diff --git a/include/ignition/math/DiffDriveOdometry.hh b/include/ignition/math/DiffDriveOdometry.hh
index 93d272155..029d249d2 100644
--- a/include/ignition/math/DiffDriveOdometry.hh
+++ b/include/ignition/math/DiffDriveOdometry.hh
@@ -130,7 +130,8 @@ namespace ignition
       /// \param[in] _leftWheelRadius Radius of the left wheel.
       /// \param[in] _rightWheelRadius Radius of the right wheel.
       public: void SetWheelParams(double _wheelSeparation,
-                      double _leftWheelRadius, double _rightWheelRadius);
+                      double _leftWheelRadius,
+                      double _rightWheelRadius);
 
       /// \brief Set the velocity rolling window size.
       /// \param[in] _size The Velocity rolling window size.
diff --git a/include/ignition/math/Frustum.hh b/include/ignition/math/Frustum.hh
index b85e23f2a..38af773f0 100644
--- a/include/ignition/math/Frustum.hh
+++ b/include/ignition/math/Frustum.hh
@@ -80,10 +80,10 @@ namespace ignition
       /// by height of the near or far planes.
       /// \param[in] _pose Pose of the frustum, which is the vertex (top of
       /// the pyramid).
-      public: Frustum(const double _near,
-                      const double _far,
+      public: Frustum(double _near,
+                      double _far,
                       const math::Angle &_fov,
-                      const double _aspectRatio,
+                      double _aspectRatio,
                       const math::Pose3d &_pose = math::Pose3d::Zero);
 
       /// \brief Copy Constructor
@@ -103,7 +103,7 @@ namespace ignition
       /// frustum's vertex to the closest plane.
       /// \param[in] _near Near distance.
       /// \sa Near
-      public: void SetNear(const double _near);
+      public: void SetNear(double _near);
 
       /// \brief Get the far distance. This is the distance from the
       /// frustum's vertex to the farthest plane.
@@ -115,7 +115,7 @@ namespace ignition
       /// frustum's vertex to the farthest plane.
       /// \param[in] _far Far distance.
       /// \sa Far
-      public: void SetFar(const double _far);
+      public: void SetFar(double _far);
 
       /// \brief Get the horizontal field of view. The field of view is the
       /// angle between the frustum's vertex and the edges of the near or far
@@ -141,7 +141,7 @@ namespace ignition
       /// of the near or far planes.
       /// \param[in] _aspectRatio The frustum's aspect ratio.
       /// \sa AspectRatio
-      public: void SetAspectRatio(const double _aspectRatio);
+      public: void SetAspectRatio(double _aspectRatio);
 
       /// \brief Get a plane of the frustum.
       /// \param[in] _plane The plane to return.
diff --git a/include/ignition/math/graph/Edge.hh b/include/ignition/math/graph/Edge.hh
index b417a9a13..94897567a 100644
--- a/include/ignition/math/graph/Edge.hh
+++ b/include/ignition/math/graph/Edge.hh
@@ -130,7 +130,7 @@ namespace graph
 
     /// \brief Set the cost of the edge.
     /// \param[in] _newWeight The new cost.
-    public: void SetWeight(const double _newWeight)
+    public: void SetWeight(double _newWeight)
     {
       this->weight = _newWeight;
     }
@@ -214,7 +214,7 @@ namespace graph
     /// \param[in] _id Optional unique id.
     public: explicit UndirectedEdge(const VertexId_P &_vertices,
                                     const E &_data,
-                                    const double _weight,
+                                    double _weight,
                                     const EdgeId &_id = kNullId)
       : Edge<E>(_vertices, _data, _weight, _id)
     {
@@ -277,7 +277,7 @@ namespace graph
     /// \param[in] _id Optional unique id.
     public: explicit DirectedEdge(const VertexId_P &_vertices,
                                   const E &_data,
-                                  const double _weight,
+                                  double _weight,
                                   const EdgeId &_id = kNullId)
       : Edge<E>(_vertices, _data, _weight, _id)
     {
diff --git a/src/Angle.cc b/src/Angle.cc
index 6a7792e60..52735807d 100644
--- a/src/Angle.cc
+++ b/src/Angle.cc
@@ -25,7 +25,7 @@ const Angle Angle::HalfPi = Angle(IGN_PI_2);
 const Angle Angle::TwoPi = Angle(IGN_PI * 2.0);
 
 //////////////////////////////////////////////////
-Angle::Angle(const double _radian)
+Angle::Angle(double _radian)
 {
   this->value = _radian;
 }
@@ -79,91 +79,91 @@ Angle Angle::Normalized() const
 }
 
 //////////////////////////////////////////////////
-Angle Angle::operator-(const Angle &angle) const
+Angle Angle::operator-(const Angle &_angle) const
 {
-  return Angle(this->value - angle.value);
+  return Angle(this->value - _angle.value);
 }
 
 //////////////////////////////////////////////////
-Angle Angle::operator+(const Angle &angle) const
+Angle Angle::operator+(const Angle &_angle) const
 {
-  return Angle(this->value + angle.value);
+  return Angle(this->value + _angle.value);
 }
 
 //////////////////////////////////////////////////
-Angle Angle::operator*(const Angle &angle) const
+Angle Angle::operator*(const Angle &_angle) const
 {
-  return Angle(this->value * angle.value);
+  return Angle(this->value * _angle.value);
 }
 
 //////////////////////////////////////////////////
-Angle Angle::operator/(const Angle &angle) const
+Angle Angle::operator/(const Angle &_angle) const
 {
-  return Angle(this->value / angle.value);
+  return Angle(this->value / _angle.value);
 }
 
 //////////////////////////////////////////////////
-Angle Angle::operator-=(const Angle &angle)
+Angle Angle::operator-=(const Angle &_angle)
 {
-  this->value -= angle.value;
+  this->value -= _angle.value;
   return *this;
 }
 
 //////////////////////////////////////////////////
-Angle Angle::operator+=(const Angle &angle)
+Angle Angle::operator+=(const Angle &_angle)
 {
-  this->value += angle.value;
+  this->value += _angle.value;
   return *this;
 }
 
 //////////////////////////////////////////////////
-Angle Angle::operator*=(const Angle &angle)
+Angle Angle::operator*=(const Angle &_angle)
 {
-  this->value *= angle.value;
+  this->value *= _angle.value;
   return *this;
 }
 
 //////////////////////////////////////////////////
-Angle Angle::operator/=(const Angle &angle)
+Angle Angle::operator/=(const Angle &_angle)
 {
-  this->value /= angle.value;
+  this->value /= _angle.value;
   return *this;
 }
 
 //////////////////////////////////////////////////
-bool Angle::operator==(const Angle &angle) const
+bool Angle::operator==(const Angle &_angle) const
 {
-  return equal(this->value, angle.value, 0.001);
+  return equal(this->value, _angle.value, 0.001);
 }
 
 //////////////////////////////////////////////////
-bool Angle::operator!=(const Angle &angle) const
+bool Angle::operator!=(const Angle &_angle) const
 {
-  return !(*this == angle);
+  return !(*this == _angle);
 }
 
 //////////////////////////////////////////////////
-bool Angle::operator<(const Angle &angle) const
+bool Angle::operator<(const Angle &_angle) const
 {
-  return this->value < angle.value;
+  return this->value < _angle.value;
 }
 
 //////////////////////////////////////////////////
-bool Angle::operator<=(const Angle &angle) const
+bool Angle::operator<=(const Angle &_angle) const
 {
-  return this->value < angle.value || equal(this->value, angle.value);
+  return this->value < _angle.value || equal(this->value, _angle.value);
 }
 
 //////////////////////////////////////////////////
-bool Angle::operator>(const Angle &angle) const
+bool Angle::operator>(const Angle &_angle) const
 {
-  return this->value > angle.value;
+  return this->value > _angle.value;
 }
 
 //////////////////////////////////////////////////
-bool Angle::operator>=(const Angle &angle) const
+bool Angle::operator>=(const Angle &_angle) const
 {
-  return this->value > angle.value || equal(this->value, angle.value);
+  return this->value > _angle.value || equal(this->value, _angle.value);
 }
 
 //////////////////////////////////////////////////
diff --git a/src/DiffDriveOdometry.cc b/src/DiffDriveOdometry.cc
index d184b8e02..68441dc84 100644
--- a/src/DiffDriveOdometry.cc
+++ b/src/DiffDriveOdometry.cc
@@ -29,7 +29,8 @@ class ignition::math::DiffDriveOdometryPrivate
   /// Runge-Kutta.
   /// \param[in] _linear Linear velocity.
   /// \param[in] _angular Angular velocity.
-  public: void IntegrateRungeKutta2(double _linear, double _angular);
+  public: void IntegrateRungeKutta2(double _linear,
+                                    double _angular);
 
   /// \brief Integrates the velocities (linear and angular) using exact
   /// method.
@@ -223,7 +224,8 @@ void DiffDriveOdometryPrivate::IntegrateRungeKutta2(
 }
 
 //////////////////////////////////////////////////
-void DiffDriveOdometryPrivate::IntegrateExact(double _linear, double _angular)
+void DiffDriveOdometryPrivate::IntegrateExact(double _linear,
+                                double _angular)
 {
   if (std::fabs(_angular) < 1e-6)
   {
diff --git a/src/Frustum.cc b/src/Frustum.cc
index 44a328665..ab34da22a 100644
--- a/src/Frustum.cc
+++ b/src/Frustum.cc
@@ -31,10 +31,10 @@ Frustum::Frustum()
 }
 
 /////////////////////////////////////////////////
-Frustum::Frustum(const double _near,
-                 const double _far,
+Frustum::Frustum(double _near,
+                 double _far,
                  const Angle &_fov,
-                 const double _aspectRatio,
+                 double _aspectRatio,
                  const Pose3d &_pose)
   : dataPtr(new FrustumPrivate(_near, _far, _fov, _aspectRatio, _pose))
 {
@@ -171,7 +171,7 @@ double Frustum::Near() const
 }
 
 /////////////////////////////////////////////////
-void Frustum::SetNear(const double _near)
+void Frustum::SetNear(double _near)
 {
   this->dataPtr->near = _near;
   this->ComputePlanes();
@@ -184,7 +184,7 @@ double Frustum::Far() const
 }
 
 /////////////////////////////////////////////////
-void Frustum::SetFar(const double _far)
+void Frustum::SetFar(double _far)
 {
   this->dataPtr->far = _far;
   this->ComputePlanes();
@@ -223,7 +223,7 @@ double Frustum::AspectRatio() const
 }
 
 /////////////////////////////////////////////////
-void Frustum::SetAspectRatio(const double _aspectRatio)
+void Frustum::SetAspectRatio(double _aspectRatio)
 {
   this->dataPtr->aspectRatio = _aspectRatio;
   this->ComputePlanes();