diff --git a/include/tsid/math/utils.hpp b/include/tsid/math/utils.hpp
index aa002071..46d9f328 100644
--- a/include/tsid/math/utils.hpp
+++ b/include/tsid/math/utils.hpp
@@ -137,7 +137,7 @@ namespace tsid
                                          int &rows, int &cols);
 
     template<typename Derived>
-    inline bool is_finite(const Eigen::MatrixBase<Derived>& x)
+    inline bool isFinite(const Eigen::MatrixBase<Derived>& x)
     {
       return ( (x - x).array() == (x - x).array()).all();
     }
diff --git a/unittest/contacts.cpp b/unittest/contacts.cpp
index 044d6e89..eb32576f 100644
--- a/unittest/contacts.cpp
+++ b/unittest/contacts.cpp
@@ -34,7 +34,7 @@ using namespace std;
 
 BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
 
-#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(is_finite(A), #A<<": "<<A)
+#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(isFinite(A), #A<<": "<<A)
 
 const string romeo_model_path = TSID_SOURCE_DIR"/models/romeo";
 
diff --git a/unittest/hqp_solvers.cpp b/unittest/hqp_solvers.cpp
index 6f70e814..e0e50819 100644
--- a/unittest/hqp_solvers.cpp
+++ b/unittest/hqp_solvers.cpp
@@ -31,7 +31,7 @@
 #include <tsid/utils/statistics.hpp>
 
 #define CHECK_LESS_THAN(A,B) BOOST_CHECK_MESSAGE(A<B, #A<<": "<<A<<">"<<B)
-#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(is_finite(A), #A<<": "<<A)
+#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(isFinite(A), #A<<": "<<A)
 
 BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
 
diff --git a/unittest/tasks.cpp b/unittest/tasks.cpp
index 7364c8a4..fa61bd31 100644
--- a/unittest/tasks.cpp
+++ b/unittest/tasks.cpp
@@ -43,7 +43,7 @@ using namespace std;
 using namespace Eigen;
 using namespace tsid::robots;
 
-#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(is_finite(A), #A<<": "<<A)
+#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(isFinite(A), #A<<": "<<A)
 
 const string romeo_model_path = TSID_SOURCE_DIR"/models/romeo";
 
@@ -95,13 +95,13 @@ BOOST_AUTO_TEST_CASE ( test_task_se3_equality )
     BOOST_CHECK(constraint.rows()==6);
     BOOST_CHECK(constraint.cols()==robot.nv());
     REQUIRE_FINITE(constraint.matrix());
-    BOOST_REQUIRE(is_finite(constraint.vector()));
+    BOOST_REQUIRE(isFinite(constraint.vector()));
 
     pseudoInverse(constraint.matrix(), Jpinv, 1e-4);
     Vector dv = Jpinv * constraint.vector();
-    BOOST_REQUIRE(is_finite(Jpinv));
+    BOOST_REQUIRE(isFinite(Jpinv));
     BOOST_CHECK(MatrixXd::Identity(6,6).isApprox(constraint.matrix()*Jpinv));
-    if(!is_finite(dv))
+    if(!isFinite(dv))
     {
       cout<< "Jpinv" << Jpinv.transpose() <<endl;
       cout<< "b" << constraint.vector().transpose() <<endl;
@@ -110,12 +110,12 @@ BOOST_AUTO_TEST_CASE ( test_task_se3_equality )
 
     v += dt*dv;
     q = se3::integrate(robot.model(), q, dt*v);
-    BOOST_REQUIRE(is_finite(v));
-    BOOST_REQUIRE(is_finite(q));
+    BOOST_REQUIRE(isFinite(v));
+    BOOST_REQUIRE(isFinite(q));
     t += dt;
 
     error = task.position_error().norm();
-    BOOST_REQUIRE(is_finite(task.position_error()));
+    BOOST_REQUIRE(isFinite(task.position_error()));
     BOOST_CHECK(error <= error_past);
     error_past = error;
 
@@ -173,23 +173,23 @@ BOOST_AUTO_TEST_CASE ( test_task_com_equality )
     const ConstraintBase & constraint = task.compute(t, q, v, data);
     BOOST_CHECK(constraint.rows()==3);
     BOOST_CHECK(constraint.cols()==robot.nv());
-    BOOST_REQUIRE(is_finite(constraint.matrix()));
-    BOOST_REQUIRE(is_finite(constraint.vector()));
+    BOOST_REQUIRE(isFinite(constraint.matrix()));
+    BOOST_REQUIRE(isFinite(constraint.vector()));
 
     pseudoInverse(constraint.matrix(), Jpinv, 1e-5);
     Vector dv = Jpinv * constraint.vector();
-    BOOST_REQUIRE(is_finite(Jpinv));
+    BOOST_REQUIRE(isFinite(Jpinv));
     BOOST_CHECK(MatrixXd::Identity(constraint.rows(),constraint.rows()).isApprox(constraint.matrix()*Jpinv));
-    BOOST_REQUIRE(is_finite(dv));
+    BOOST_REQUIRE(isFinite(dv));
 
     v += dt*dv;
     q = se3::integrate(robot.model(), q, dt*v);
-    BOOST_REQUIRE(is_finite(v));
-    BOOST_REQUIRE(is_finite(q));
+    BOOST_REQUIRE(isFinite(v));
+    BOOST_REQUIRE(isFinite(q));
     t += dt;
 
     error = task.position_error().norm();
-    BOOST_REQUIRE(is_finite(task.position_error()));
+    BOOST_REQUIRE(isFinite(task.position_error()));
     BOOST_CHECK((error - error_past) <= 1e-4);
     error_past = error;
     
@@ -245,23 +245,23 @@ BOOST_AUTO_TEST_CASE ( test_task_joint_posture )
     const ConstraintBase & constraint = task.compute(t, q, v, data);
     BOOST_CHECK(constraint.rows()==na);
     BOOST_CHECK(constraint.cols()==robot.nv());
-    BOOST_REQUIRE(is_finite(constraint.matrix()));
-    BOOST_REQUIRE(is_finite(constraint.vector()));
+    BOOST_REQUIRE(isFinite(constraint.matrix()));
+    BOOST_REQUIRE(isFinite(constraint.vector()));
 
     pseudoInverse(constraint.matrix(), Jpinv, 1e-5);
     Vector dv = Jpinv * constraint.vector();
-    BOOST_REQUIRE(is_finite(Jpinv));
+    BOOST_REQUIRE(isFinite(Jpinv));
     BOOST_CHECK(MatrixXd::Identity(na,na).isApprox(constraint.matrix()*Jpinv));
-    BOOST_REQUIRE(is_finite(dv));
+    BOOST_REQUIRE(isFinite(dv));
 
     v += dt*dv;
     q = se3::integrate(robot.model(), q, dt*v);
-    BOOST_REQUIRE(is_finite(v));
-    BOOST_REQUIRE(is_finite(q));
+    BOOST_REQUIRE(isFinite(v));
+    BOOST_REQUIRE(isFinite(q));
     t += dt;
 
     error = task.position_error().norm();
-    BOOST_REQUIRE(is_finite(task.position_error()));
+    BOOST_REQUIRE(isFinite(task.position_error()));
     BOOST_CHECK(error <= error_past);
     error_past = error;
 
diff --git a/unittest/tsid-formulation.cpp b/unittest/tsid-formulation.cpp
index 8a4c386d..9c2f480b 100644
--- a/unittest/tsid-formulation.cpp
+++ b/unittest/tsid-formulation.cpp
@@ -45,7 +45,7 @@ using namespace tsid::robots;
 using namespace std;
 
 
-#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(is_finite(A), #A<<": "<<A)
+#define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(isFinite(A), #A<<": "<<A)
 #define CHECK_LESS_THAN(A,B) BOOST_CHECK_MESSAGE(A<B, #A<<": "<<A<<">"<<B)
 
 #define REQUIRE_TASK_FINITE(task) REQUIRE_FINITE(task.getConstraint().matrix()); \