diff --git a/.clang-format b/.clang-format
index 68766810a2d55..7d92892bcd625 100644
--- a/.clang-format
+++ b/.clang-format
@@ -151,6 +151,6 @@ SpacesInContainerLiterals: true
 SpacesInCStyleCastParentheses: false
 SpacesInParentheses: false
 SpacesInSquareBrackets: false
-Standard: Auto
+Standard: c++17
 TabWidth: 2
 UseTab: Never
diff --git a/dart/common/AspectWithVersion.hpp b/dart/common/AspectWithVersion.hpp
index 4e82430225bb9..95d6c9f2c0296 100644
--- a/dart/common/AspectWithVersion.hpp
+++ b/dart/common/AspectWithVersion.hpp
@@ -43,7 +43,7 @@ template <
     class DerivedT,
     typename StateDataT,
     class CompositeT = Composite,
-    void (*updateState)(DerivedT*) = &detail::NoOp<DerivedT*> >
+    void (*updateState)(DerivedT*) = &detail::NoOp<DerivedT*>>
 using AspectWithState = detail::AspectWithState<
     CompositeTrackingAspect<CompositeT>,
     DerivedT,
@@ -56,7 +56,7 @@ template <
     class DerivedT,
     typename PropertiesDataT,
     class CompositeT = Composite,
-    void (*updateProperties)(DerivedT*) = &detail::NoOp<DerivedT*> >
+    void (*updateProperties)(DerivedT*) = &detail::NoOp<DerivedT*>>
 using AspectWithVersionedProperties = detail::AspectWithVersionedProperties<
     CompositeTrackingAspect<CompositeT>,
     DerivedT,
diff --git a/dart/common/Cloneable.hpp b/dart/common/Cloneable.hpp
index 05d7923a0d95d..764e909239299 100644
--- a/dart/common/Cloneable.hpp
+++ b/dart/common/Cloneable.hpp
@@ -303,7 +303,7 @@ class CloneableVector
   CloneableVector& operator=(const CloneableVector& other);
 
   /// Create a copy of this CloneableVector's contents
-  std::unique_ptr<CloneableVector<T> > clone() const;
+  std::unique_ptr<CloneableVector<T>> clone() const;
 
   /// Copy the contents of another cloneable vector into this one.
   void copy(const CloneableVector<T>& anotherVector);
diff --git a/dart/common/Composite.cpp b/dart/common/Composite.cpp
index 6dfd8658ce765..f47e471b0ad66 100644
--- a/dart/common/Composite.cpp
+++ b/dart/common/Composite.cpp
@@ -57,9 +57,8 @@ template <
     typename ObjectType,
     class DataType,
     const DataType* (ObjectType::*getData)() const,
-    typename ObjectMap
-    = std::map<std::type_index, std::unique_ptr<ObjectType> >,
-    typename DataMap = std::map<std::type_index, std::unique_ptr<DataType> > >
+    typename ObjectMap = std::map<std::type_index, std::unique_ptr<ObjectType>>,
+    typename DataMap = std::map<std::type_index, std::unique_ptr<DataType>>>
 static void extractDataFromObjectTypeMap(
     DataMap& dataMap, const ObjectMap& objectMap)
 {
@@ -113,9 +112,8 @@ template <
     typename ObjectType,
     class DataType,
     void (ObjectType::*setData)(const DataType&),
-    typename ObjectMap
-    = std::map<std::type_index, std::unique_ptr<ObjectType> >,
-    typename DataMap = std::map<std::type_index, std::unique_ptr<DataType> > >
+    typename ObjectMap = std::map<std::type_index, std::unique_ptr<ObjectType>>,
+    typename DataMap = std::map<std::type_index, std::unique_ptr<DataType>>>
 static void setObjectsFromDataTypeMap(
     ObjectMap& objectMap, const DataMap& dataMap)
 {
diff --git a/dart/common/Composite.hpp b/dart/common/Composite.hpp
index 45504b6a369e3..4422256b5308b 100644
--- a/dart/common/Composite.hpp
+++ b/dart/common/Composite.hpp
@@ -55,7 +55,7 @@ class Composite
   using State = detail::CompositeState;
   using Properties = detail::CompositeProperties;
 
-  using AspectMap = std::map<std::type_index, std::unique_ptr<Aspect> >;
+  using AspectMap = std::map<std::type_index, std::unique_ptr<Aspect>>;
   using RequiredAspectSet = std::unordered_set<std::type_index>;
 
   template <typename... Aspects>
diff --git a/dart/common/CompositeJoiner.hpp b/dart/common/CompositeJoiner.hpp
index 01ff4acfb48ee..8c571bcf2843d 100644
--- a/dart/common/CompositeJoiner.hpp
+++ b/dart/common/CompositeJoiner.hpp
@@ -130,7 +130,7 @@ class CompositeJoiner<Base1, Base2> : public Base1, public Base2
 /// you to include arbitrarily many base classes in the joining.
 template <class Base1, class Base2, class... OtherBases>
 class CompositeJoiner<Base1, Base2, OtherBases...>
-  : public CompositeJoiner<Base1, CompositeJoiner<Base2, OtherBases...> >
+  : public CompositeJoiner<Base1, CompositeJoiner<Base2, OtherBases...>>
 {
 public:
   /// Default constructor
diff --git a/dart/common/EmbeddedAspect.hpp b/dart/common/EmbeddedAspect.hpp
index 6419d5698f352..127df953bbd48 100644
--- a/dart/common/EmbeddedAspect.hpp
+++ b/dart/common/EmbeddedAspect.hpp
@@ -89,7 +89,7 @@ DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 
 template <class DerivedT, typename StateDataT>
 class EmbedState : public virtual common::RequiresAspect<
-                       common::EmbeddedStateAspect<DerivedT, StateDataT> >
+                       common::EmbeddedStateAspect<DerivedT, StateDataT>>
 {
 public:
   using Derived = DerivedT;
@@ -200,7 +200,7 @@ DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 template <class DerivedT, typename PropertiesDataT>
 class EmbedProperties
   : public virtual common::RequiresAspect<
-        common::EmbeddedPropertiesAspect<DerivedT, PropertiesDataT> >
+        common::EmbeddedPropertiesAspect<DerivedT, PropertiesDataT>>
 {
 public:
   using Derived = DerivedT;
@@ -377,7 +377,7 @@ class EmbedStateAndProperties : public virtual common::RequiresAspect<
                                     common::EmbeddedStateAndPropertiesAspect<
                                         DerivedT,
                                         StateDataT,
-                                        PropertiesDataT> >
+                                        PropertiesDataT>>
 {
 public:
   using Derived = DerivedT;
diff --git a/dart/common/RequiresAspect.hpp b/dart/common/RequiresAspect.hpp
index 7fe027eabcb6a..98e9b187b4cbc 100644
--- a/dart/common/RequiresAspect.hpp
+++ b/dart/common/RequiresAspect.hpp
@@ -66,8 +66,8 @@ DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 template <class ReqAspect1, class... OtherReqAspects>
 class RequiresAspect<ReqAspect1, OtherReqAspects...>
   : public CompositeJoiner<
-        Virtual<RequiresAspect<ReqAspect1> >,
-        Virtual<RequiresAspect<OtherReqAspects...> > >
+        Virtual<RequiresAspect<ReqAspect1>>,
+        Virtual<RequiresAspect<OtherReqAspects...>>>
 {
 };
 
diff --git a/dart/common/SpecializedForAspect.hpp b/dart/common/SpecializedForAspect.hpp
index 6ec283fe7204b..c2b64e5e26622 100644
--- a/dart/common/SpecializedForAspect.hpp
+++ b/dart/common/SpecializedForAspect.hpp
@@ -192,8 +192,8 @@ DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 template <class SpecAspect1, class... OtherSpecAspects>
 class SpecializedForAspect<SpecAspect1, OtherSpecAspects...>
   : public CompositeJoiner<
-        Virtual<SpecializedForAspect<SpecAspect1> >,
-        Virtual<SpecializedForAspect<OtherSpecAspects...> > >
+        Virtual<SpecializedForAspect<SpecAspect1>>,
+        Virtual<SpecializedForAspect<OtherSpecAspects...>>>
 {
 public:
   virtual ~SpecializedForAspect() = default;
diff --git a/dart/common/detail/AspectWithVersion.hpp b/dart/common/detail/AspectWithVersion.hpp
index 8ca57b5685e17..41700a6b35646 100644
--- a/dart/common/detail/AspectWithVersion.hpp
+++ b/dart/common/detail/AspectWithVersion.hpp
@@ -49,7 +49,7 @@ template <
     class DerivedT,
     typename StateDataT,
     class CompositeT = Composite,
-    void (*updateState)(DerivedT*) = &NoOp<DerivedT*> >
+    void (*updateState)(DerivedT*) = &NoOp<DerivedT*>>
 class AspectWithState : public BaseT
 {
 public:
@@ -104,7 +104,7 @@ template <
     class DerivedT,
     typename PropertiesDataT,
     class CompositeT = Composite,
-    void (*updateProperties)(DerivedT*) = &NoOp<DerivedT*> >
+    void (*updateProperties)(DerivedT*) = &NoOp<DerivedT*>>
 class AspectWithVersionedProperties : public BaseT
 {
 public:
diff --git a/dart/common/detail/EmbeddedAspect.hpp b/dart/common/detail/EmbeddedAspect.hpp
index 37d24b0110b14..3b8d214e0f384 100644
--- a/dart/common/detail/EmbeddedAspect.hpp
+++ b/dart/common/detail/EmbeddedAspect.hpp
@@ -78,7 +78,7 @@ template <
     void (*setEmbeddedState)(DerivedT*, const StateT&)
     = &DefaultSetEmbeddedState<DerivedT, StateT>,
     const StateT& (*getEmbeddedState)(const DerivedT*)
-    = &DefaultGetEmbeddedState<DerivedT, StateT> >
+    = &DefaultGetEmbeddedState<DerivedT, StateT>>
 class EmbeddedStateAspect : public BaseT
 {
 public:
@@ -245,7 +245,7 @@ template <
     void (*setEmbeddedProperties)(DerivedT*, const PropertiesT&)
     = &DefaultSetEmbeddedProperties<DerivedT, PropertiesT>,
     const PropertiesT& (*getEmbeddedProperties)(const DerivedT*)
-    = &DefaultGetEmbeddedProperties<DerivedT, PropertiesT> >
+    = &DefaultGetEmbeddedProperties<DerivedT, PropertiesT>>
 class EmbeddedPropertiesAspect : public BaseT
 {
 protected:
diff --git a/dart/dynamics/BodyNode.cpp b/dart/dynamics/BodyNode.cpp
index bcd8f56e3faa2..31e64a5d59a47 100644
--- a/dart/dynamics/BodyNode.cpp
+++ b/dart/dynamics/BodyNode.cpp
@@ -54,8 +54,8 @@ namespace dynamics {
 template <
     class DataType,
     std::unique_ptr<DataType> (Node::*getData)() const,
-    typename VectorType = common::CloneableVector<std::unique_ptr<DataType> >,
-    typename DataMap = std::map<std::type_index, std::unique_ptr<VectorType> > >
+    typename VectorType = common::CloneableVector<std::unique_ptr<DataType>>,
+    typename DataMap = std::map<std::type_index, std::unique_ptr<VectorType>>>
 static void extractDataFromNodeTypeMap(
     DataMap& dataMap, const BodyNode::NodeMap& nodeMap)
 {
@@ -84,8 +84,8 @@ static void extractDataFromNodeTypeMap(
 template <
     class DataType,
     void (Node::*setData)(const DataType&),
-    typename VectorType = common::CloneableVector<std::unique_ptr<DataType> >,
-    typename DataMap = std::map<std::type_index, std::unique_ptr<VectorType> > >
+    typename VectorType = common::CloneableVector<std::unique_ptr<DataType>>,
+    typename DataMap = std::map<std::type_index, std::unique_ptr<VectorType>>>
 static void setNodesFromDataTypeMap(
     BodyNode::NodeMap& nodeMap, const DataMap& dataMap)
 {
@@ -95,7 +95,7 @@ static void setNodesFromDataTypeMap(
   while (nodeMap.end() != node_it && dataMap.end() != data_it) {
     if (node_it->first == data_it->first) {
       const std::vector<Node*>& node_vec = node_it->second;
-      const std::vector<std::unique_ptr<DataType> >& data_vec
+      const std::vector<std::unique_ptr<DataType>>& data_vec
           = data_it->second->getVector();
 
       // TODO(MXG): Should we report if the dimensions are mismatched?
diff --git a/dart/dynamics/HierarchicalIK.cpp b/dart/dynamics/HierarchicalIK.cpp
index fce34317c4cda..79d2e4e7e7d57 100644
--- a/dart/dynamics/HierarchicalIK.cpp
+++ b/dart/dynamics/HierarchicalIK.cpp
@@ -272,8 +272,7 @@ const std::vector<Eigen::MatrixXd>& HierarchicalIK::computeNullSpaces() const
   mNullSpaceCache.resize(hierarchy.size());
   bool zeroedNullSpace = false;
   for (std::size_t i = 0; i < hierarchy.size(); ++i) {
-    const std::vector<std::shared_ptr<InverseKinematics> >& level
-        = hierarchy[i];
+    const std::vector<std::shared_ptr<InverseKinematics>>& level = hierarchy[i];
 
     Eigen::MatrixXd& NS = mNullSpaceCache[i];
     if (i == 0) {
@@ -472,8 +471,7 @@ double HierarchicalIK::Constraint::eval(const Eigen::VectorXd& _x)
 
   double cost = 0.0;
   for (std::size_t i = 0; i < hierarchy.size(); ++i) {
-    const std::vector<std::shared_ptr<InverseKinematics> >& level
-        = hierarchy[i];
+    const std::vector<std::shared_ptr<InverseKinematics>>& level = hierarchy[i];
 
     for (std::size_t j = 0; j < level.size(); ++j) {
       const std::shared_ptr<InverseKinematics>& ik = level[j];
@@ -509,8 +507,7 @@ void HierarchicalIK::Constraint::evalGradient(
 
   _grad.setZero();
   for (std::size_t i = 0; i < hierarchy.size(); ++i) {
-    const std::vector<std::shared_ptr<InverseKinematics> >& level
-        = hierarchy[i];
+    const std::vector<std::shared_ptr<InverseKinematics>>& level = hierarchy[i];
 
     mLevelGradCache.setZero(nDofs);
     for (std::size_t j = 0; j < level.size(); ++j) {
diff --git a/dart/dynamics/HierarchicalIK.hpp b/dart/dynamics/HierarchicalIK.hpp
index d912ad957cad8..0908eca4e5cdc 100644
--- a/dart/dynamics/HierarchicalIK.hpp
+++ b/dart/dynamics/HierarchicalIK.hpp
@@ -45,7 +45,7 @@ namespace dynamics {
 /// their gradients added. Precedence of the modules decreases as the index of
 /// the outer vector increases. Modules with lower precedence will be projected
 /// through the null spaces of modules with higher precedence.
-typedef std::vector<std::vector<std::shared_ptr<InverseKinematics> > >
+typedef std::vector<std::vector<std::shared_ptr<InverseKinematics>>>
     IKHierarchy;
 
 /// The HierarchicalIK class provides a convenient way of setting up a
@@ -351,8 +351,8 @@ class HierarchicalIK : public common::Subject
 class CompositeIK : public HierarchicalIK
 {
 public:
-  typedef std::unordered_set<std::shared_ptr<InverseKinematics> > ModuleSet;
-  typedef std::unordered_set<std::shared_ptr<const InverseKinematics> >
+  typedef std::unordered_set<std::shared_ptr<InverseKinematics>> ModuleSet;
+  typedef std::unordered_set<std::shared_ptr<const InverseKinematics>>
       ConstModuleSet;
 
   /// Create a CompositeIK module
@@ -385,7 +385,7 @@ class CompositeIK : public HierarchicalIK
   CompositeIK(const SkeletonPtr& _skel);
 
   /// The set of modules being used by this CompositeIK
-  std::unordered_set<std::shared_ptr<InverseKinematics> > mModuleSet;
+  std::unordered_set<std::shared_ptr<InverseKinematics>> mModuleSet;
 };
 
 /// The WholeBodyIK class provides an interface for simultaneously solving all
diff --git a/dart/dynamics/NodeManagerJoiner.hpp b/dart/dynamics/NodeManagerJoiner.hpp
index 614feabf8fa64..61dccc3c2ab00 100644
--- a/dart/dynamics/NodeManagerJoiner.hpp
+++ b/dart/dynamics/NodeManagerJoiner.hpp
@@ -101,7 +101,7 @@ template <class Base1, class Base2, class... OtherBases>
 class NodeManagerJoinerForBodyNode<Base1, Base2, OtherBases...>
   : public NodeManagerJoinerForBodyNode<
         Base1,
-        NodeManagerJoinerForBodyNode<Base2, OtherBases...> >
+        NodeManagerJoinerForBodyNode<Base2, OtherBases...>>
 {
 public:
   NodeManagerJoinerForBodyNode() = default;
@@ -173,7 +173,7 @@ template <class Base1, class Base2, class... OtherBases>
 class NodeManagerJoinerForSkeleton<Base1, Base2, OtherBases...>
   : public NodeManagerJoinerForSkeleton<
         Base1,
-        NodeManagerJoinerForSkeleton<Base2, OtherBases...> >
+        NodeManagerJoinerForSkeleton<Base2, OtherBases...>>
 {
 public:
   NodeManagerJoinerForSkeleton() = default;
diff --git a/dart/dynamics/PointCloudShape.cpp b/dart/dynamics/PointCloudShape.cpp
index 7cadb6853ddf5..0096e15773cd9 100644
--- a/dart/dynamics/PointCloudShape.cpp
+++ b/dart/dynamics/PointCloudShape.cpp
@@ -205,13 +205,13 @@ Eigen::Vector4d PointCloudShape::getOverallColor() const
 void PointCloudShape::setColors(
     const std::vector<
         Eigen::Vector4d,
-        Eigen::aligned_allocator<Eigen::Vector4d> >& colors)
+        Eigen::aligned_allocator<Eigen::Vector4d>>& colors)
 {
   mColors = colors;
 }
 
 //==============================================================================
-const std::vector<Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d> >&
+const std::vector<Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d>>&
 PointCloudShape::getColors() const
 {
   return mColors;
diff --git a/dart/dynamics/SoftBodyNode.cpp b/dart/dynamics/SoftBodyNode.cpp
index bd12909103372..4356a98eacae4 100644
--- a/dart/dynamics/SoftBodyNode.cpp
+++ b/dart/dynamics/SoftBodyNode.cpp
@@ -1431,26 +1431,26 @@ SoftBodyNode::UniqueProperties SoftBodyNodeHelper::makeBoxProperties(
 
   std::vector<PointPair> corners(nCorners);
 
-  std::vector<std::vector<PointPair> > edgeX(
+  std::vector<std::vector<PointPair>> edgeX(
       4, std::vector<PointPair>(nVerticesAtEdgeX));
-  std::vector<std::vector<PointPair> > edgeY(
+  std::vector<std::vector<PointPair>> edgeY(
       4, std::vector<PointPair>(nVerticesAtEdgeY));
-  std::vector<std::vector<PointPair> > edgeZ(
+  std::vector<std::vector<PointPair>> edgeZ(
       4, std::vector<PointPair>(nVerticesAtEdgeZ));
 
-  std::vector<std::vector<PointPair> > sideXNeg(
+  std::vector<std::vector<PointPair>> sideXNeg(
       nVerticesAtEdgeY, std::vector<PointPair>(nVerticesAtEdgeZ));
-  std::vector<std::vector<PointPair> > sideXPos(
+  std::vector<std::vector<PointPair>> sideXPos(
       nVerticesAtEdgeY, std::vector<PointPair>(nVerticesAtEdgeZ));
 
-  std::vector<std::vector<PointPair> > sideYNeg(
+  std::vector<std::vector<PointPair>> sideYNeg(
       nVerticesAtEdgeZ, std::vector<PointPair>(nVerticesAtEdgeX));
-  std::vector<std::vector<PointPair> > sideYPos(
+  std::vector<std::vector<PointPair>> sideYPos(
       nVerticesAtEdgeZ, std::vector<PointPair>(nVerticesAtEdgeX));
 
-  std::vector<std::vector<PointPair> > sideZNeg(
+  std::vector<std::vector<PointPair>> sideZNeg(
       nVerticesAtEdgeX, std::vector<PointPair>(nVerticesAtEdgeY));
-  std::vector<std::vector<PointPair> > sideZPos(
+  std::vector<std::vector<PointPair>> sideZPos(
       nVerticesAtEdgeX, std::vector<PointPair>(nVerticesAtEdgeY));
 
   Eigen::Vector3d x0y0z0
diff --git a/dart/dynamics/SpecializedNodeManager.hpp b/dart/dynamics/SpecializedNodeManager.hpp
index 8c8792429f434..6ac11bd24bd5d 100644
--- a/dart/dynamics/SpecializedNodeManager.hpp
+++ b/dart/dynamics/SpecializedNodeManager.hpp
@@ -113,8 +113,8 @@ DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 template <class SpecNode1, class... OtherSpecNodes>
 class BodyNodeSpecializedFor<SpecNode1, OtherSpecNodes...>
   : public NodeManagerJoinerForBodyNode<
-        common::Virtual<BodyNodeSpecializedFor<SpecNode1> >,
-        common::Virtual<BodyNodeSpecializedFor<OtherSpecNodes...> > >
+        common::Virtual<BodyNodeSpecializedFor<SpecNode1>>,
+        common::Virtual<BodyNodeSpecializedFor<OtherSpecNodes...>>>
 {
 };
 
@@ -217,8 +217,8 @@ DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 template <class SpecNode1, class... OtherSpecNodes>
 class SkeletonSpecializedFor<SpecNode1, OtherSpecNodes...>
   : public NodeManagerJoinerForSkeleton<
-        common::Virtual<SkeletonSpecializedFor<SpecNode1> >,
-        common::Virtual<SkeletonSpecializedFor<OtherSpecNodes...> > >
+        common::Virtual<SkeletonSpecializedFor<SpecNode1>>,
+        common::Virtual<SkeletonSpecializedFor<OtherSpecNodes...>>>
 {
 };
 
diff --git a/dart/dynamics/detail/BasicNodeManager.hpp b/dart/dynamics/detail/BasicNodeManager.hpp
index 13266d95526c9..70eca0a756888 100644
--- a/dart/dynamics/detail/BasicNodeManager.hpp
+++ b/dart/dynamics/detail/BasicNodeManager.hpp
@@ -50,9 +50,9 @@ namespace detail {
 class BasicNodeManagerForBodyNode
 {
 public:
-  using NodeMap = std::map<std::type_index, std::vector<Node*> >;
+  using NodeMap = std::map<std::type_index, std::vector<Node*>>;
   using NodeDestructorSet = std::unordered_set<NodeDestructorPtr>;
-  using NodeNameMgrMap = std::map<std::type_index, common::NameManager<Node*> >;
+  using NodeNameMgrMap = std::map<std::type_index, common::NameManager<Node*>>;
   using SpecializedTreeNodes
       = std::map<std::type_index, std::vector<NodeMap::iterator>*>;
 
diff --git a/dart/dynamics/detail/BodyNodeAspect.hpp b/dart/dynamics/detail/BodyNodeAspect.hpp
index 38f7b7e8b3b84..ed50dcfefb233 100644
--- a/dart/dynamics/detail/BodyNodeAspect.hpp
+++ b/dart/dynamics/detail/BodyNodeAspect.hpp
@@ -116,16 +116,16 @@ struct BodyNodeAspectProperties
 
 //==============================================================================
 using NodeTypeStateVector
-    = common::CloneableVector<std::unique_ptr<Node::State> >;
+    = common::CloneableVector<std::unique_ptr<Node::State>>;
 using NodeStateMap
-    = std::map<std::type_index, std::unique_ptr<NodeTypeStateVector> >;
+    = std::map<std::type_index, std::unique_ptr<NodeTypeStateVector>>;
 using AllNodeStates = common::CloneableMap<NodeStateMap>;
 
 //==============================================================================
 using NodeTypePropertiesVector
-    = common::CloneableVector<std::unique_ptr<Node::Properties> >;
+    = common::CloneableVector<std::unique_ptr<Node::Properties>>;
 using NodePropertiesMap
-    = std::map<std::type_index, std::unique_ptr<NodeTypePropertiesVector> >;
+    = std::map<std::type_index, std::unique_ptr<NodeTypePropertiesVector>>;
 using AllNodeProperties = common::CloneableMap<NodePropertiesMap>;
 
 //==============================================================================
@@ -168,7 +168,7 @@ using BodyNodeCompositeBase = common::EmbedStateAndPropertiesOnTopOf<
     BodyNode,
     BodyNodeState,
     BodyNodeAspectProperties,
-    common::RequiresAspect<NodeVectorProxyAspect> >;
+    common::RequiresAspect<NodeVectorProxyAspect>>;
 
 } // namespace detail
 } // namespace dynamics
diff --git a/dart/dynamics/detail/EndEffectorAspect.hpp b/dart/dynamics/detail/EndEffectorAspect.hpp
index 4a920e9892589..791d1794d2d49 100644
--- a/dart/dynamics/detail/EndEffectorAspect.hpp
+++ b/dart/dynamics/detail/EndEffectorAspect.hpp
@@ -97,7 +97,7 @@ void SupportUpdate(Support* support);
 
 using EndEffectorCompositeBase = CompositeNode<common::CompositeJoiner<
     FixedJacobianNode,
-    common::SpecializedForAspect<Support> > >;
+    common::SpecializedForAspect<Support>>>;
 
 } // namespace detail
 } // namespace dynamics
diff --git a/dart/dynamics/detail/EulerJointAspect.hpp b/dart/dynamics/detail/EulerJointAspect.hpp
index d611c70767894..984f922965333 100644
--- a/dart/dynamics/detail/EulerJointAspect.hpp
+++ b/dart/dynamics/detail/EulerJointAspect.hpp
@@ -84,7 +84,7 @@ struct EulerJointProperties : GenericJoint<math::R3Space>::Properties,
 using EulerJointBase = common::EmbedPropertiesOnTopOf<
     EulerJoint,
     EulerJointUniqueProperties,
-    GenericJoint<math::R3Space> >;
+    GenericJoint<math::R3Space>>;
 
 } // namespace detail
 } // namespace dynamics
diff --git a/dart/dynamics/detail/FixedJacobianNode.hpp b/dart/dynamics/detail/FixedJacobianNode.hpp
index eaedf635a6dc8..b6527fab029ff 100644
--- a/dart/dynamics/detail/FixedJacobianNode.hpp
+++ b/dart/dynamics/detail/FixedJacobianNode.hpp
@@ -45,8 +45,8 @@ class FixedJacobianNode;
 namespace detail {
 
 using FixedJacobianNodeCompositeBase = common::CompositeJoiner<
-    EntityNode<TemplatedJacobianNode<FixedJacobianNode> >,
-    common::Virtual<FixedFrame> >;
+    EntityNode<TemplatedJacobianNode<FixedJacobianNode>>,
+    common::Virtual<FixedFrame>>;
 
 } // namespace detail
 } // namespace dynamics
diff --git a/dart/dynamics/detail/PlanarJointAspect.hpp b/dart/dynamics/detail/PlanarJointAspect.hpp
index bf87839988b7f..a40130ef658d7 100644
--- a/dart/dynamics/detail/PlanarJointAspect.hpp
+++ b/dart/dynamics/detail/PlanarJointAspect.hpp
@@ -127,7 +127,7 @@ struct PlanarJointProperties : GenericJoint<math::R3Space>::Properties,
 using PlanarJointBase = common::EmbedPropertiesOnTopOf<
     PlanarJoint,
     PlanarJointUniqueProperties,
-    GenericJoint<math::R3Space> >;
+    GenericJoint<math::R3Space>>;
 
 } // namespace detail
 } // namespace dynamics
diff --git a/dart/dynamics/detail/PrismaticJointAspect.hpp b/dart/dynamics/detail/PrismaticJointAspect.hpp
index 851fbd0b809c2..ee08e6ff98a48 100644
--- a/dart/dynamics/detail/PrismaticJointAspect.hpp
+++ b/dart/dynamics/detail/PrismaticJointAspect.hpp
@@ -76,7 +76,7 @@ struct PrismaticJointProperties : GenericJoint<math::R1Space>::Properties,
 using PrismaticJointBase = common::EmbedPropertiesOnTopOf<
     PrismaticJoint,
     PrismaticJointUniqueProperties,
-    GenericJoint<math::R1Space> >;
+    GenericJoint<math::R1Space>>;
 
 } // namespace detail
 } // namespace dynamics
diff --git a/dart/dynamics/detail/RevoluteJointAspect.hpp b/dart/dynamics/detail/RevoluteJointAspect.hpp
index 246cc42ae96bb..01bd6921c8982 100644
--- a/dart/dynamics/detail/RevoluteJointAspect.hpp
+++ b/dart/dynamics/detail/RevoluteJointAspect.hpp
@@ -76,7 +76,7 @@ struct RevoluteJointProperties : GenericJoint<math::R1Space>::Properties,
 using RevoluteJointBase = common::EmbedPropertiesOnTopOf<
     RevoluteJoint,
     RevoluteJointUniqueProperties,
-    GenericJoint<math::R1Space> >;
+    GenericJoint<math::R1Space>>;
 
 } // namespace detail
 
diff --git a/dart/dynamics/detail/ScrewJointAspect.hpp b/dart/dynamics/detail/ScrewJointAspect.hpp
index 0de55457fa184..1f63f231b98ec 100644
--- a/dart/dynamics/detail/ScrewJointAspect.hpp
+++ b/dart/dynamics/detail/ScrewJointAspect.hpp
@@ -81,7 +81,7 @@ struct ScrewJointProperties : GenericJoint<math::R1Space>::Properties,
 using ScrewJointBase = common::EmbedPropertiesOnTopOf<
     ScrewJoint,
     ScrewJointUniqueProperties,
-    GenericJoint<math::R1Space> >;
+    GenericJoint<math::R1Space>>;
 
 } // namespace detail
 } // namespace dynamics
diff --git a/dart/dynamics/detail/ShapeFrameAspect.hpp b/dart/dynamics/detail/ShapeFrameAspect.hpp
index 7068cfed8c0a4..623dd5ed3858c 100644
--- a/dart/dynamics/detail/ShapeFrameAspect.hpp
+++ b/dart/dynamics/detail/ShapeFrameAspect.hpp
@@ -160,7 +160,7 @@ using ShapeFrameCompositeBase = common::EmbedPropertiesOnTopOf<
     ShapeFrame,
     ShapeFrameProperties,
     common::
-        SpecializedForAspect<VisualAspect, CollisionAspect, DynamicsAspect> >;
+        SpecializedForAspect<VisualAspect, CollisionAspect, DynamicsAspect>>;
 
 } // namespace detail
 } // namespace dynamics
diff --git a/dart/dynamics/detail/ShapeNode.hpp b/dart/dynamics/detail/ShapeNode.hpp
index 091cb978f6370..95f096ec7ec93 100644
--- a/dart/dynamics/detail/ShapeNode.hpp
+++ b/dart/dynamics/detail/ShapeNode.hpp
@@ -42,7 +42,7 @@ namespace dynamics {
 namespace detail {
 
 using ShapeNodeCompositeBase
-    = CompositeNode<common::CompositeJoiner<FixedJacobianNode, ShapeFrame> >;
+    = CompositeNode<common::CompositeJoiner<FixedJacobianNode, ShapeFrame>>;
 
 } // namespace detail
 } // namespace dynamics
diff --git a/dart/dynamics/detail/UniversalJointAspect.hpp b/dart/dynamics/detail/UniversalJointAspect.hpp
index f0e2b87d34e4a..b1841fb5b9776 100644
--- a/dart/dynamics/detail/UniversalJointAspect.hpp
+++ b/dart/dynamics/detail/UniversalJointAspect.hpp
@@ -77,7 +77,7 @@ struct UniversalJointProperties : GenericJoint<math::R2Space>::Properties,
 using UniversalJointBase = common::EmbedPropertiesOnTopOf<
     UniversalJoint,
     UniversalJointUniqueProperties,
-    GenericJoint<math::R2Space> >;
+    GenericJoint<math::R2Space>>;
 
 } // namespace detail
 } // namespace dynamics
diff --git a/dart/utils/CompositeResourceRetriever.hpp b/dart/utils/CompositeResourceRetriever.hpp
index e83e526affeef..b9093f44633a8 100644
--- a/dart/utils/CompositeResourceRetriever.hpp
+++ b/dart/utils/CompositeResourceRetriever.hpp
@@ -82,7 +82,7 @@ class CompositeResourceRetriever : public virtual common::ResourceRetriever
   std::vector<common::ResourceRetrieverPtr> getRetrievers(
       const common::Uri& _uri) const;
 
-  std::unordered_map<std::string, std::vector<common::ResourceRetrieverPtr> >
+  std::unordered_map<std::string, std::vector<common::ResourceRetrieverPtr>>
       mResourceRetrievers;
   std::vector<common::ResourceRetrieverPtr> mDefaultResourceRetrievers;
 };
diff --git a/dart/utils/PackageResourceRetriever.hpp b/dart/utils/PackageResourceRetriever.hpp
index f32131c65eec6..a0e52ac239aa8 100644
--- a/dart/utils/PackageResourceRetriever.hpp
+++ b/dart/utils/PackageResourceRetriever.hpp
@@ -99,7 +99,7 @@ class PackageResourceRetriever : public virtual common::ResourceRetriever
 
 private:
   common::ResourceRetrieverPtr mLocalRetriever;
-  std::unordered_map<std::string, std::vector<std::string> > mPackageMap;
+  std::unordered_map<std::string, std::vector<std::string>> mPackageMap;
 
   const std::vector<std::string>& getPackagePaths(
       const std::string& _packageName) const;
diff --git a/examples/atlas_puppet/main.cpp b/examples/atlas_puppet/main.cpp
index 03625bf559f9d..43f901f75ae26 100644
--- a/examples/atlas_puppet/main.cpp
+++ b/examples/atlas_puppet/main.cpp
@@ -487,7 +487,7 @@ class InputHandler : public ::osgGA::GUIEventHandler
 
   std::vector<std::size_t> mEndEffectorIndex;
 
-  std::vector<std::pair<Eigen::Vector6d, Eigen::Vector6d> > mDefaultBounds;
+  std::vector<std::pair<Eigen::Vector6d, Eigen::Vector6d>> mDefaultBounds;
 
   dart::common::aligned_vector<Eigen::Isometry3d> mDefaultTargetTf;
 
diff --git a/examples/hubo_puppet/main.cpp b/examples/hubo_puppet/main.cpp
index 1fdd5520cfbaf..fce275651719b 100644
--- a/examples/hubo_puppet/main.cpp
+++ b/examples/hubo_puppet/main.cpp
@@ -1074,7 +1074,7 @@ class InputHandler : public ::osgGA::GUIEventHandler
 
   std::vector<std::size_t> mEndEffectorIndex;
 
-  std::vector<std::pair<Eigen::Vector6d, Eigen::Vector6d> > mDefaultBounds;
+  std::vector<std::pair<Eigen::Vector6d, Eigen::Vector6d>> mDefaultBounds;
 
   dart::common::aligned_vector<Eigen::Isometry3d> mDefaultTargetTf;
 
diff --git a/examples/wam_ikfast/InputHandler.hpp b/examples/wam_ikfast/InputHandler.hpp
index 86d386b53c82c..2e2c17dcb979a 100644
--- a/examples/wam_ikfast/InputHandler.hpp
+++ b/examples/wam_ikfast/InputHandler.hpp
@@ -67,7 +67,7 @@ class InputHandler : public ::osgGA::GUIEventHandler
 
   std::vector<std::size_t> mEndEffectorIndex;
 
-  std::vector<std::pair<Eigen::Vector6d, Eigen::Vector6d> > mDefaultBounds;
+  std::vector<std::pair<Eigen::Vector6d, Eigen::Vector6d>> mDefaultBounds;
 
   dart::common::aligned_vector<Eigen::Isometry3d> mDefaultTargetTf;
 };
diff --git a/python/dartpy/collision/CollisionDetector.cpp b/python/dartpy/collision/CollisionDetector.cpp
index 68904c66e6f40..bef9e30ea32c1 100644
--- a/python/dartpy/collision/CollisionDetector.cpp
+++ b/python/dartpy/collision/CollisionDetector.cpp
@@ -43,7 +43,7 @@ void CollisionDetector(py::module& m)
 {
   ::py::class_<
       dart::collision::CollisionDetector,
-      std::shared_ptr<dart::collision::CollisionDetector> >(
+      std::shared_ptr<dart::collision::CollisionDetector>>(
       m, "CollisionDetector")
       .def(
           "cloneWithoutCollisionObjects",
diff --git a/python/dartpy/collision/CollisionGroup.cpp b/python/dartpy/collision/CollisionGroup.cpp
index fca4f4cf5f4b7..38cc91fb3c84e 100644
--- a/python/dartpy/collision/CollisionGroup.cpp
+++ b/python/dartpy/collision/CollisionGroup.cpp
@@ -44,7 +44,7 @@ void CollisionGroup(py::module& m)
 {
   ::py::class_<
       dart::collision::CollisionGroup,
-      std::shared_ptr<dart::collision::CollisionGroup> >(m, "CollisionGroup")
+      std::shared_ptr<dart::collision::CollisionGroup>>(m, "CollisionGroup")
       .def(
           "getCollisionDetector",
           +[](dart::collision::CollisionGroup* self)
diff --git a/python/dartpy/collision/FCLCollisionGroup.cpp b/python/dartpy/collision/FCLCollisionGroup.cpp
index 77d679088a351..9062ec645404f 100644
--- a/python/dartpy/collision/FCLCollisionGroup.cpp
+++ b/python/dartpy/collision/FCLCollisionGroup.cpp
@@ -44,7 +44,7 @@ void FCLCollisionGroup(py::module& m)
   ::py::class_<
       dart::collision::FCLCollisionGroup,
       dart::collision::CollisionGroup,
-      std::shared_ptr<dart::collision::FCLCollisionGroup> >(
+      std::shared_ptr<dart::collision::FCLCollisionGroup>>(
       m, "FCLCollisionGroup")
       .def(
           ::py::init<const dart::collision::CollisionDetectorPtr&>(),
diff --git a/python/dartpy/constraint/ConstraintBase.cpp b/python/dartpy/constraint/ConstraintBase.cpp
index f67957efb92b9..408c9b529baae 100644
--- a/python/dartpy/constraint/ConstraintBase.cpp
+++ b/python/dartpy/constraint/ConstraintBase.cpp
@@ -43,7 +43,7 @@ void ConstraintBase(py::module& m)
 {
   ::py::class_<
       dart::constraint::ConstraintBase,
-      std::shared_ptr<dart::constraint::ConstraintBase> >(m, "ConstraintBase")
+      std::shared_ptr<dart::constraint::ConstraintBase>>(m, "ConstraintBase")
       .def(
           "getType",
           +[](const dart::constraint::ConstraintBase* self) -> std::string {
diff --git a/python/dartpy/dynamics/Frame.cpp b/python/dartpy/dynamics/Frame.cpp
index 0ac999759ac5e..d0a5f769e5c35 100644
--- a/python/dartpy/dynamics/Frame.cpp
+++ b/python/dartpy/dynamics/Frame.cpp
@@ -47,7 +47,7 @@ void Frame(py::module& m)
   ::py::class_<
       dart::dynamics::Frame,
       dart::dynamics::Entity,
-      std::shared_ptr<dart::dynamics::Frame> >(m, "Frame")
+      std::shared_ptr<dart::dynamics::Frame>>(m, "Frame")
       .def(
           "getRelativeTransform",
           +[](const dart::dynamics::Frame* self) -> Eigen::Isometry3d {
diff --git a/python/dartpy/dynamics/Node.cpp b/python/dartpy/dynamics/Node.cpp
index 29471710d665b..3c6458e8a1703 100644
--- a/python/dartpy/dynamics/Node.cpp
+++ b/python/dartpy/dynamics/Node.cpp
@@ -49,7 +49,7 @@ void Node(py::module& m)
   ::py::class_<
       dart::dynamics::Node,
       /*dart::common::VersionCounter,*/ dart::common::Subject,
-      std::shared_ptr<dart::dynamics::Node> >(m, "Node")
+      std::shared_ptr<dart::dynamics::Node>>(m, "Node")
       .def(
           "setName",
           +[](dart::dynamics::Node* self, const std::string& newName)
diff --git a/python/dartpy/dynamics/TranslationalJoint2D.cpp b/python/dartpy/dynamics/TranslationalJoint2D.cpp
index 7f7705a679424..15d30fa733685 100644
--- a/python/dartpy/dynamics/TranslationalJoint2D.cpp
+++ b/python/dartpy/dynamics/TranslationalJoint2D.cpp
@@ -74,8 +74,8 @@ void TranslationalJoint2D(py::module& m)
       dart::common::EmbedPropertiesOnTopOf<
           dart::dynamics::TranslationalJoint2D,
           dart::dynamics::detail::TranslationalJoint2DUniqueProperties,
-          dart::dynamics::GenericJoint<dart::math::RealVectorSpace<2> > >,
-      std::shared_ptr<dart::dynamics::TranslationalJoint2D> >(
+          dart::dynamics::GenericJoint<dart::math::RealVectorSpace<2>>>,
+      std::shared_ptr<dart::dynamics::TranslationalJoint2D>>(
       m, "TranslationalJoint2D")
       .def(
           "hasTranslationalJoint2DAspect",
@@ -89,7 +89,7 @@ void TranslationalJoint2D(py::module& m)
                   dart::dynamics::TranslationalJoint2D,
                   dart::dynamics::detail::TranslationalJoint2DUniqueProperties,
                   dart::dynamics::GenericJoint<
-                      dart::math::RealVectorSpace<2> > >::Aspect* aspect) {
+                      dart::math::RealVectorSpace<2>>>::Aspect* aspect) {
             self->setTranslationalJoint2DAspect(aspect);
           },
           ::py::arg("aspect"))
@@ -105,7 +105,7 @@ void TranslationalJoint2D(py::module& m)
                   dart::dynamics::TranslationalJoint2D,
                   dart::dynamics::detail::TranslationalJoint2DUniqueProperties,
                   dart::dynamics::GenericJoint<
-                      dart::math::RealVectorSpace<2> > >::Aspect> {
+                      dart::math::RealVectorSpace<2>>>::Aspect> {
             return self->releaseTranslationalJoint2DAspect();
           })
       .def(
@@ -127,7 +127,7 @@ void TranslationalJoint2D(py::module& m)
                   dart::dynamics::TranslationalJoint2D,
                   dart::dynamics::detail::TranslationalJoint2DUniqueProperties,
                   dart::dynamics::GenericJoint<
-                      dart::math::RealVectorSpace<2> > >::AspectProperties&
+                      dart::math::RealVectorSpace<2>>>::AspectProperties&
                   properties) { self->setAspectProperties(properties); },
           ::py::arg("properties"))
       .def(
diff --git a/python/dartpy/dynamics/UniversalJoint.cpp b/python/dartpy/dynamics/UniversalJoint.cpp
index cf45f75b06e8f..d127a0398d33a 100644
--- a/python/dartpy/dynamics/UniversalJoint.cpp
+++ b/python/dartpy/dynamics/UniversalJoint.cpp
@@ -77,8 +77,8 @@ void UniversalJoint(py::module& m)
       dart::common::EmbedPropertiesOnTopOf<
           dart::dynamics::UniversalJoint,
           dart::dynamics::detail::UniversalJointUniqueProperties,
-          dart::dynamics::GenericJoint<dart::math::RealVectorSpace<2> > >,
-      std::shared_ptr<dart::dynamics::UniversalJoint> >(m, "UniversalJoint")
+          dart::dynamics::GenericJoint<dart::math::RealVectorSpace<2>>>,
+      std::shared_ptr<dart::dynamics::UniversalJoint>>(m, "UniversalJoint")
       .def(
           "hasUniversalJointAspect",
           +[](const dart::dynamics::UniversalJoint* self) -> bool {
@@ -91,7 +91,7 @@ void UniversalJoint(py::module& m)
                   dart::dynamics::UniversalJoint,
                   dart::dynamics::detail::UniversalJointUniqueProperties,
                   dart::dynamics::GenericJoint<
-                      dart::math::RealVectorSpace<2> > >::Aspect* aspect) {
+                      dart::math::RealVectorSpace<2>>>::Aspect* aspect) {
             self->setUniversalJointAspect(aspect);
           },
           ::py::arg("aspect"))
@@ -107,7 +107,7 @@ void UniversalJoint(py::module& m)
                   dart::dynamics::UniversalJoint,
                   dart::dynamics::detail::UniversalJointUniqueProperties,
                   dart::dynamics::GenericJoint<
-                      dart::math::RealVectorSpace<2> > >::Aspect> {
+                      dart::math::RealVectorSpace<2>>>::Aspect> {
             return self->releaseUniversalJointAspect();
           })
       .def(
@@ -130,7 +130,7 @@ void UniversalJoint(py::module& m)
                   dart::dynamics::UniversalJoint,
                   dart::dynamics::detail::UniversalJointUniqueProperties,
                   dart::dynamics::GenericJoint<
-                      dart::math::RealVectorSpace<2> > >::AspectProperties&
+                      dart::math::RealVectorSpace<2>>>::AspectProperties&
                   properties) { self->setAspectProperties(properties); },
           ::py::arg("properties"))
       .def(
diff --git a/python/dartpy/dynamics/ZeroDofJoint.cpp b/python/dartpy/dynamics/ZeroDofJoint.cpp
index fc2dc49c72f9c..59db48e3f9652 100644
--- a/python/dartpy/dynamics/ZeroDofJoint.cpp
+++ b/python/dartpy/dynamics/ZeroDofJoint.cpp
@@ -55,7 +55,7 @@ void ZeroDofJoint(py::module& m)
   ::py::class_<
       dart::dynamics::ZeroDofJoint,
       dart::dynamics::Joint,
-      std::shared_ptr<dart::dynamics::ZeroDofJoint> >(m, "ZeroDofJoint")
+      std::shared_ptr<dart::dynamics::ZeroDofJoint>>(m, "ZeroDofJoint")
       .def(
           "getZeroDofJointProperties",
           +[](const dart::dynamics::ZeroDofJoint* self)
diff --git a/python/dartpy/gui/osg/ImGuiHandler.cpp b/python/dartpy/gui/osg/ImGuiHandler.cpp
index 9a9ea224e40ff..2db794fc8fe21 100644
--- a/python/dartpy/gui/osg/ImGuiHandler.cpp
+++ b/python/dartpy/gui/osg/ImGuiHandler.cpp
@@ -48,7 +48,7 @@ void ImGuiHandler(py::module& m)
 {
   ::pybind11::class_<
       dart::gui::osg::ImGuiHandler,
-      osg::ref_ptr<dart::gui::osg::ImGuiHandler> >(m, "ImGuiHandler")
+      osg::ref_ptr<dart::gui::osg::ImGuiHandler>>(m, "ImGuiHandler")
       .def(::pybind11::init<>())
       .def(
           "newFrame",
diff --git a/tests/integration/GeneratedWamIkFast.cpp b/tests/integration/GeneratedWamIkFast.cpp
index c3aa365c348fd..d5ac0511017ab 100644
--- a/tests/integration/GeneratedWamIkFast.cpp
+++ b/tests/integration/GeneratedWamIkFast.cpp
@@ -30916,7 +30916,7 @@ class IKSolver
                                 }
 
                                 {
-                                  std::vector<IkSingleDOFSolutionBase<IkReal> >
+                                  std::vector<IkSingleDOFSolutionBase<IkReal>>
                                       vinfos(7);
                                   vinfos[0].jointtype = 1;
                                   vinfos[0].foffset = j4;
@@ -31161,8 +31161,7 @@ class IKSolver
                                   }
 
                                   {
-                                    std::vector<
-                                        IkSingleDOFSolutionBase<IkReal> >
+                                    std::vector<IkSingleDOFSolutionBase<IkReal>>
                                         vinfos(7);
                                     vinfos[0].jointtype = 1;
                                     vinfos[0].foffset = j4;
@@ -31664,7 +31663,7 @@ class IKSolver
                                             {
                                               std::vector<
                                                   IkSingleDOFSolutionBase<
-                                                      IkReal> >
+                                                      IkReal>>
                                                   vinfos(7);
                                               vinfos[0].jointtype = 1;
                                               vinfos[0].foffset = j4;
@@ -31875,7 +31874,7 @@ class IKSolver
                                               {
                                                 std::vector<
                                                     IkSingleDOFSolutionBase<
-                                                        IkReal> >
+                                                        IkReal>>
                                                     vinfos(7);
                                                 vinfos[0].jointtype = 1;
                                                 vinfos[0].foffset = j4;
@@ -32107,7 +32106,7 @@ class IKSolver
                                                 {
                                                   std::vector<
                                                       IkSingleDOFSolutionBase<
-                                                          IkReal> >
+                                                          IkReal>>
                                                       vinfos(7);
                                                   vinfos[0].jointtype = 1;
                                                   vinfos[0].foffset = j4;
@@ -32355,7 +32354,7 @@ class IKSolver
                                                   {
                                                     std::vector<
                                                         IkSingleDOFSolutionBase<
-                                                            IkReal> >
+                                                            IkReal>>
                                                         vinfos(7);
                                                     vinfos[0].jointtype = 1;
                                                     vinfos[0].foffset = j4;
@@ -32624,7 +32623,7 @@ class IKSolver
                                                     {
                                                       std::vector<
                                                           IkSingleDOFSolutionBase<
-                                                              IkReal> >
+                                                              IkReal>>
                                                           vinfos(7);
                                                       vinfos[0].jointtype = 1;
                                                       vinfos[0].foffset = j4;
@@ -32918,7 +32917,7 @@ class IKSolver
                                                       {
                                                         std::vector<
                                                             IkSingleDOFSolutionBase<
-                                                                IkReal> >
+                                                                IkReal>>
                                                             vinfos(7);
                                                         vinfos[0].jointtype = 1;
                                                         vinfos[0].foffset = j4;
@@ -33194,7 +33193,7 @@ class IKSolver
                                                         {
                                                           std::vector<
                                                               IkSingleDOFSolutionBase<
-                                                                  IkReal> >
+                                                                  IkReal>>
                                                               vinfos(7);
                                                           vinfos[0].jointtype
                                                               = 1;
@@ -33524,7 +33523,7 @@ class IKSolver
                                                           {
                                                             std::vector<
                                                                 IkSingleDOFSolutionBase<
-                                                                    IkReal> >
+                                                                    IkReal>>
                                                                 vinfos(7);
                                                             vinfos[0].jointtype
                                                                 = 1;
@@ -33799,7 +33798,7 @@ class IKSolver
 
                                       {
                                         std::vector<
-                                            IkSingleDOFSolutionBase<IkReal> >
+                                            IkSingleDOFSolutionBase<IkReal>>
                                             vinfos(7);
                                         vinfos[0].jointtype = 1;
                                         vinfos[0].foffset = j4;
@@ -33995,8 +33994,7 @@ class IKSolver
                                   }
 
                                   {
-                                    std::vector<
-                                        IkSingleDOFSolutionBase<IkReal> >
+                                    std::vector<IkSingleDOFSolutionBase<IkReal>>
                                         vinfos(7);
                                     vinfos[0].jointtype = 1;
                                     vinfos[0].foffset = j4;
@@ -34165,7 +34163,7 @@ class IKSolver
                               }
 
                               {
-                                std::vector<IkSingleDOFSolutionBase<IkReal> >
+                                std::vector<IkSingleDOFSolutionBase<IkReal>>
                                     vinfos(7);
                                 vinfos[0].jointtype = 1;
                                 vinfos[0].foffset = j4;
@@ -34604,7 +34602,7 @@ class IKSolver
 
                                         {
                                           std::vector<
-                                              IkSingleDOFSolutionBase<IkReal> >
+                                              IkSingleDOFSolutionBase<IkReal>>
                                               vinfos(7);
                                           vinfos[0].jointtype = 1;
                                           vinfos[0].foffset = j4;
@@ -34800,8 +34798,8 @@ class IKSolver
                                           }
 
                                           {
-                                            std::vector<IkSingleDOFSolutionBase<
-                                                IkReal> >
+                                            std::vector<
+                                                IkSingleDOFSolutionBase<IkReal>>
                                                 vinfos(7);
                                             vinfos[0].jointtype = 1;
                                             vinfos[0].foffset = j4;
@@ -35021,7 +35019,7 @@ class IKSolver
                                             {
                                               std::vector<
                                                   IkSingleDOFSolutionBase<
-                                                      IkReal> >
+                                                      IkReal>>
                                                   vinfos(7);
                                               vinfos[0].jointtype = 1;
                                               vinfos[0].foffset = j4;
@@ -35240,7 +35238,7 @@ class IKSolver
                                               {
                                                 std::vector<
                                                     IkSingleDOFSolutionBase<
-                                                        IkReal> >
+                                                        IkReal>>
                                                     vinfos(7);
                                                 vinfos[0].jointtype = 1;
                                                 vinfos[0].foffset = j4;
@@ -35467,7 +35465,7 @@ class IKSolver
                                                 {
                                                   std::vector<
                                                       IkSingleDOFSolutionBase<
-                                                          IkReal> >
+                                                          IkReal>>
                                                       vinfos(7);
                                                   vinfos[0].jointtype = 1;
                                                   vinfos[0].foffset = j4;
@@ -35728,7 +35726,7 @@ class IKSolver
                                                   {
                                                     std::vector<
                                                         IkSingleDOFSolutionBase<
-                                                            IkReal> >
+                                                            IkReal>>
                                                         vinfos(7);
                                                     vinfos[0].jointtype = 1;
                                                     vinfos[0].foffset = j4;
@@ -35977,7 +35975,7 @@ class IKSolver
                                                     {
                                                       std::vector<
                                                           IkSingleDOFSolutionBase<
-                                                              IkReal> >
+                                                              IkReal>>
                                                           vinfos(7);
                                                       vinfos[0].jointtype = 1;
                                                       vinfos[0].foffset = j4;
@@ -36264,7 +36262,7 @@ class IKSolver
                                                       {
                                                         std::vector<
                                                             IkSingleDOFSolutionBase<
-                                                                IkReal> >
+                                                                IkReal>>
                                                             vinfos(7);
                                                         vinfos[0].jointtype = 1;
                                                         vinfos[0].foffset = j4;
@@ -36508,8 +36506,7 @@ class IKSolver
                                   }
 
                                   {
-                                    std::vector<
-                                        IkSingleDOFSolutionBase<IkReal> >
+                                    std::vector<IkSingleDOFSolutionBase<IkReal>>
                                         vinfos(7);
                                     vinfos[0].jointtype = 1;
                                     vinfos[0].foffset = j4;
@@ -36695,7 +36692,7 @@ class IKSolver
                               }
 
                               {
-                                std::vector<IkSingleDOFSolutionBase<IkReal> >
+                                std::vector<IkSingleDOFSolutionBase<IkReal>>
                                     vinfos(7);
                                 vinfos[0].jointtype = 1;
                                 vinfos[0].foffset = j4;
@@ -36850,8 +36847,8 @@ class IKSolver
                           }
 
                           {
-                            std::vector<IkSingleDOFSolutionBase<IkReal> >
-                                vinfos(7);
+                            std::vector<IkSingleDOFSolutionBase<IkReal>> vinfos(
+                                7);
                             vinfos[0].jointtype = 1;
                             vinfos[0].foffset = j4;
                             vinfos[0].indices[0] = _ij4[0];
diff --git a/tests/integration/SharedLibraryWamIkFast.cpp b/tests/integration/SharedLibraryWamIkFast.cpp
index b34039dae8894..586cbfa92006c 100644
--- a/tests/integration/SharedLibraryWamIkFast.cpp
+++ b/tests/integration/SharedLibraryWamIkFast.cpp
@@ -30928,7 +30928,7 @@ class IKSolver
                                 }
 
                                 {
-                                  std::vector<IkSingleDOFSolutionBase<IkReal> >
+                                  std::vector<IkSingleDOFSolutionBase<IkReal>>
                                       vinfos(7);
                                   vinfos[0].jointtype = 1;
                                   vinfos[0].foffset = j4;
@@ -31173,8 +31173,7 @@ class IKSolver
                                   }
 
                                   {
-                                    std::vector<
-                                        IkSingleDOFSolutionBase<IkReal> >
+                                    std::vector<IkSingleDOFSolutionBase<IkReal>>
                                         vinfos(7);
                                     vinfos[0].jointtype = 1;
                                     vinfos[0].foffset = j4;
@@ -31676,7 +31675,7 @@ class IKSolver
                                             {
                                               std::vector<
                                                   IkSingleDOFSolutionBase<
-                                                      IkReal> >
+                                                      IkReal>>
                                                   vinfos(7);
                                               vinfos[0].jointtype = 1;
                                               vinfos[0].foffset = j4;
@@ -31887,7 +31886,7 @@ class IKSolver
                                               {
                                                 std::vector<
                                                     IkSingleDOFSolutionBase<
-                                                        IkReal> >
+                                                        IkReal>>
                                                     vinfos(7);
                                                 vinfos[0].jointtype = 1;
                                                 vinfos[0].foffset = j4;
@@ -32119,7 +32118,7 @@ class IKSolver
                                                 {
                                                   std::vector<
                                                       IkSingleDOFSolutionBase<
-                                                          IkReal> >
+                                                          IkReal>>
                                                       vinfos(7);
                                                   vinfos[0].jointtype = 1;
                                                   vinfos[0].foffset = j4;
@@ -32367,7 +32366,7 @@ class IKSolver
                                                   {
                                                     std::vector<
                                                         IkSingleDOFSolutionBase<
-                                                            IkReal> >
+                                                            IkReal>>
                                                         vinfos(7);
                                                     vinfos[0].jointtype = 1;
                                                     vinfos[0].foffset = j4;
@@ -32636,7 +32635,7 @@ class IKSolver
                                                     {
                                                       std::vector<
                                                           IkSingleDOFSolutionBase<
-                                                              IkReal> >
+                                                              IkReal>>
                                                           vinfos(7);
                                                       vinfos[0].jointtype = 1;
                                                       vinfos[0].foffset = j4;
@@ -32930,7 +32929,7 @@ class IKSolver
                                                       {
                                                         std::vector<
                                                             IkSingleDOFSolutionBase<
-                                                                IkReal> >
+                                                                IkReal>>
                                                             vinfos(7);
                                                         vinfos[0].jointtype = 1;
                                                         vinfos[0].foffset = j4;
@@ -33206,7 +33205,7 @@ class IKSolver
                                                         {
                                                           std::vector<
                                                               IkSingleDOFSolutionBase<
-                                                                  IkReal> >
+                                                                  IkReal>>
                                                               vinfos(7);
                                                           vinfos[0].jointtype
                                                               = 1;
@@ -33536,7 +33535,7 @@ class IKSolver
                                                           {
                                                             std::vector<
                                                                 IkSingleDOFSolutionBase<
-                                                                    IkReal> >
+                                                                    IkReal>>
                                                                 vinfos(7);
                                                             vinfos[0].jointtype
                                                                 = 1;
@@ -33811,7 +33810,7 @@ class IKSolver
 
                                       {
                                         std::vector<
-                                            IkSingleDOFSolutionBase<IkReal> >
+                                            IkSingleDOFSolutionBase<IkReal>>
                                             vinfos(7);
                                         vinfos[0].jointtype = 1;
                                         vinfos[0].foffset = j4;
@@ -34007,8 +34006,7 @@ class IKSolver
                                   }
 
                                   {
-                                    std::vector<
-                                        IkSingleDOFSolutionBase<IkReal> >
+                                    std::vector<IkSingleDOFSolutionBase<IkReal>>
                                         vinfos(7);
                                     vinfos[0].jointtype = 1;
                                     vinfos[0].foffset = j4;
@@ -34177,7 +34175,7 @@ class IKSolver
                               }
 
                               {
-                                std::vector<IkSingleDOFSolutionBase<IkReal> >
+                                std::vector<IkSingleDOFSolutionBase<IkReal>>
                                     vinfos(7);
                                 vinfos[0].jointtype = 1;
                                 vinfos[0].foffset = j4;
@@ -34616,7 +34614,7 @@ class IKSolver
 
                                         {
                                           std::vector<
-                                              IkSingleDOFSolutionBase<IkReal> >
+                                              IkSingleDOFSolutionBase<IkReal>>
                                               vinfos(7);
                                           vinfos[0].jointtype = 1;
                                           vinfos[0].foffset = j4;
@@ -34812,8 +34810,8 @@ class IKSolver
                                           }
 
                                           {
-                                            std::vector<IkSingleDOFSolutionBase<
-                                                IkReal> >
+                                            std::vector<
+                                                IkSingleDOFSolutionBase<IkReal>>
                                                 vinfos(7);
                                             vinfos[0].jointtype = 1;
                                             vinfos[0].foffset = j4;
@@ -35033,7 +35031,7 @@ class IKSolver
                                             {
                                               std::vector<
                                                   IkSingleDOFSolutionBase<
-                                                      IkReal> >
+                                                      IkReal>>
                                                   vinfos(7);
                                               vinfos[0].jointtype = 1;
                                               vinfos[0].foffset = j4;
@@ -35252,7 +35250,7 @@ class IKSolver
                                               {
                                                 std::vector<
                                                     IkSingleDOFSolutionBase<
-                                                        IkReal> >
+                                                        IkReal>>
                                                     vinfos(7);
                                                 vinfos[0].jointtype = 1;
                                                 vinfos[0].foffset = j4;
@@ -35479,7 +35477,7 @@ class IKSolver
                                                 {
                                                   std::vector<
                                                       IkSingleDOFSolutionBase<
-                                                          IkReal> >
+                                                          IkReal>>
                                                       vinfos(7);
                                                   vinfos[0].jointtype = 1;
                                                   vinfos[0].foffset = j4;
@@ -35740,7 +35738,7 @@ class IKSolver
                                                   {
                                                     std::vector<
                                                         IkSingleDOFSolutionBase<
-                                                            IkReal> >
+                                                            IkReal>>
                                                         vinfos(7);
                                                     vinfos[0].jointtype = 1;
                                                     vinfos[0].foffset = j4;
@@ -35989,7 +35987,7 @@ class IKSolver
                                                     {
                                                       std::vector<
                                                           IkSingleDOFSolutionBase<
-                                                              IkReal> >
+                                                              IkReal>>
                                                           vinfos(7);
                                                       vinfos[0].jointtype = 1;
                                                       vinfos[0].foffset = j4;
@@ -36276,7 +36274,7 @@ class IKSolver
                                                       {
                                                         std::vector<
                                                             IkSingleDOFSolutionBase<
-                                                                IkReal> >
+                                                                IkReal>>
                                                             vinfos(7);
                                                         vinfos[0].jointtype = 1;
                                                         vinfos[0].foffset = j4;
@@ -36520,8 +36518,7 @@ class IKSolver
                                   }
 
                                   {
-                                    std::vector<
-                                        IkSingleDOFSolutionBase<IkReal> >
+                                    std::vector<IkSingleDOFSolutionBase<IkReal>>
                                         vinfos(7);
                                     vinfos[0].jointtype = 1;
                                     vinfos[0].foffset = j4;
@@ -36707,7 +36704,7 @@ class IKSolver
                               }
 
                               {
-                                std::vector<IkSingleDOFSolutionBase<IkReal> >
+                                std::vector<IkSingleDOFSolutionBase<IkReal>>
                                     vinfos(7);
                                 vinfos[0].jointtype = 1;
                                 vinfos[0].foffset = j4;
@@ -36862,8 +36859,8 @@ class IKSolver
                           }
 
                           {
-                            std::vector<IkSingleDOFSolutionBase<IkReal> >
-                                vinfos(7);
+                            std::vector<IkSingleDOFSolutionBase<IkReal>> vinfos(
+                                7);
                             vinfos[0].jointtype = 1;
                             vinfos[0].foffset = j4;
                             vinfos[0].indices[0] = _ij4[0];
diff --git a/tests/integration/test_NameManagement.cpp b/tests/integration/test_NameManagement.cpp
index ff9b597461318..b72266fe9537b 100644
--- a/tests/integration/test_NameManagement.cpp
+++ b/tests/integration/test_NameManagement.cpp
@@ -193,7 +193,7 @@ TEST(NameManagement, Skeleton)
 //==============================================================================
 TEST(NameManagement, SetPattern)
 {
-  dart::common::NameManager<std::shared_ptr<Entity> > test_mgr("test", "name");
+  dart::common::NameManager<std::shared_ptr<Entity>> test_mgr("test", "name");
 
   std::shared_ptr<Entity> entity0(new SimpleFrame(Frame::World(), "name"));
   std::shared_ptr<Entity> entity1(new SimpleFrame(Frame::World(), "name"));
@@ -228,7 +228,7 @@ TEST(NameManagement, SetPattern)
 //==============================================================================
 TEST(NameManagement, Regression554)
 {
-  dart::common::NameManager<std::shared_ptr<int> > test_mgr("test", "name");
+  dart::common::NameManager<std::shared_ptr<int>> test_mgr("test", "name");
 
   std::shared_ptr<int> int0(new int(0));
   std::shared_ptr<int> int1(new int(1));
diff --git a/tests/unit/common/test_Uri.cpp b/tests/unit/common/test_Uri.cpp
index 5efae41dc98b9..76af6b53a6e10 100644
--- a/tests/unit/common/test_Uri.cpp
+++ b/tests/unit/common/test_Uri.cpp
@@ -247,7 +247,7 @@ TEST(UriHelpers, getUri_InputIsPath_AppendsFileSchema)
 
 TEST(UriHelpers, getRelativeUri)
 {
-  std::vector<std::pair<std::string, std::string> > testPairs = {
+  std::vector<std::pair<std::string, std::string>> testPairs = {
       // RFC 3986, Section 5.4.1.: Normal Examples
       {"g:h", "g:h"},
       {"g", "http://a/b/c/g"},