diff --git a/CMakeLists.txt b/CMakeLists.txt
index 30d8f1e..7ba273d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,11 +4,15 @@ cmake_minimum_required(VERSION 2.8.3)
 project(inekf)
 
 option(USE_CPP11 "Use flag -std=c++11" ON)
-option(USE_MUTEX "Use mutex in code" ON)
+option(USE_MUTEX "Use mutex in code" OFF)
 
-if (USE_CPP11 EQUAL OFF AND USE_MUTEX EQUAL ON)
+message("USE_CPP11: " ${USE_CPP11})
+message("USE_MUTEX: " ${USE_MUTEX})
+
+if (USE_MUTEX AND NOT USE_CPP11)
+message("test")
     message(FATAL_ERROR "You cannot have USE_CPP11 = OFF AND USE_MUTEX = ON")
-endif (USE_CPP11 EQUAL OFF AND USE_MUTEX EQUAL ON)
+endif (USE_MUTEX AND NOT USE_CPP11)
 
 # Set compiler flags
 if (USE_CPP11)
@@ -23,6 +27,8 @@ endif(USE_MUTEX)
 SET(CMAKE_CXX_COMPILER /usr/bin/g++)
 
 message("CMAKE_CXX_FLAGS: " ${CMAKE_CXX_FLAGS})
+unset(USE_CPP11)
+unset(USE_MUTEX)
 
 # Set the output folder where your program will be created  
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)
diff --git a/src/examples/kinematics.cpp b/src/examples/kinematics.cpp
index 04a1fc2..c97124f 100644
--- a/src/examples/kinematics.cpp
+++ b/src/examples/kinematics.cpp
@@ -26,11 +26,11 @@
 using namespace std;
 using namespace inekf;
 
-double stod(const std::string &s) {
+double stod98(const std::string &s) {
     return atof(s.c_str());
 }
 
-int stoi(const std::string &s) {
+int stoi98(const std::string &s) {
     return atoi(s.c_str());
 }
 
@@ -87,12 +87,12 @@ int main() {
             assert((measurement.size()-2) == 6);
             t = atof(measurement[1].c_str()); 
             // Read in IMU data
-            imu_measurement << stod(measurement[2]), 
-                               stod(measurement[3]), 
-                               stod(measurement[4]),
-                               stod(measurement[5]),
-                               stod(measurement[6]),
-                               stod(measurement[7]);
+            imu_measurement << stod98(measurement[2]), 
+                               stod98(measurement[3]), 
+                               stod98(measurement[4]),
+                               stod98(measurement[5]),
+                               stod98(measurement[6]),
+                               stod98(measurement[7]);
 
             // Propagate using IMU data
             double dt = t - t_prev;
@@ -107,11 +107,11 @@ int main() {
             vector<pair<int,bool> > contacts;
             int id;
             bool indicator;
-            t = stod(measurement[1]); 
+            t = stod98(measurement[1]); 
             // Read in contact data
             for (int i=2; i<measurement.size(); i+=2) {
-                id = stoi(measurement[i]);
-                indicator = bool(stod(measurement[i+1]));
+                id = stoi98(measurement[i]);
+                indicator = bool(stod98(measurement[i+1]));
                 contacts.push_back(pair<int,bool> (id, indicator));
             }       
             // Set filter's contact state
@@ -126,18 +126,18 @@ int main() {
             Eigen::Matrix4d pose = Eigen::Matrix4d::Identity();
             Eigen::Matrix<double,6,6> covariance;
             vectorKinematics measured_kinematics;
-            t = stod(measurement[1]); 
+            t = stod98(measurement[1]); 
             // Read in kinematic data
             for (int i=2; i<measurement.size(); i+=44) {
-                id = stoi(measurement[i]); 
-                q = Eigen::Quaternion<double> (stod(measurement[i+1]),stod(measurement[i+2]),stod(measurement[i+3]),stod(measurement[i+4]));
+                id = stoi98(measurement[i]); 
+                q = Eigen::Quaternion<double> (stod98(measurement[i+1]),stod98(measurement[i+2]),stod98(measurement[i+3]),stod98(measurement[i+4]));
                 q.normalize();
-                p << stod(measurement[i+5]),stod(measurement[i+6]),stod(measurement[i+7]);
+                p << stod98(measurement[i+5]),stod98(measurement[i+6]),stod98(measurement[i+7]);
                 pose.block<3,3>(0,0) = q.toRotationMatrix();
                 pose.block<3,1>(0,3) = p;
                 for (int j=0; j<6; ++j) {
                     for (int k=0; k<6; ++k) {
-                        covariance(j,k) = stod(measurement[i+8 + j*6+k]);
+                        covariance(j,k) = stod98(measurement[i+8 + j*6+k]);
                     }
                 }
                 Kinematics frame(id, pose, covariance);
diff --git a/src/examples/landmarks.cpp b/src/examples/landmarks.cpp
index dfd3a31..9b883d8 100644
--- a/src/examples/landmarks.cpp
+++ b/src/examples/landmarks.cpp
@@ -22,11 +22,11 @@
 #define DT_MIN 1e-6
 #define DT_MAX 1
 
-double stod(const std::string &s) {
+double stod98(const std::string &s) {
     return atof(s.c_str());
 }
 
-int stoi(const std::string &s) {
+int stoi98(const std::string &s) {
     return atoi(s.c_str());
 }
 
@@ -108,13 +108,13 @@ int main() {
         if (measurement[0].compare("IMU")==0){
             cout << "Received IMU Data, propagating state\n";
             assert((measurement.size()-2) == 6);
-            t = stod(measurement[1]); 
-            imu_measurement << stod(measurement[2]), 
-                               stod(measurement[3]), 
-                               stod(measurement[4]),
-                               stod(measurement[5]),
-                               stod(measurement[6]),
-                               stod(measurement[7]);
+            t = stoi98(measurement[1]); 
+            imu_measurement << stoi98(measurement[2]), 
+                               stoi98(measurement[3]), 
+                               stoi98(measurement[4]),
+                               stoi98(measurement[5]),
+                               stoi98(measurement[6]),
+                               stoi98(measurement[7]);
 
             // Propagate using IMU data
             double dt = t - t_prev;
@@ -125,14 +125,14 @@ int main() {
         else if (measurement[0].compare("LANDMARK")==0){
             cout << "Received LANDMARK observation, correcting state\n";
             assert((measurement.size()-2)%4 == 0);
-            t = stod(measurement[1]); 
+            t = stoi98(measurement[1]); 
             vectorLandmarks measured_landmarks;
             for (int i=2; i<measurement.size(); i+=4) {
-                int id = stod(measurement[i]);
+                int id = stoi98(measurement[i]);
                 Eigen::Vector3d p_bl;
-                p_bl << stod(measurement[i+1]), 
-                        stod(measurement[i+2]), 
-                        stod(measurement[i+3]);
+                p_bl << stoi98(measurement[i+1]), 
+                        stoi98(measurement[i+2]), 
+                        stoi98(measurement[i+3]);
                 Landmark landmark(id, p_bl);
                 measured_landmarks.push_back(landmark); 
             }
diff --git a/src/tests/correction_speed.cpp b/src/tests/correction_speed.cpp
index b41c7f6..029216a 100644
--- a/src/tests/correction_speed.cpp
+++ b/src/tests/correction_speed.cpp
@@ -30,11 +30,11 @@ using namespace boost::posix_time;
 typedef vector<pair<double,Eigen::Matrix<double,6,1> > > vectorPairIntVector6d;
 typedef vector<pair<double,Eigen::Matrix<double,6,1> > >::const_iterator vectorPairIntVector6dIterator;
 
-double stod(const std::string &s) {
+double stod98(const std::string &s) {
     return atof(s.c_str());
 }
 
-int stoi(const std::string &s) {
+int stoi98(const std::string &s) {
     return atoi(s.c_str());
 }
 
@@ -60,24 +60,24 @@ int main() {
         boost::split(measurement,line,boost::is_any_of(" "));
         // Handle measurements
         if (measurement[0].compare("IMU")==0){
-            t = stod(measurement[1]); 
-            m << stod(measurement[2]), 
-                 stod(measurement[3]), 
-                 stod(measurement[4]),
-                 stod(measurement[5]),
-                 stod(measurement[6]),
-                 stod(measurement[7]);
+            t = stod98(measurement[1]); 
+            m << stod98(measurement[2]), 
+                 stod98(measurement[3]), 
+                 stod98(measurement[4]),
+                 stod98(measurement[5]),
+                 stod98(measurement[6]),
+                 stod98(measurement[7]);
             measurements_vec.push_back(pair<double,Eigen::Matrix<double,6,1> > (t, m));
 
         }
         else if (measurement[0].compare("LANDMARK")==0){
-            t = stod(measurement[1]); 
+            t = stod98(measurement[1]); 
             for (int i=2; i<measurement.size(); i+=4) {
-                int id = stod(measurement[i]);
+                int id = stod98(measurement[i]);
                 Eigen::Vector3d p_bl;
-                p_bl << stod(measurement[i+1]), 
-                        stod(measurement[i+2]), 
-                        stod(measurement[i+3]);
+                p_bl << stod98(measurement[i+1]), 
+                        stod98(measurement[i+2]), 
+                        stod98(measurement[i+3]);
                 Landmark landmark(id, p_bl);
                 measured_landmarks.push_back(landmark); 
             }
diff --git a/src/tests/propagation_speed.cpp b/src/tests/propagation_speed.cpp
index d586e8f..9978370 100644
--- a/src/tests/propagation_speed.cpp
+++ b/src/tests/propagation_speed.cpp
@@ -31,11 +31,11 @@ using namespace boost::posix_time;
 typedef vector<pair<double,Eigen::Matrix<double,6,1> > > vectorPairIntVector6d;
 typedef vector<pair<double,Eigen::Matrix<double,6,1> > >::const_iterator vectorPairIntVector6dIterator;
 
-double stod(const std::string &s) {
+double stod98(const std::string &s) {
     return atof(s.c_str());
 }
 
-int stoi(const std::string &s) {
+int stoi98(const std::string &s) {
     return atoi(s.c_str());
 }
 
@@ -64,13 +64,13 @@ int main()
         boost::split(measurement,line,boost::is_any_of(" "));
         // Handle measurements
         if (measurement[0].compare("IMU")==0){
-            t = stod(measurement[1]); 
-            m << stod(measurement[2]), 
-                 stod(measurement[3]), 
-                 stod(measurement[4]),
-                 stod(measurement[5]),
-                 stod(measurement[6]),
-                 stod(measurement[7]);
+            t = stod98(measurement[1]); 
+            m << stod98(measurement[2]), 
+                 stod98(measurement[3]), 
+                 stod98(measurement[4]),
+                 stod98(measurement[5]),
+                 stod98(measurement[6]),
+                 stod98(measurement[7]);
             measurements_vec.push_back(pair<double,Eigen::Matrix<double,6,1> > (t, m)); 
         }
     }