 +33,11 @@
 #ifndef DART_DYNAMICS_DETAIL_BASICNODEMANAGER_HPP_
 #define DART_DYNAMICS_DETAIL_BASICNODEMANAGER_HPP_
 
+#include <dart/dynamics/Node.hpp>
+
 #include <dart/common/ClassWithVirtualBase.hpp>
 #include <dart/common/Empty.hpp>
 #include <dart/common/NameManager.hpp>
-#include <dart/dynamics/Node.hpp>
 
 #include <map>
 #include <typeindex>
diff --git a/dart/dynamics/detail/BodyNodeAspect.hpp b/dart/dynamics/detail/BodyNodeAspect.hpp
index ae90a8d6fa87a..38f7b7e8b3b84 100644
--- a/dart/dynamics/detail/BodyNodeAspect.hpp
+++ b/dart/dynamics/detail/BodyNodeAspect.hpp
@@ -33,12 +33,13 @@
 #ifndef DART_DYNAMICS_DETAIL_BODYNODEASPECT_HPP_
 #define DART_DYNAMICS_DETAIL_BODYNODEASPECT_HPP_
 
-#include <dart/common/EmbeddedAspect.hpp>
-#include <dart/common/ProxyAspect.hpp>
 #include <dart/dynamics/Entity.hpp>
 #include <dart/dynamics/Inertia.hpp>
 #include <dart/dynamics/Node.hpp>
 
+#include <dart/common/EmbeddedAspect.hpp>
+#include <dart/common/ProxyAspect.hpp>
+
 namespace dart {
 namespace dynamics {
 
diff --git a/dart/dynamics/detail/EndEffectorAspect.hpp b/dart/dynamics/detail/EndEffectorAspect.hpp
index 42395b12c75ca..4a920e9892589 100644
--- a/dart/dynamics/detail/EndEffectorAspect.hpp
+++ b/dart/dynamics/detail/EndEffectorAspect.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
 #define DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
 
-#include <dart/common/SpecializedForAspect.hpp>
 #include <dart/dynamics/CompositeNode.hpp>
 
+#include <dart/common/SpecializedForAspect.hpp>
+
 #include <Eigen/Geometry>
 
 namespace dart {
diff --git a/dart/dynamics/detail/GenericJoint.hpp b/dart/dynamics/detail/GenericJoint.hpp
index 02d347683a7c2..d2942a1075711 100644
--- a/dart/dynamics/detail/GenericJoint.hpp
+++ b/dart/dynamics/detail/GenericJoint.hpp
@@ -34,9 +34,11 @@
 #define DART_DYNAMICS_DETAIL_GenericJoint_HPP_
 
 #include <dart/config.hpp>
+
 #include <dart/dynamics/BodyNode.hpp>
 #include <dart/dynamics/DegreeOfFreedom.hpp>
 #include <dart/dynamics/GenericJoint.hpp>
+
 #include <dart/math/ConfigurationSpace.hpp>
 #include <dart/math/Helpers.hpp>
 
diff --git a/dart/dynamics/detail/GenericJointAspect.hpp b/dart/dynamics/detail/GenericJointAspect.hpp
index 62451c26de319..df75562ccdda6 100644
--- a/dart/dynamics/detail/GenericJointAspect.hpp
+++ b/dart/dynamics/detail/GenericJointAspect.hpp
@@ -33,10 +33,12 @@
 #ifndef DART_DYNAMICS_DETAIL_GenericJointASPECT_HPP_
 #define DART_DYNAMICS_DETAIL_GenericJointASPECT_HPP_
 
-#include <dart/common/AspectWithVersion.hpp>
 #include <dart/dynamics/Joint.hpp>
+
 #include <dart/math/Helpers.hpp>
 
+#include <dart/common/AspectWithVersion.hpp>
+
 namespace dart {
 namespace dynamics {
 
diff --git a/dart/dynamics/detail/HeightmapShape-impl.hpp b/dart/dynamics/detail/HeightmapShape-impl.hpp
index 6e2d5dd5ab165..bbdeaa2364152 100644
--- a/dart/dynamics/detail/HeightmapShape-impl.hpp
+++ b/dart/dynamics/detail/HeightmapShape-impl.hpp
@@ -30,10 +30,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <dart/common/Console.hpp>
 #include <dart/dynamics/BoxShape.hpp>
 #include <dart/dynamics/HeightmapShape.hpp>
 
+#include <dart/common/Console.hpp>
+
 #include <algorithm>
 #include <limits>
 
diff --git a/dart/dynamics/detail/Node.hpp b/dart/dynamics/detail/Node.hpp
index a3a08666e224a..41f79d117c4fb 100644
--- a/dart/dynamics/detail/Node.hpp
+++ b/dart/dynamics/detail/Node.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_DYNAMICS_DETAIL_NODE_HPP_
 #define DART_DYNAMICS_DETAIL_NODE_HPP_
 
-#include <dart/common/StlHelpers.hpp>
 #include <dart/dynamics/Node.hpp>
 
+#include <dart/common/StlHelpers.hpp>
+
 #include <cassert>
 
 namespace dart {
diff --git a/dart/dynamics/detail/NodeManagerJoiner.hpp b/dart/dynamics/detail/NodeManagerJoiner.hpp
index d9fc919a8bf49..8d474ccffa514 100644
--- a/dart/dynamics/detail/NodeManagerJoiner.hpp
+++ b/dart/dynamics/detail/NodeManagerJoiner.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_DYNAMICS_DETAIL_NODEMANAGERJOINER_HPP_
 #define DART_DYNAMICS_DETAIL_NODEMANAGERJOINER_HPP_
 
-#include <dart/common/detail/TemplateJoinerDispatchMacro.hpp>
 #include <dart/dynamics/NodeManagerJoiner.hpp>
 
+#include <dart/common/detail/TemplateJoinerDispatchMacro.hpp>
+
 namespace dart {
 namespace dynamics {
 
diff --git a/dart/dynamics/detail/ShapeFrameAspect.hpp b/dart/dynamics/detail/ShapeFrameAspect.hpp
index a813e85df358d..7068cfed8c0a4 100644
--- a/dart/dynamics/detail/ShapeFrameAspect.hpp
+++ b/dart/dynamics/detail/ShapeFrameAspect.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
 #define DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
 
-#include <dart/common/EmbeddedAspect.hpp>
 #include <dart/dynamics/SmartPointer.hpp>
 
+#include <dart/common/EmbeddedAspect.hpp>
+
 #include <Eigen/Core>
 
 namespace dart {
diff --git a/dart/dynamics/detail/SoftBodyNodeAspect.hpp b/dart/dynamics/detail/SoftBodyNodeAspect.hpp
index dcd017d828c96..3d80da2f02aec 100644
--- a/dart/dynamics/detail/SoftBodyNodeAspect.hpp
+++ b/dart/dynamics/detail/SoftBodyNodeAspect.hpp
@@ -33,10 +33,11 @@
 #ifndef DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_
 #define DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_
 
-#include <dart/common/RequiresAspect.hpp>
 #include <dart/dynamics/BodyNode.hpp>
 #include <dart/dynamics/PointMass.hpp>
 
+#include <dart/common/RequiresAspect.hpp>
+
 namespace dart {
 namespace dynamics {
 
diff --git a/dart/gui/GlutWindow.hpp b/dart/gui/GlutWindow.hpp
index e412f33c0c8b3..03b5b9ede981f 100644
--- a/dart/gui/GlutWindow.hpp
+++ b/dart/gui/GlutWindow.hpp
@@ -37,9 +37,10 @@
     "This header is deprecated as of DART 6.6. "                               \
     "Please use dart/gui/glut/Window.hpp instead.")
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/gui/glut/Window.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 namespace dart {
 namespace gui {
 
diff --git a/dart/gui/GraphWindow.hpp b/dart/gui/GraphWindow.hpp
index 9b1b26f7a8b1e..8c1c52f511077 100644
--- a/dart/gui/GraphWindow.hpp
+++ b/dart/gui/GraphWindow.hpp
@@ -43,9 +43,10 @@
     "This header is deprecated as of DART 6.6. "                               \
     "Please use dart/gui/glut/GraphWindow.hpp instead.")
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/gui/glut/GraphWindow.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 namespace dart {
 namespace gui {
 
diff --git a/dart/gui/MotionBlurSimWindow.hpp b/dart/gui/MotionBlurSimWindow.hpp
index 81d5f04d3776f..f91e644b7fda6 100644
--- a/dart/gui/MotionBlurSimWindow.hpp
+++ b/dart/gui/MotionBlurSimWindow.hpp
@@ -13,9 +13,10 @@
     "This header is deprecated as of DART 6.6. "                               \
     "Please use dart/gui/glut/MotionBlurSimWindow.hpp instead.")
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/gui/glut/MotionBlurSimWindow.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 namespace dart {
 namespace gui {
 
diff --git a/dart/gui/SimWindow.hpp b/dart/gui/SimWindow.hpp
index 2f8c2b7393272..d49b31c755c56 100644
--- a/dart/gui/SimWindow.hpp
+++ b/dart/gui/SimWindow.hpp
@@ -43,9 +43,10 @@
     "This header is deprecated as of DART 6.6. "                               \
     "Please use dart/gui/glut/SimWindow.hpp instead.")
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/gui/glut/SimWindow.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 namespace dart {
 namespace gui {
 
diff --git a/dart/gui/SoftSimWindow.hpp b/dart/gui/SoftSimWindow.hpp
index 2bd2bd14ec236..11fc5c3457b41 100644
--- a/dart/gui/SoftSimWindow.hpp
+++ b/dart/gui/SoftSimWindow.hpp
@@ -43,9 +43,10 @@
     "This header is deprecated as of DART 6.6. "                               \
     "Please use dart/gui/glut/SoftSimWindow.hpp instead.")
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/gui/glut/SoftSimWindow.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 namespace dart {
 namespace gui {
 
diff --git a/dart/gui/Win2D.hpp b/dart/gui/Win2D.hpp
index 784d7631ee0a4..218104b28d63b 100644
--- a/dart/gui/Win2D.hpp
+++ b/dart/gui/Win2D.hpp
@@ -37,9 +37,10 @@
     "This header is deprecated as of DART 6.6. "                               \
     "Please use dart/gui/glut/Win2D.hpp instead.")
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/gui/glut/Win2D.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 namespace dart {
 namespace gui {
 
diff --git a/dart/gui/Win3D.hpp b/dart/gui/Win3D.hpp
index a166b7224e282..8796a6e9b7b46 100644
--- a/dart/gui/Win3D.hpp
+++ b/dart/gui/Win3D.hpp
@@ -37,9 +37,10 @@
     "This header is deprecated as of DART 6.6. "                               \
     "Please use dart/gui/glut/Win3D.hpp instead.")
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/gui/glut/Win3D.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 namespace dart {
 namespace gui {
 
diff --git a/dart/gui/glut/SimWindow.hpp b/dart/gui/glut/SimWindow.hpp
index a00627ee8e0f7..89ce2a9f09044 100644
--- a/dart/gui/glut/SimWindow.hpp
+++ b/dart/gui/glut/SimWindow.hpp
@@ -33,10 +33,12 @@
 #ifndef DART_GUI_GLUT_SIMWINDOW_HPP_
 #define DART_GUI_GLUT_SIMWINDOW_HPP_
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/gui/glut/Win3D.hpp>
+
 #include <dart/simulation/World.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 #include <Eigen/Dense>
 
 #include <vector>
diff --git a/dart/gui/osg/DragAndDrop.hpp b/dart/gui/osg/DragAndDrop.hpp
index 8b2d12e72ad8f..24a52165ab42b 100644
--- a/dart/gui/osg/DragAndDrop.hpp
+++ b/dart/gui/osg/DragAndDrop.hpp
@@ -34,10 +34,12 @@
 #define DART_GUI_OSG_DRAGANDDROP_HPP_
 
 #include "DefaultEventHandler.hpp"
-#include <dart/common/sub_ptr.hpp>
+
 #include <dart/dynamics/Entity.hpp>
 #include <dart/dynamics/Shape.hpp>
 
+#include <dart/common/sub_ptr.hpp>
+
 #include <Eigen/Geometry>
 
 #include <functional>
diff --git a/dart/gui/osg/GridVisual.hpp b/dart/gui/osg/GridVisual.hpp
index 7a475a98336b9..7034d4dfe07b5 100644
--- a/dart/gui/osg/GridVisual.hpp
+++ b/dart/gui/osg/GridVisual.hpp
@@ -33,10 +33,11 @@
 #ifndef DART_GUI_OSG_GRIDVISUAL_HPP_
 #define DART_GUI_OSG_GRIDVISUAL_HPP_
 
-#include <dart/dynamics/SmartPointer.hpp>
 #include <dart/gui/osg/ShapeFrameNode.hpp>
 #include <dart/gui/osg/Viewer.hpp>
 
+#include <dart/dynamics/SmartPointer.hpp>
+
 #include <osg/Geode>
 #include <osg/LineWidth>
 
diff --git a/dart/gui/osg/MouseEventHandler.hpp b/dart/gui/osg/MouseEventHandler.hpp
index bb0c5f8ec55a6..3881ff013897e 100644
--- a/dart/gui/osg/MouseEventHandler.hpp
+++ b/dart/gui/osg/MouseEventHandler.hpp
@@ -33,10 +33,11 @@
 #ifndef DART_GUI_OSG_MOUSEEVENTHANDLER_HPP_
 #define DART_GUI_OSG_MOUSEEVENTHANDLER_HPP_
 
+#include <dart/gui/osg/DefaultEventHandler.hpp>
+
 #include <dart/common/ClassWithVirtualBase.hpp>
 #include <dart/common/Observer.hpp>
 #include <dart/common/Subject.hpp>
-#include <dart/gui/osg/DefaultEventHandler.hpp>
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/ShapeFrameNode.hpp b/dart/gui/osg/ShapeFrameNode.hpp
index b7ba3f5224ccd..699445d9390e2 100644
--- a/dart/gui/osg/ShapeFrameNode.hpp
+++ b/dart/gui/osg/ShapeFrameNode.hpp
@@ -34,6 +34,7 @@
 #define DART_GUI_OSG_SHAPEFRAMENODE_HPP_
 
 #include <dart/config.hpp>
+
 #include <dart/dynamics/SmartPointer.hpp>
 
 #include <osg/MatrixTransform>
diff --git a/dart/gui/osg/SupportPolygonVisual.hpp b/dart/gui/osg/SupportPolygonVisual.hpp
index d852678d39aae..b012032262c02 100644
--- a/dart/gui/osg/SupportPolygonVisual.hpp
+++ b/dart/gui/osg/SupportPolygonVisual.hpp
@@ -33,10 +33,11 @@
 #ifndef DART_GUI_OSG_SUPPORTPOLYGONVISUAL_HPP_
 #define DART_GUI_OSG_SUPPORTPOLYGONVISUAL_HPP_
 
-#include <dart/dynamics/SmartPointer.hpp>
 #include <dart/gui/osg/ShapeFrameNode.hpp>
 #include <dart/gui/osg/Viewer.hpp>
 
+#include <dart/dynamics/SmartPointer.hpp>
+
 #include <osg/Geode>
 
 namespace dart {
diff --git a/dart/gui/osg/render/HeightmapShapeNode.hpp b/dart/gui/osg/render/HeightmapShapeNode.hpp
index 22c327db06916..1985e432007c0 100644
--- a/dart/gui/osg/render/HeightmapShapeNode.hpp
+++ b/dart/gui/osg/render/HeightmapShapeNode.hpp
@@ -34,11 +34,13 @@
 #define DART_GUI_OSG_RENDER_HEIGHTMAPSHAPENODE_HPP_
 
 #include <dart/config.hpp>
-#include <dart/dynamics/HeightmapShape.hpp>
-#include <dart/dynamics/SimpleFrame.hpp>
+
 #include <dart/gui/osg/Utils.hpp>
 #include <dart/gui/osg/render/ShapeNode.hpp>
 
+#include <dart/dynamics/HeightmapShape.hpp>
+#include <dart/dynamics/SimpleFrame.hpp>
+
 #include <osg/CullFace>
 #include <osg/Geode>
 #include <osg/Geometry>
diff --git a/dart/gui/osg/render/PointCloudShapeNode.hpp b/dart/gui/osg/render/PointCloudShapeNode.hpp
index 120e48a042475..18a1e06420dcb 100644
--- a/dart/gui/osg/render/PointCloudShapeNode.hpp
+++ b/dart/gui/osg/render/PointCloudShapeNode.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_GUI_OSG_RENDER_POINTCLOUDSHAPENODE_HPP_
 #define DART_GUI_OSG_RENDER_POINTCLOUDSHAPENODE_HPP_
 
-#include <dart/dynamics/PointCloudShape.hpp>
 #include <dart/gui/osg/render/ShapeNode.hpp>
 
+#include <dart/dynamics/PointCloudShape.hpp>
+
 #include <Eigen/Dense>
 #include <osg/Group>
 
diff --git a/dart/math/Geometry.hpp b/dart/math/Geometry.hpp
index 020faadaa2d7c..08d48e4eb0e10 100644
--- a/dart/math/Geometry.hpp
+++ b/dart/math/Geometry.hpp
@@ -33,10 +33,11 @@
 #ifndef DART_MATH_GEOMETRY_HPP_
 #define DART_MATH_GEOMETRY_HPP_
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/math/Constants.hpp>
 #include <dart/math/MathTypes.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 #include <Eigen/Dense>
 
 namespace dart {
diff --git a/dart/math/detail/Geometry-impl.hpp b/dart/math/detail/Geometry-impl.hpp
index 00f4887e532a4..20c0e3179541f 100644
--- a/dart/math/detail/Geometry-impl.hpp
+++ b/dart/math/detail/Geometry-impl.hpp
@@ -34,6 +34,7 @@
 #define DART_MATH_DETAIL_GEOMETRY_IMPL_HPP_
 
 #include "dart/external/convhull_3d/safe_convhull_3d.h"
+
 #include <dart/math/Geometry.hpp>
 
 #include <unordered_map>
diff --git a/dart/optimizer/nlopt/NloptSolver.hpp b/dart/optimizer/nlopt/NloptSolver.hpp
index cca8fceec6f3b..f8f2f9279f72e 100644
--- a/dart/optimizer/nlopt/NloptSolver.hpp
+++ b/dart/optimizer/nlopt/NloptSolver.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_OPTIMIZER_NLOPT_NLOPTSOLVER_HPP_
 #define DART_OPTIMIZER_NLOPT_NLOPTSOLVER_HPP_
 
-#include <dart/common/Deprecated.hpp>
 #include <dart/optimizer/Solver.hpp>
 
+#include <dart/common/Deprecated.hpp>
+
 #include <nlopt.hpp>
 
 namespace dart {
diff --git a/dart/simulation/World.hpp b/dart/simulation/World.hpp
index e83a5dee35d40..dc65bd0ca927b 100644
--- a/dart/simulation/World.hpp
+++ b/dart/simulation/World.hpp
@@ -39,15 +39,19 @@
 #ifndef DART_SIMULATION_WORLD_HPP_
 #define DART_SIMULATION_WORLD_HPP_
 
+#include <dart/simulation/Recording.hpp>
+#include <dart/simulation/SmartPointer.hpp>
+
+#include <dart/constraint/SmartPointer.hpp>
+
 #include <dart/collision/CollisionOption.hpp>
+
+#include <dart/dynamics/SimpleFrame.hpp>
+#include <dart/dynamics/Skeleton.hpp>
+
 #include <dart/common/NameManager.hpp>
 #include <dart/common/SmartPointer.hpp>
 #include <dart/common/Subject.hpp>
-#include <dart/constraint/SmartPointer.hpp>
-#include <dart/dynamics/SimpleFrame.hpp>
-#include <dart/dynamics/Skeleton.hpp>
-#include <dart/simulation/Recording.hpp>
-#include <dart/simulation/SmartPointer.hpp>
 
 #include <Eigen/Dense>
 
diff --git a/dart/utils/SkelParser.hpp b/dart/utils/SkelParser.hpp
index 87d560872817d..fb364e048fd66 100644
--- a/dart/utils/SkelParser.hpp
+++ b/dart/utils/SkelParser.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_UTILS_SKELPARSER_HPP_
 #define DART_UTILS_SKELPARSER_HPP_
 
+#include <dart/simulation/World.hpp>
+
 #include <dart/common/LocalResourceRetriever.hpp>
 #include <dart/common/Uri.hpp>
-#include <dart/simulation/World.hpp>
 
 #include <string>
 
diff --git a/dart/utils/VskParser.hpp b/dart/utils/VskParser.hpp
index 4f37f7f22f190..13c8d1df68681 100644
--- a/dart/utils/VskParser.hpp
+++ b/dart/utils/VskParser.hpp
@@ -33,11 +33,13 @@
 #ifndef DART_UTILS_VSKPARSER_HPP_
 #define DART_UTILS_VSKPARSER_HPP_
 
-#include <dart/common/ResourceRetriever.hpp>
-#include <dart/common/Uri.hpp>
 #include <dart/dynamics/Skeleton.hpp>
+
 #include <dart/math/Constants.hpp>
 
+#include <dart/common/ResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
+
 namespace dart {
 namespace utils {
 
diff --git a/dart/utils/XmlHelpers.hpp b/dart/utils/XmlHelpers.hpp
index 5f4a4d3509404..d27603f43e020 100644
--- a/dart/utils/XmlHelpers.hpp
+++ b/dart/utils/XmlHelpers.hpp
@@ -33,12 +33,13 @@
 #ifndef DART_UTILS_XMLHELPERS_HPP_
 #define DART_UTILS_XMLHELPERS_HPP_
 
+#include <dart/math/Geometry.hpp>
+#include <dart/math/MathTypes.hpp>
+
 #include <dart/common/Console.hpp>
 #include <dart/common/Deprecated.hpp>
 #include <dart/common/Logging.hpp>
 #include <dart/common/ResourceRetriever.hpp>
-#include <dart/math/Geometry.hpp>
-#include <dart/math/MathTypes.hpp>
 
 #include <Eigen/Dense>
 #include <Eigen/Geometry>
diff --git a/dart/utils/detail/XmlHelpers-impl.hpp b/dart/utils/detail/XmlHelpers-impl.hpp
index 99ba4b3600499..f785e560fe281 100644
--- a/dart/utils/detail/XmlHelpers-impl.hpp
+++ b/dart/utils/detail/XmlHelpers-impl.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_UTILS_DETAIL_XMLHELPERS_IMPL_HPP_
 #define DART_UTILS_DETAIL_XMLHELPERS_IMPL_HPP_
 
-#include <dart/common/String.hpp>
 #include <dart/utils/XmlHelpers.hpp>
 
+#include <dart/common/String.hpp>
+
 namespace dart::utils {
 
 //==============================================================================
diff --git a/dart/utils/mjcf/MjcfParser.hpp b/dart/utils/mjcf/MjcfParser.hpp
index 75b18127e2f67..1a4241342f785 100644
--- a/dart/utils/mjcf/MjcfParser.hpp
+++ b/dart/utils/mjcf/MjcfParser.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_UTILS_MJCFPARSER_HPP_
 #define DART_UTILS_MJCFPARSER_HPP_
 
+#include <dart/simulation/World.hpp>
+
 #include <dart/common/LocalResourceRetriever.hpp>
 #include <dart/common/Uri.hpp>
-#include <dart/simulation/World.hpp>
 
 #include <string>
 
diff --git a/dart/utils/mjcf/detail/BodyAttributes.hpp b/dart/utils/mjcf/detail/BodyAttributes.hpp
index 19da4dea4b700..31290e7f04cd7 100644
--- a/dart/utils/mjcf/detail/BodyAttributes.hpp
+++ b/dart/utils/mjcf/detail/BodyAttributes.hpp
@@ -33,11 +33,13 @@
 #ifndef DART_UTILS_MJCF_DETAIL_BODYATTRIBUTES_HPP_
 #define DART_UTILS_MJCF_DETAIL_BODYATTRIBUTES_HPP_
 
-#include <dart/common/Optional.hpp>
-#include <dart/math/MathTypes.hpp>
 #include <dart/utils/mjcf/detail/Error.hpp>
 #include <dart/utils/mjcf/detail/Inertial.hpp>
 
+#include <dart/math/MathTypes.hpp>
+
+#include <dart/common/Optional.hpp>
+
 #include <Eigen/Dense>
 #include <tinyxml2.h>
 
diff --git a/dart/utils/mjcf/detail/Compiler.hpp b/dart/utils/mjcf/detail/Compiler.hpp
index 9ce6fb90b2712..c858620f6e69e 100644
--- a/dart/utils/mjcf/detail/Compiler.hpp
+++ b/dart/utils/mjcf/detail/Compiler.hpp
@@ -33,11 +33,12 @@
 #ifndef DART_UTILS_MJCF_DETAIL_COMPILER_HPP_
 #define DART_UTILS_MJCF_DETAIL_COMPILER_HPP_
 
+#include <dart/utils/mjcf/detail/Error.hpp>
+#include <dart/utils/mjcf/detail/Types.hpp>
+
 #include <dart/common/Platform.hpp>
 #include <dart/common/ResourceRetriever.hpp>
 #include <dart/common/Uri.hpp>
-#include <dart/utils/mjcf/detail/Error.hpp>
-#include <dart/utils/mjcf/detail/Types.hpp>
 
 #include <Eigen/Core>
 #include <tinyxml2.h>
diff --git a/dart/utils/mjcf/detail/Default.hpp b/dart/utils/mjcf/detail/Default.hpp
index 8e5bef9cdfee5..e3a88ae7e1434 100644
--- a/dart/utils/mjcf/detail/Default.hpp
+++ b/dart/utils/mjcf/detail/Default.hpp
@@ -33,13 +33,14 @@
 #ifndef DART_UTILS_MJCF_DETAIL_DEFAULT_HPP_
 #define DART_UTILS_MJCF_DETAIL_DEFAULT_HPP_
 
-#include <dart/common/Optional.hpp>
 #include <dart/utils/mjcf/detail/Error.hpp>
 #include <dart/utils/mjcf/detail/GeomAttributes.hpp>
 #include <dart/utils/mjcf/detail/JointAttributes.hpp>
 #include <dart/utils/mjcf/detail/MeshAttributes.hpp>
 #include <dart/utils/mjcf/detail/WeldAttributes.hpp>
 
+#include <dart/common/Optional.hpp>
+
 #include <tinyxml2.h>
 
 #include <string>
diff --git a/dart/utils/mjcf/detail/GeomAttributes.hpp b/dart/utils/mjcf/detail/GeomAttributes.hpp
index b57373986e6cf..13bda7eef4049 100644
--- a/dart/utils/mjcf/detail/GeomAttributes.hpp
+++ b/dart/utils/mjcf/detail/GeomAttributes.hpp
@@ -33,11 +33,13 @@
 #ifndef DART_UTILS_MJCF_DETAIL_GEOMATTRIBUTES_HPP_
 #define DART_UTILS_MJCF_DETAIL_GEOMATTRIBUTES_HPP_
 
-#include <dart/common/Optional.hpp>
-#include <dart/math/MathTypes.hpp>
 #include <dart/utils/mjcf/detail/Error.hpp>
 #include <dart/utils/mjcf/detail/Types.hpp>
 
+#include <dart/math/MathTypes.hpp>
+
+#include <dart/common/Optional.hpp>
+
 #include <Eigen/Core>
 #include <tinyxml2.h>
 
diff --git a/dart/utils/mjcf/detail/Inertial.hpp b/dart/utils/mjcf/detail/Inertial.hpp
index 8ce840a84a11f..ce025ef628d38 100644
--- a/dart/utils/mjcf/detail/Inertial.hpp
+++ b/dart/utils/mjcf/detail/Inertial.hpp
@@ -33,11 +33,13 @@
 #ifndef DART_UTILS_MJCF_DETAIL_INERTIAL_HPP_
 #define DART_UTILS_MJCF_DETAIL_INERTIAL_HPP_
 
-#include <dart/common/Optional.hpp>
-#include <dart/math/MathTypes.hpp>
 #include <dart/utils/mjcf/detail/Compiler.hpp>
 #include <dart/utils/mjcf/detail/Error.hpp>
 
+#include <dart/math/MathTypes.hpp>
+
+#include <dart/common/Optional.hpp>
+
 #include <tinyxml2.h>
 
 namespace dart {
diff --git a/dart/utils/mjcf/detail/JointAttributes.hpp b/dart/utils/mjcf/detail/JointAttributes.hpp
index 7effae4e2716c..e5f06c86acc20 100644
--- a/dart/utils/mjcf/detail/JointAttributes.hpp
+++ b/dart/utils/mjcf/detail/JointAttributes.hpp
@@ -33,10 +33,11 @@
 #ifndef DART_UTILS_MJCF_DETAIL_JOINTATTRIBUTES_HPP_
 #define DART_UTILS_MJCF_DETAIL_JOINTATTRIBUTES_HPP_
 
-#include <dart/common/Optional.hpp>
 #include <dart/utils/mjcf/detail/Error.hpp>
 #include <dart/utils/mjcf/detail/Types.hpp>
 
+#include <dart/common/Optional.hpp>
+
 #include <Eigen/Core>
 #include <tinyxml2.h>
 
diff --git a/dart/utils/mjcf/detail/Mesh.hpp b/dart/utils/mjcf/detail/Mesh.hpp
index a7f7a8c397395..4590051750c32 100644
--- a/dart/utils/mjcf/detail/Mesh.hpp
+++ b/dart/utils/mjcf/detail/Mesh.hpp
@@ -33,11 +33,12 @@
 #ifndef DART_UTILS_MJCF_DETAIL_MESH_HPP_
 #define DART_UTILS_MJCF_DETAIL_MESH_HPP_
 
-#include <dart/dynamics/MeshShape.hpp>
 #include <dart/utils/mjcf/detail/Compiler.hpp>
 #include <dart/utils/mjcf/detail/Error.hpp>
 #include <dart/utils/mjcf/detail/MeshAttributes.hpp>
 
+#include <dart/dynamics/MeshShape.hpp>
+
 #include <tinyxml2.h>
 
 namespace dart {
diff --git a/dart/utils/mjcf/detail/MeshAttributes.hpp b/dart/utils/mjcf/detail/MeshAttributes.hpp
index a4ae502b9ec8a..8779db4a05ad0 100644
--- a/dart/utils/mjcf/detail/MeshAttributes.hpp
+++ b/dart/utils/mjcf/detail/MeshAttributes.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_UTILS_MJCF_DETAIL_MESHATTRIBUTES_HPP_
 #define DART_UTILS_MJCF_DETAIL_MESHATTRIBUTES_HPP_
 
-#include <dart/common/Optional.hpp>
 #include <dart/utils/mjcf/detail/Error.hpp>
 
+#include <dart/common/Optional.hpp>
+
 #include <Eigen/Core>
 #include <tinyxml2.h>
 
diff --git a/dart/utils/mjcf/detail/MujocoModel.hpp b/dart/utils/mjcf/detail/MujocoModel.hpp
index eaa6f6812bcee..d8aa748f1d4fb 100644
--- a/dart/utils/mjcf/detail/MujocoModel.hpp
+++ b/dart/utils/mjcf/detail/MujocoModel.hpp
@@ -33,8 +33,6 @@
 #ifndef DART_UTILS_MJCF_DETAIL_MUJOCOMODEL_HPP_
 #define DART_UTILS_MJCF_DETAIL_MUJOCOMODEL_HPP_
 
-#include <dart/common/ResourceRetriever.hpp>
-#include <dart/common/Uri.hpp>
 #include <dart/utils/mjcf/detail/Asset.hpp>
 #include <dart/utils/mjcf/detail/Compiler.hpp>
 #include <dart/utils/mjcf/detail/Default.hpp>
@@ -44,6 +42,9 @@
 #include <dart/utils/mjcf/detail/Size.hpp>
 #include <dart/utils/mjcf/detail/Worldbody.hpp>
 
+#include <dart/common/ResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
+
 #include <tinyxml2.h>
 
 namespace dart {
diff --git a/dart/utils/mjcf/detail/Site.hpp b/dart/utils/mjcf/detail/Site.hpp
index a968bf4e063d7..d7f24193a5505 100644
--- a/dart/utils/mjcf/detail/Site.hpp
+++ b/dart/utils/mjcf/detail/Site.hpp
@@ -33,12 +33,14 @@
 #ifndef DART_UTILS_MJCF_DETAIL_SITE_HPP_
 #define DART_UTILS_MJCF_DETAIL_SITE_HPP_
 
-#include <dart/common/Optional.hpp>
-#include <dart/math/MathTypes.hpp>
 #include <dart/utils/mjcf/detail/Compiler.hpp>
 #include <dart/utils/mjcf/detail/Error.hpp>
 #include <dart/utils/mjcf/detail/Types.hpp>
 
+#include <dart/math/MathTypes.hpp>
+
+#include <dart/common/Optional.hpp>
+
 #include <tinyxml2.h>
 
 #include <string>
diff --git a/dart/utils/mjcf/detail/Utils.hpp b/dart/utils/mjcf/detail/Utils.hpp
index 6c3be51bb25a0..dd5e1e7f4110e 100644
--- a/dart/utils/mjcf/detail/Utils.hpp
+++ b/dart/utils/mjcf/detail/Utils.hpp
@@ -33,11 +33,13 @@
 #ifndef DART_UTILS_MJCF_DETAIL_UTILS_HPP_
 #define DART_UTILS_MJCF_DETAIL_UTILS_HPP_
 
-#include <dart/common/Optional.hpp>
-#include <dart/simulation/World.hpp>
 #include <dart/utils/mjcf/detail/Compiler.hpp>
 #include <dart/utils/mjcf/detail/Error.hpp>
 
+#include <dart/simulation/World.hpp>
+
+#include <dart/common/Optional.hpp>
+
 #include <Eigen/Core>
 #include <tinyxml2.h>
 
diff --git a/dart/utils/mjcf/detail/WeldAttributes.hpp b/dart/utils/mjcf/detail/WeldAttributes.hpp
index 3aa01d999e821..61f958f29418d 100644
--- a/dart/utils/mjcf/detail/WeldAttributes.hpp
+++ b/dart/utils/mjcf/detail/WeldAttributes.hpp
@@ -33,9 +33,10 @@
 #ifndef DART_UTILS_MJCF_DETAIL_WELDATTRIBUTES_HPP_
 #define DART_UTILS_MJCF_DETAIL_WELDATTRIBUTES_HPP_
 
-#include <dart/common/Optional.hpp>
 #include <dart/utils/mjcf/detail/Error.hpp>
 
+#include <dart/common/Optional.hpp>
+
 #include <Eigen/Core>
 #include <tinyxml2.h>
 
diff --git a/dart/utils/sdf/SdfParser.hpp b/dart/utils/sdf/SdfParser.hpp
index 4bd12b419a14d..b352d4624ddda 100644
--- a/dart/utils/sdf/SdfParser.hpp
+++ b/dart/utils/sdf/SdfParser.hpp
@@ -33,10 +33,12 @@
 #ifndef DART_UTILS_SDFPARSER_HPP_
 #define DART_UTILS_SDFPARSER_HPP_
 
+#include <dart/simulation/World.hpp>
+
+#include <dart/dynamics/Skeleton.hpp>
+
 #include <dart/common/Deprecated.hpp>
 #include <dart/common/ResourceRetriever.hpp>
-#include <dart/dynamics/Skeleton.hpp>
-#include <dart/simulation/World.hpp>
 
 namespace dart {
 namespace utils {
diff --git a/dart/utils/urdf/DartLoader.hpp b/dart/utils/urdf/DartLoader.hpp
index 40ec92de0642d..769f2bfaad3d1 100644
--- a/dart/utils/urdf/DartLoader.hpp
+++ b/dart/utils/urdf/DartLoader.hpp
@@ -33,15 +33,18 @@
 #ifndef DART_UTILS_URDF_DARTLOADER_HPP_
 #define DART_UTILS_URDF_DARTLOADER_HPP_
 
-#include <dart/common/LocalResourceRetriever.hpp>
-#include <dart/common/ResourceRetriever.hpp>
-#include <dart/common/Uri.hpp>
+#include <dart/utils/CompositeResourceRetriever.hpp>
+#include <dart/utils/PackageResourceRetriever.hpp>
+
+#include <dart/simulation/World.hpp>
+
 #include <dart/dynamics/BodyNode.hpp>
 #include <dart/dynamics/Joint.hpp>
 #include <dart/dynamics/Skeleton.hpp>
-#include <dart/simulation/World.hpp>
-#include <dart/utils/CompositeResourceRetriever.hpp>
-#include <dart/utils/PackageResourceRetriever.hpp>
+
+#include <dart/common/LocalResourceRetriever.hpp>
+#include <dart/common/ResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
diff --git a/dart/utils/urdf/urdf_world_parser.hpp b/dart/utils/urdf/urdf_world_parser.hpp
index 3b57a67a50fe0..b3b6d43babc23 100644
--- a/dart/utils/urdf/urdf_world_parser.hpp
+++ b/dart/utils/urdf/urdf_world_parser.hpp
@@ -37,12 +37,13 @@
 
 #pragma once
 
-#include <string>
-
+#include <dart/utils/urdf/BackwardCompatibility.hpp>
 #include <dart/utils/urdf/IncludeUrdf.hpp>
+
 #include <dart/common/ResourceRetriever.hpp>
 #include <dart/common/Uri.hpp>
-#include <dart/utils/urdf/BackwardCompatibility.hpp>
+
+#include <string>
 
 namespace dart {
 namespace utils {