diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5f5b1861340f7..bf7265d1d7209 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -235,8 +235,8 @@ message(STATUS "[ Configured files ]")
 
 # Generate the dart config file
 # Ref: http://www.vtk.org/Wiki/CMake:How_To_Write_Platform_Checks
-set(DART_CONFIG_IN ${CMAKE_SOURCE_DIR}/dart/config.h.in)
-set(DART_CONFIG_OUT ${CMAKE_BINARY_DIR}/dart/config.h)
+set(DART_CONFIG_IN ${CMAKE_SOURCE_DIR}/dart/config.hpp.in)
+set(DART_CONFIG_OUT ${CMAKE_BINARY_DIR}/dart/config.hpp)
 message(STATUS ${DART_CONFIG_OUT})
 configure_file(${DART_CONFIG_IN} ${DART_CONFIG_OUT} @ONLY)
 install(FILES ${DART_CONFIG_OUT} DESTINATION include/dart)
diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt
index 37614ccb9fe58..c70d7ef5e9a97 100644
--- a/dart/CMakeLists.txt
+++ b/dart/CMakeLists.txt
@@ -20,7 +20,7 @@ add_subdirectory(math)
 add_subdirectory(simulation)
 
 # Set header and source files
-get_filename_component(dart_h "dart.h" ABSOLUTE)
+get_filename_component(dart_h "dart.hpp" ABSOLUTE)
 set(dart_hdrs
   ${dart_h}
   ${dart_common_hdrs}
@@ -62,7 +62,7 @@ if(MSVC)
   )
 endif()
 
-install(FILES dart.h DESTINATION include/dart/ COMPONENT headers)
+install(FILES dart.hpp DESTINATION include/dart/ COMPONENT headers)
 install(TARGETS dart EXPORT DARTTargets DESTINATION lib)
 
 # Coverage test files
diff --git a/dart/collision/CMakeLists.txt b/dart/collision/CMakeLists.txt
index b305003972b91..102820e29a478 100644
--- a/dart/collision/CMakeLists.txt
+++ b/dart/collision/CMakeLists.txt
@@ -1,8 +1,8 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
+file(GLOB detail_hdrs "detail/*.hpp")
 file(GLOB detail_srcs "detail/*.cpp")
-file(GLOB detail_hdrs "detail/*.h")
 
 # Add subdirectories
 add_subdirectory(dart)
@@ -19,11 +19,11 @@ dart_get_filename_components(header_names "collision headers" ${hdrs})
 set(
   header_names
   ${header_names}
-  dart/dart.h
-  fcl/fcl.h
+  dart/dart.hpp
+  fcl/fcl.hpp
 )
 if(HAVE_BULLET_COLLISION)
-  set(header_names ${header_names} bullet/bullet.h)
+  set(header_names ${header_names} bullet/bullet.hpp)
 endif()
 dart_generate_include_header_list(
   collision_headers
@@ -32,13 +32,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/collision.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/collision.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/collision.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/collision.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/collision.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/collision.hpp
   DESTINATION include/dart/collision
   COMPONENT headers
 )
diff --git a/dart/collision/CollisionDetector.cpp b/dart/collision/CollisionDetector.cpp
index 029b700403ea8..db56eb6fee7c4 100644
--- a/dart/collision/CollisionDetector.cpp
+++ b/dart/collision/CollisionDetector.cpp
@@ -35,15 +35,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/CollisionDetector.h"
+#include "dart/collision/CollisionDetector.hpp"
 
 #include <algorithm>
 
-#include "dart/common/Console.h"
-#include "dart/collision/CollisionObject.h"
-#include "dart/collision/CollisionGroup.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/common/Console.hpp"
+#include "dart/collision/CollisionObject.hpp"
+#include "dart/collision/CollisionGroup.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/CollisionDetector.h b/dart/collision/CollisionDetector.hpp
similarity index 94%
rename from dart/collision/CollisionDetector.h
rename to dart/collision/CollisionDetector.hpp
index 9b788c752d9e8..1f37a2c69611e 100644
--- a/dart/collision/CollisionDetector.h
+++ b/dart/collision/CollisionDetector.hpp
@@ -35,19 +35,19 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_COLLISIONDETECTOR_H_
-#define DART_COLLISION_COLLISIONDETECTOR_H_
+#ifndef DART_COLLISION_COLLISIONDETECTOR_HPP_
+#define DART_COLLISION_COLLISIONDETECTOR_HPP_
 
 #include <vector>
 #include <map>
 
 #include <Eigen/Dense>
 
-#include "dart/collision/Contact.h"
-#include "dart/collision/Option.h"
-#include "dart/collision/Result.h"
-#include "dart/collision/SmartPointer.h"
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/collision/Contact.hpp"
+#include "dart/collision/Option.hpp"
+#include "dart/collision/Result.hpp"
+#include "dart/collision/SmartPointer.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 namespace collision {
@@ -225,6 +225,6 @@ class CollisionDetector::ManagerForSharableCollisionObjects final :
 }  // namespace collision
 }  // namespace dart
 
-#include "dart/collision/detail/CollisionDetector.h"
+#include "dart/collision/detail/CollisionDetector.hpp"
 
-#endif  // DART_COLLISION_COLLISIONDETECTOR_H_
+#endif  // DART_COLLISION_COLLISIONDETECTOR_HPP_
diff --git a/dart/collision/CollisionFilter.cpp b/dart/collision/CollisionFilter.cpp
index b611831fa5d81..61dbf64bbe504 100644
--- a/dart/collision/CollisionFilter.cpp
+++ b/dart/collision/CollisionFilter.cpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/CollisionFilter.h"
+#include "dart/collision/CollisionFilter.hpp"
 
-#include "dart/dynamics/BodyNode.h"
-#include "dart/collision/CollisionObject.h"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/collision/CollisionObject.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/CollisionFilter.h b/dart/collision/CollisionFilter.hpp
similarity index 94%
rename from dart/collision/CollisionFilter.h
rename to dart/collision/CollisionFilter.hpp
index 0f37401d44931..76870702e567c 100644
--- a/dart/collision/CollisionFilter.h
+++ b/dart/collision/CollisionFilter.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_COLLISIONFILTER_H_
-#define DART_COLLISION_COLLISIONFILTER_H_
+#ifndef DART_COLLISION_COLLISIONFILTER_HPP_
+#define DART_COLLISION_COLLISIONFILTER_HPP_
 
 namespace dart {
 
@@ -65,4 +65,4 @@ struct BodyNodeCollisionFilter : CollisionFilter
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_COLLISIONFILTER_H_
+#endif  // DART_COLLISION_COLLISIONFILTER_HPP_
diff --git a/dart/collision/CollisionGroup.cpp b/dart/collision/CollisionGroup.cpp
index 732d532de81a9..bc34fbc0624d9 100644
--- a/dart/collision/CollisionGroup.cpp
+++ b/dart/collision/CollisionGroup.cpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/CollisionGroup.h"
+#include "dart/collision/CollisionGroup.hpp"
 
 #include <cassert>
 
-#include "dart/collision/CollisionObject.h"
-#include "dart/collision/CollisionDetector.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/collision/CollisionObject.hpp"
+#include "dart/collision/CollisionDetector.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/CollisionGroup.h b/dart/collision/CollisionGroup.hpp
similarity index 96%
rename from dart/collision/CollisionGroup.h
rename to dart/collision/CollisionGroup.hpp
index b6aadaa4bd06f..9df47cc85cccb 100644
--- a/dart/collision/CollisionGroup.h
+++ b/dart/collision/CollisionGroup.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_COLLISIONGROUP_H_
-#define DART_COLLISION_COLLISIONGROUP_H_
+#ifndef DART_COLLISION_COLLISIONGROUP_HPP_
+#define DART_COLLISION_COLLISIONGROUP_HPP_
 
 #include <map>
 #include <vector>
-#include "dart/collision/SmartPointer.h"
-#include "dart/collision/Option.h"
-#include "dart/collision/Result.h"
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/collision/SmartPointer.hpp"
+#include "dart/collision/Option.hpp"
+#include "dart/collision/Result.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 namespace collision {
@@ -236,6 +236,6 @@ class CollisionGroup
 }  // namespace collision
 }  // namespace dart
 
-#include "dart/collision/detail/CollisionGroup.h"
+#include "dart/collision/detail/CollisionGroup.hpp"
 
-#endif  // DART_COLLISION_COLLISIONGROUP_H_
+#endif  // DART_COLLISION_COLLISIONGROUP_HPP_
diff --git a/dart/collision/CollisionObject.cpp b/dart/collision/CollisionObject.cpp
index 15292b54c7519..f70700f039641 100644
--- a/dart/collision/CollisionObject.cpp
+++ b/dart/collision/CollisionObject.cpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/CollisionObject.h"
+#include "dart/collision/CollisionObject.hpp"
 
-#include "dart/collision/CollisionDetector.h"
-#include "dart/dynamics/ShapeFrame.h"
+#include "dart/collision/CollisionDetector.hpp"
+#include "dart/dynamics/ShapeFrame.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/CollisionObject.h b/dart/collision/CollisionObject.hpp
similarity index 93%
rename from dart/collision/CollisionObject.h
rename to dart/collision/CollisionObject.hpp
index 342a9d451760d..f8ceb32fa6ebd 100644
--- a/dart/collision/CollisionObject.h
+++ b/dart/collision/CollisionObject.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_COLLISIONOBJECT_H_
-#define DART_COLLISION_COLLISIONOBJECT_H_
+#ifndef DART_COLLISION_COLLISIONOBJECT_HPP_
+#define DART_COLLISION_COLLISIONOBJECT_HPP_
 
 #include <Eigen/Dense>
 
-#include "dart/collision/SmartPointer.h"
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/collision/SmartPointer.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 namespace collision {
@@ -93,4 +93,4 @@ class CollisionObject
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_COLLISIONOBJECT_H_
+#endif  // DART_COLLISION_COLLISIONOBJECT_HPP_
diff --git a/dart/collision/Contact.cpp b/dart/collision/Contact.cpp
index d67ade9aed02f..c7338cb450797 100644
--- a/dart/collision/Contact.cpp
+++ b/dart/collision/Contact.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/Contact.h"
+#include "dart/collision/Contact.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/Contact.h b/dart/collision/Contact.hpp
similarity index 93%
rename from dart/collision/Contact.h
rename to dart/collision/Contact.hpp
index 5a7416377d850..7d8b096755463 100644
--- a/dart/collision/Contact.h
+++ b/dart/collision/Contact.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_CONTACT_H_
-#define DART_COLLISION_CONTACT_H_
+#ifndef DART_COLLISION_CONTACT_HPP_
+#define DART_COLLISION_CONTACT_HPP_
 
 #include <Eigen/Dense>
-#include "dart/collision/SmartPointer.h"
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/collision/SmartPointer.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 namespace collision {
@@ -87,4 +87,4 @@ struct Contact
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_CONTACT_H_
+#endif  // DART_COLLISION_CONTACT_HPP_
diff --git a/dart/collision/Option.cpp b/dart/collision/Option.cpp
index 9c31559bbcbdd..e473ac149d5f0 100644
--- a/dart/collision/Option.cpp
+++ b/dart/collision/Option.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/Option.h"
+#include "dart/collision/Option.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/Option.h b/dart/collision/Option.hpp
similarity index 96%
rename from dart/collision/Option.h
rename to dart/collision/Option.hpp
index 9c59de7e35840..242f2626471e8 100644
--- a/dart/collision/Option.h
+++ b/dart/collision/Option.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_OPTION_H_
-#define DART_COLLISION_OPTION_H_
+#ifndef DART_COLLISION_OPTION_HPP_
+#define DART_COLLISION_OPTION_HPP_
 
 #include <cstddef>
 #include <memory>
@@ -72,4 +72,4 @@ struct CollisionOption
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_OPTION_H_
+#endif  // DART_COLLISION_OPTION_HPP_
diff --git a/dart/collision/Result.cpp b/dart/collision/Result.cpp
index cfd2a88eadbd8..c996178c23f95 100644
--- a/dart/collision/Result.cpp
+++ b/dart/collision/Result.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/Result.h"
-#include "dart/collision/CollisionObject.h"
+#include "dart/collision/Result.hpp"
+#include "dart/collision/CollisionObject.hpp"
 
-#include "dart/dynamics/ShapeFrame.h"
-#include "dart/dynamics/ShapeNode.h"
-#include "dart/dynamics/BodyNode.h"
+#include "dart/dynamics/ShapeFrame.hpp"
+#include "dart/dynamics/ShapeNode.hpp"
+#include "dart/dynamics/BodyNode.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/Result.h b/dart/collision/Result.hpp
similarity index 95%
rename from dart/collision/Result.h
rename to dart/collision/Result.hpp
index ba7f7aec46da2..7479d828a1c58 100644
--- a/dart/collision/Result.h
+++ b/dart/collision/Result.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_RESULT_H_
-#define DART_COLLISION_RESULT_H_
+#ifndef DART_COLLISION_RESULT_HPP_
+#define DART_COLLISION_RESULT_HPP_
 
 #include <vector>
 #include <unordered_set>
-#include "dart/collision/Contact.h"
+#include "dart/collision/Contact.hpp"
 
 namespace dart {
 
@@ -112,4 +112,4 @@ class CollisionResult
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_RESULT_H_
+#endif  // DART_COLLISION_RESULT_HPP_
diff --git a/dart/collision/SmartPointer.h b/dart/collision/SmartPointer.hpp
similarity index 91%
rename from dart/collision/SmartPointer.h
rename to dart/collision/SmartPointer.hpp
index 722f0aadb4274..f9a94b2f9c62d 100644
--- a/dart/collision/SmartPointer.h
+++ b/dart/collision/SmartPointer.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_SMARTPOINTER_H_
-#define DART_COLLISION_SMARTPOINTER_H_
+#ifndef DART_COLLISION_SMARTPOINTER_HPP_
+#define DART_COLLISION_SMARTPOINTER_HPP_
 
-#include "dart/config.h"
-#include "dart/common/SmartPointer.h"
+#include "dart/config.hpp"
+#include "dart/common/SmartPointer.hpp"
 
 namespace dart {
 namespace collision {
@@ -57,4 +57,4 @@ DART_COMMON_MAKE_SHARED_WEAK(CollisionGroup)
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_SMARTPOINTER_H_
+#endif  // DART_COLLISION_SMARTPOINTER_HPP_
diff --git a/dart/collision/bullet/BulletCollisionDetector.cpp b/dart/collision/bullet/BulletCollisionDetector.cpp
index ccc26eed6d06b..f9ef16e219dda 100644
--- a/dart/collision/bullet/BulletCollisionDetector.cpp
+++ b/dart/collision/bullet/BulletCollisionDetector.cpp
@@ -35,26 +35,26 @@
  */
 
 // Must be included before any Bullet headers.
-#include "dart/config.h"
+#include "dart/config.hpp"
 
-#include "dart/collision/bullet/BulletCollisionDetector.h"
+#include "dart/collision/bullet/BulletCollisionDetector.hpp"
 
 #include <bullet/BulletCollision/Gimpact/btGImpactShape.h>
 
-#include "dart/common/Console.h"
-#include "dart/collision/CollisionObject.h"
-#include "dart/collision/CollisionFilter.h"
-#include "dart/collision/bullet/BulletTypes.h"
-#include "dart/collision/bullet/BulletCollisionObject.h"
-#include "dart/collision/bullet/BulletCollisionGroup.h"
-#include "dart/dynamics/ShapeFrame.h"
-#include "dart/dynamics/Shape.h"
-#include "dart/dynamics/BoxShape.h"
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/dynamics/CylinderShape.h"
-#include "dart/dynamics/PlaneShape.h"
-#include "dart/dynamics/MeshShape.h"
-#include "dart/dynamics/SoftMeshShape.h"
+#include "dart/common/Console.hpp"
+#include "dart/collision/CollisionObject.hpp"
+#include "dart/collision/CollisionFilter.hpp"
+#include "dart/collision/bullet/BulletTypes.hpp"
+#include "dart/collision/bullet/BulletCollisionObject.hpp"
+#include "dart/collision/bullet/BulletCollisionGroup.hpp"
+#include "dart/dynamics/ShapeFrame.hpp"
+#include "dart/dynamics/Shape.hpp"
+#include "dart/dynamics/BoxShape.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/CylinderShape.hpp"
+#include "dart/dynamics/PlaneShape.hpp"
+#include "dart/dynamics/MeshShape.hpp"
+#include "dart/dynamics/SoftMeshShape.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/bullet/BulletCollisionDetector.h b/dart/collision/bullet/BulletCollisionDetector.hpp
similarity index 93%
rename from dart/collision/bullet/BulletCollisionDetector.h
rename to dart/collision/bullet/BulletCollisionDetector.hpp
index 99382e65ee08b..d482abeebe962 100644
--- a/dart/collision/bullet/BulletCollisionDetector.h
+++ b/dart/collision/bullet/BulletCollisionDetector.hpp
@@ -34,16 +34,16 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_H_
-#define DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_H_
+#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_
+#define DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_
 
 // Must be included before any Bullet headers.
-#include "dart/config.h"
+#include "dart/config.hpp"
 
 #include <vector>
 #include <assimp/scene.h>
 #include <btBulletCollisionCommon.h>
-#include "dart/collision/CollisionDetector.h"
+#include "dart/collision/CollisionDetector.hpp"
 
 namespace dart {
 namespace collision {
@@ -114,4 +114,4 @@ class BulletCollisionDetector : public CollisionDetector
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_H_
+#endif  // DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_
diff --git a/dart/collision/bullet/BulletCollisionGroup.cpp b/dart/collision/bullet/BulletCollisionGroup.cpp
index 71dacede2c82a..5910cfc0060dd 100644
--- a/dart/collision/bullet/BulletCollisionGroup.cpp
+++ b/dart/collision/bullet/BulletCollisionGroup.cpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/bullet/BulletCollisionGroup.h"
+#include "dart/collision/bullet/BulletCollisionGroup.hpp"
 
-#include "dart/collision/CollisionObject.h"
-#include "dart/collision/bullet/BulletCollisionObject.h"
+#include "dart/collision/CollisionObject.hpp"
+#include "dart/collision/bullet/BulletCollisionObject.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/bullet/BulletCollisionGroup.h b/dart/collision/bullet/BulletCollisionGroup.hpp
similarity index 93%
rename from dart/collision/bullet/BulletCollisionGroup.h
rename to dart/collision/bullet/BulletCollisionGroup.hpp
index f8d8e018aeedc..f18e937ea62b3 100644
--- a/dart/collision/bullet/BulletCollisionGroup.h
+++ b/dart/collision/bullet/BulletCollisionGroup.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_H_
-#define DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_H_
+#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_HPP_
+#define DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_HPP_
 
 // Must be included before any Bullet headers.
-#include "dart/config.h"
+#include "dart/config.hpp"
 
 #include <btBulletCollisionCommon.h>
 
-#include "dart/collision/CollisionGroup.h"
+#include "dart/collision/CollisionGroup.hpp"
 
 namespace dart {
 namespace collision {
@@ -104,4 +104,4 @@ class BulletCollisionGroup : public CollisionGroup
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_H_
+#endif  // DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_HPP_
diff --git a/dart/collision/bullet/BulletCollisionObject.cpp b/dart/collision/bullet/BulletCollisionObject.cpp
index 64af9caa951e9..05695c4cd637f 100644
--- a/dart/collision/bullet/BulletCollisionObject.cpp
+++ b/dart/collision/bullet/BulletCollisionObject.cpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/bullet/BulletCollisionObject.h"
+#include "dart/collision/bullet/BulletCollisionObject.hpp"
 
-#include "dart/collision/bullet/BulletTypes.h"
-#include "dart/dynamics/ShapeFrame.h"
+#include "dart/collision/bullet/BulletTypes.hpp"
+#include "dart/dynamics/ShapeFrame.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/bullet/BulletCollisionObject.h b/dart/collision/bullet/BulletCollisionObject.hpp
similarity index 91%
rename from dart/collision/bullet/BulletCollisionObject.h
rename to dart/collision/bullet/BulletCollisionObject.hpp
index b2448568f1330..b229688b4c690 100644
--- a/dart/collision/bullet/BulletCollisionObject.h
+++ b/dart/collision/bullet/BulletCollisionObject.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_H_
-#define DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_H_
+#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_
+#define DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_
 
 // Must be included before any Bullet headers.
-#include "dart/config.h"
+#include "dart/config.hpp"
 
 #include <btBulletCollisionCommon.h>
 
-#include "dart/collision/CollisionObject.h"
+#include "dart/collision/CollisionObject.hpp"
 
 namespace dart {
 namespace collision {
@@ -91,4 +91,4 @@ class BulletCollisionObject : public CollisionObject
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_H_
+#endif  // DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_
diff --git a/dart/collision/bullet/BulletTypes.cpp b/dart/collision/bullet/BulletTypes.cpp
index 1a59d161c0f58..9765dd9490058 100644
--- a/dart/collision/bullet/BulletTypes.cpp
+++ b/dart/collision/bullet/BulletTypes.cpp
@@ -35,9 +35,9 @@
  */
 
 // Must be included before any Bullet headers.
-#include "dart/config.h"
+#include "dart/config.hpp"
 
-#include "dart/collision/bullet/BulletTypes.h"
+#include "dart/collision/bullet/BulletTypes.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/bullet/BulletTypes.h b/dart/collision/bullet/BulletTypes.hpp
similarity index 93%
rename from dart/collision/bullet/BulletTypes.h
rename to dart/collision/bullet/BulletTypes.hpp
index 81ab464779d39..f962165cfd0ed 100644
--- a/dart/collision/bullet/BulletTypes.h
+++ b/dart/collision/bullet/BulletTypes.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_BULLET_BULLETTYPES_H_
-#define DART_COLLISION_BULLET_BULLETTYPES_H_
+#ifndef DART_COLLISION_BULLET_BULLETTYPES_HPP_
+#define DART_COLLISION_BULLET_BULLETTYPES_HPP_
 
 // Must be included before any Bullet headers.
-#include "dart/config.h"
+#include "dart/config.hpp"
 
 #include <Eigen/Dense>
 #include <btBulletCollisionCommon.h>
@@ -61,4 +61,4 @@ btTransform convertTransform(const Eigen::Isometry3d& _T);
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_BULLET_BULLETTYPES_H_
+#endif  // DART_COLLISION_BULLET_BULLETTYPES_HPP_
diff --git a/dart/collision/bullet/CMakeLists.txt b/dart/collision/bullet/CMakeLists.txt
index 79e757aa74557..06e452ce40cac 100644
--- a/dart/collision/bullet/CMakeLists.txt
+++ b/dart/collision/bullet/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 set(dart_collision_hdrs ${dart_collision_hdrs} ${hdrs} PARENT_SCOPE)
 set(dart_collision_srcs ${dart_collision_srcs} ${srcs} PARENT_SCOPE)
@@ -14,13 +14,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/bullet.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/bullet.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/bullet.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/bullet.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/bullet.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/bullet.hpp
   DESTINATION include/dart/collision/bullet
   COMPONENT headers
 )
diff --git a/dart/collision/bullet/bullet.h.in b/dart/collision/bullet/bullet.hpp.in
similarity index 100%
rename from dart/collision/bullet/bullet.h.in
rename to dart/collision/bullet/bullet.hpp.in
diff --git a/dart/collision/collision.h.in b/dart/collision/collision.hpp.in
similarity index 100%
rename from dart/collision/collision.h.in
rename to dart/collision/collision.hpp.in
diff --git a/dart/collision/dart/CMakeLists.txt b/dart/collision/dart/CMakeLists.txt
index fd07bf4083274..8fa0301bbbb11 100644
--- a/dart/collision/dart/CMakeLists.txt
+++ b/dart/collision/dart/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 set(dart_collision_hdrs ${dart_collision_hdrs} ${hdrs} PARENT_SCOPE)
 set(dart_collision_srcs ${dart_collision_srcs} ${srcs} PARENT_SCOPE)
@@ -14,13 +14,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/dart.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/dart.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/dart.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/dart.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/dart.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/dart.hpp
   DESTINATION include/dart/collision/dart
   COMPONENT headers
 )
diff --git a/dart/collision/dart/DARTCollide.cpp b/dart/collision/dart/DARTCollide.cpp
index 577a27cb778bc..4c53683f1c300 100644
--- a/dart/collision/dart/DARTCollide.cpp
+++ b/dart/collision/dart/DARTCollide.cpp
@@ -34,16 +34,16 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/dart/DARTCollide.h"
-#include "dart/collision/CollisionObject.h"
+#include "dart/collision/dart/DARTCollide.hpp"
+#include "dart/collision/CollisionObject.hpp"
 
 #include <memory>
 
-#include "dart/dynamics/BoxShape.h"
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/dynamics/CylinderShape.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/math/Helpers.h"
+#include "dart/dynamics/BoxShape.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/CylinderShape.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/math/Helpers.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/dart/DARTCollide.h b/dart/collision/dart/DARTCollide.hpp
similarity index 94%
rename from dart/collision/dart/DARTCollide.h
rename to dart/collision/dart/DARTCollide.hpp
index 9e903d3d9d636..7633c0bc1e75c 100644
--- a/dart/collision/dart/DARTCollide.h
+++ b/dart/collision/dart/DARTCollide.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_DART_DARTCOLLIDE_H_
-#define DART_COLLISION_DART_DARTCOLLIDE_H_
+#ifndef DART_COLLISION_DART_DARTCOLLIDE_HPP_
+#define DART_COLLISION_DART_DARTCOLLIDE_HPP_
 
 #include <vector>
 
 #include <Eigen/Dense>
 
-#include "dart/collision/CollisionDetector.h"
-#include "dart/dynamics/Shape.h"
+#include "dart/collision/CollisionDetector.hpp"
+#include "dart/dynamics/Shape.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -93,4 +93,4 @@ int collideCylinderPlane(
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_DART_DARTCOLLIDE_H_
+#endif  // DART_COLLISION_DART_DARTCOLLIDE_HPP_
diff --git a/dart/collision/dart/DARTCollisionDetector.cpp b/dart/collision/dart/DARTCollisionDetector.cpp
index 5b90e0b1434c0..52062c1c22d7c 100644
--- a/dart/collision/dart/DARTCollisionDetector.cpp
+++ b/dart/collision/dart/DARTCollisionDetector.cpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/dart/DARTCollisionDetector.h"
-
-#include "dart/collision/CollisionObject.h"
-#include "dart/collision/CollisionFilter.h"
-#include "dart/collision/dart/DARTCollide.h"
-#include "dart/collision/dart/DARTCollisionObject.h"
-#include "dart/collision/dart/DARTCollisionGroup.h"
-#include "dart/dynamics/ShapeFrame.h"
-#include "dart/dynamics/EllipsoidShape.h"
+#include "dart/collision/dart/DARTCollisionDetector.hpp"
+
+#include "dart/collision/CollisionObject.hpp"
+#include "dart/collision/CollisionFilter.hpp"
+#include "dart/collision/dart/DARTCollide.hpp"
+#include "dart/collision/dart/DARTCollisionObject.hpp"
+#include "dart/collision/dart/DARTCollisionGroup.hpp"
+#include "dart/dynamics/ShapeFrame.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/dart/DARTCollisionDetector.h b/dart/collision/dart/DARTCollisionDetector.hpp
similarity index 93%
rename from dart/collision/dart/DARTCollisionDetector.h
rename to dart/collision/dart/DARTCollisionDetector.hpp
index 6c5f4750675dd..77b78e1ac1f13 100644
--- a/dart/collision/dart/DARTCollisionDetector.h
+++ b/dart/collision/dart/DARTCollisionDetector.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_DART_DARTCOLLISIONDETECTOR_H_
-#define DART_COLLISION_DART_DARTCOLLISIONDETECTOR_H_
+#ifndef DART_COLLISION_DART_DARTCOLLISIONDETECTOR_HPP_
+#define DART_COLLISION_DART_DARTCOLLISIONDETECTOR_HPP_
 
 #include <vector>
-#include "dart/collision/CollisionDetector.h"
+#include "dart/collision/CollisionDetector.hpp"
 
 namespace dart {
 namespace collision {
@@ -85,4 +85,4 @@ class DARTCollisionDetector : public CollisionDetector
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_DART_DARTCOLLISIONDETECTOR_H_
+#endif  // DART_COLLISION_DART_DARTCOLLISIONDETECTOR_HPP_
diff --git a/dart/collision/dart/DARTCollisionGroup.cpp b/dart/collision/dart/DARTCollisionGroup.cpp
index 962e75c0a514c..62fa41ba110d5 100644
--- a/dart/collision/dart/DARTCollisionGroup.cpp
+++ b/dart/collision/dart/DARTCollisionGroup.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/dart/DARTCollisionGroup.h"
+#include "dart/collision/dart/DARTCollisionGroup.hpp"
 
-#include "dart/collision/CollisionObject.h"
+#include "dart/collision/CollisionObject.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/dart/DARTCollisionGroup.h b/dart/collision/dart/DARTCollisionGroup.hpp
similarity index 93%
rename from dart/collision/dart/DARTCollisionGroup.h
rename to dart/collision/dart/DARTCollisionGroup.hpp
index 3613c0583eff1..9e2260df4ac8a 100644
--- a/dart/collision/dart/DARTCollisionGroup.h
+++ b/dart/collision/dart/DARTCollisionGroup.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_DART_DARTCOLLISIONGROUP_H_
-#define DART_COLLISION_DART_DARTCOLLISIONGROUP_H_
+#ifndef DART_COLLISION_DART_DARTCOLLISIONGROUP_HPP_
+#define DART_COLLISION_DART_DARTCOLLISIONGROUP_HPP_
 
-#include "dart/collision/CollisionGroup.h"
+#include "dart/collision/CollisionGroup.hpp"
 
 namespace dart {
 namespace collision {
@@ -87,4 +87,4 @@ class DARTCollisionGroup : public CollisionGroup
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_DART_DARTCOLLISIONGROUP_H_
+#endif  // DART_COLLISION_DART_DARTCOLLISIONGROUP_HPP_
diff --git a/dart/collision/dart/DARTCollisionObject.cpp b/dart/collision/dart/DARTCollisionObject.cpp
index 447e3eb9c50d1..df80374f1461f 100644
--- a/dart/collision/dart/DARTCollisionObject.cpp
+++ b/dart/collision/dart/DARTCollisionObject.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/dart/DARTCollisionObject.h"
+#include "dart/collision/dart/DARTCollisionObject.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/dart/DARTCollisionObject.h b/dart/collision/dart/DARTCollisionObject.hpp
similarity index 91%
rename from dart/collision/dart/DARTCollisionObject.h
rename to dart/collision/dart/DARTCollisionObject.hpp
index dd8167644f47e..3833df37a112f 100644
--- a/dart/collision/dart/DARTCollisionObject.h
+++ b/dart/collision/dart/DARTCollisionObject.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_DART_DARTCOLLISIONOBJECT_H_
-#define DART_COLLISION_DART_DARTCOLLISIONOBJECT_H_
+#ifndef DART_COLLISION_DART_DARTCOLLISIONOBJECT_HPP_
+#define DART_COLLISION_DART_DARTCOLLISIONOBJECT_HPP_
 
 #include <Eigen/Dense>
-#include "dart/collision/CollisionObject.h"
+#include "dart/collision/CollisionObject.hpp"
 
 namespace dart {
 namespace collision {
@@ -65,4 +65,4 @@ class DARTCollisionObject : public CollisionObject
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_DART_DARTCOLLISIONOBJECT_H_
+#endif  // DART_COLLISION_DART_DARTCOLLISIONOBJECT_HPP_
diff --git a/dart/collision/dart/dart.h.in b/dart/collision/dart/dart.hpp.in
similarity index 100%
rename from dart/collision/dart/dart.h.in
rename to dart/collision/dart/dart.hpp.in
diff --git a/dart/collision/detail/CollisionDetector.h b/dart/collision/detail/CollisionDetector.hpp
similarity index 90%
rename from dart/collision/detail/CollisionDetector.h
rename to dart/collision/detail/CollisionDetector.hpp
index fc24d30f20663..46eab540352e7 100644
--- a/dart/collision/detail/CollisionDetector.h
+++ b/dart/collision/detail/CollisionDetector.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_DETAIL_COLLISIONDETECTOR_H_
-#define DART_COLLISION_DETAIL_COLLISIONDETECTOR_H_
+#ifndef DART_COLLISION_DETAIL_COLLISIONDETECTOR_HPP_
+#define DART_COLLISION_DETAIL_COLLISIONDETECTOR_HPP_
 
-#include "dart/collision/CollisionDetector.h"
+#include "dart/collision/CollisionDetector.hpp"
 
-#include "dart/collision/CollisionGroup.h"
+#include "dart/collision/CollisionGroup.hpp"
 
 namespace dart {
 namespace collision {
@@ -68,4 +68,4 @@ CollisionDetector::createCollisionGroupAsSharedPtr(const Args&... args)
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_DETAIL_COLLISIONDETECTOR_H_
+#endif  // DART_COLLISION_DETAIL_COLLISIONDETECTOR_HPP_
diff --git a/dart/collision/detail/CollisionGroup.h b/dart/collision/detail/CollisionGroup.hpp
similarity index 95%
rename from dart/collision/detail/CollisionGroup.h
rename to dart/collision/detail/CollisionGroup.hpp
index 8c2039e448393..da306652982f4 100644
--- a/dart/collision/detail/CollisionGroup.h
+++ b/dart/collision/detail/CollisionGroup.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_DETAIL_COLLISIONGROUP_H_
-#define DART_COLLISION_DETAIL_COLLISIONGROUP_H_
+#ifndef DART_COLLISION_DETAIL_COLLISIONGROUP_HPP_
+#define DART_COLLISION_DETAIL_COLLISIONGROUP_HPP_
 
-#include "dart/collision/CollisionGroup.h"
+#include "dart/collision/CollisionGroup.hpp"
 
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 namespace collision {
@@ -188,4 +188,4 @@ void CollisionGroup::removeShapeFramesOf(
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_DETAIL_COLLISIONGROUP_H_
+#endif  // DART_COLLISION_DETAIL_COLLISIONGROUP_HPP_
diff --git a/dart/collision/fcl/CMakeLists.txt b/dart/collision/fcl/CMakeLists.txt
index 453a8c0e72b1d..28ff2eaab80b7 100644
--- a/dart/collision/fcl/CMakeLists.txt
+++ b/dart/collision/fcl/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 set(dart_collision_hdrs ${dart_collision_hdrs} ${hdrs} PARENT_SCOPE)
 set(dart_collision_srcs ${dart_collision_srcs} ${srcs} PARENT_SCOPE)
@@ -14,13 +14,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/fcl.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/fcl.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/fcl.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/fcl.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/fcl.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/fcl.hpp
   DESTINATION include/dart/collision/fcl
   COMPONENT headers
 )
diff --git a/dart/collision/fcl/CollisionShapes.h b/dart/collision/fcl/CollisionShapes.hpp
similarity index 98%
rename from dart/collision/fcl/CollisionShapes.h
rename to dart/collision/fcl/CollisionShapes.hpp
index 7a4c33f7ccfb3..b7443a22229e6 100644
--- a/dart/collision/fcl/CollisionShapes.h
+++ b/dart/collision/fcl/CollisionShapes.hpp
@@ -34,14 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_FCL_MESH_COLLISIONSHAPES_H_
-#define DART_COLLISION_FCL_MESH_COLLISIONSHAPES_H_
+#ifndef DART_COLLISION_FCL_MESH_COLLISIONSHAPES_HPP_
+#define DART_COLLISION_FCL_MESH_COLLISIONSHAPES_HPP_
 
 #include <cmath>
-
 #include <assimp/scene.h>
-
-#include "fcl/BVH/BVH_model.h"
+#include <fcl/BVH/BVH_model.h>
 
 namespace dart {
 namespace collision {
@@ -440,4 +438,4 @@ fcl::BVHModel<BV>* createCylinder(double _baseRadius, double _topRadius,
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_FCL_MESH_COLLISIONSHAPES_H_
+#endif  // DART_COLLISION_FCL_MESH_COLLISIONSHAPES_HPP_
diff --git a/dart/collision/fcl/FCLCollisionDetector.cpp b/dart/collision/fcl/FCLCollisionDetector.cpp
index de0f572e895bb..8f2f243d255c7 100644
--- a/dart/collision/fcl/FCLCollisionDetector.cpp
+++ b/dart/collision/fcl/FCLCollisionDetector.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/fcl/FCLCollisionDetector.h"
+#include "dart/collision/fcl/FCLCollisionDetector.hpp"
 
 #include <assimp/scene.h>
 
@@ -47,21 +47,21 @@
 #include <fcl/shape/geometric_shapes.h>
 #include <fcl/shape/geometric_shape_to_BVH_model.h>
 
-#include "dart/common/Console.h"
-#include "dart/collision/CollisionObject.h"
-#include "dart/collision/CollisionFilter.h"
-#include "dart/collision/fcl/FCLTypes.h"
-#include "dart/collision/fcl/FCLCollisionObject.h"
-#include "dart/collision/fcl/FCLCollisionGroup.h"
-#include "dart/collision/fcl/tri_tri_intersection_test.h"
-#include "dart/dynamics/ShapeFrame.h"
-#include "dart/dynamics/Shape.h"
-#include "dart/dynamics/BoxShape.h"
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/dynamics/CylinderShape.h"
-#include "dart/dynamics/PlaneShape.h"
-#include "dart/dynamics/MeshShape.h"
-#include "dart/dynamics/SoftMeshShape.h"
+#include "dart/common/Console.hpp"
+#include "dart/collision/CollisionObject.hpp"
+#include "dart/collision/CollisionFilter.hpp"
+#include "dart/collision/fcl/FCLTypes.hpp"
+#include "dart/collision/fcl/FCLCollisionObject.hpp"
+#include "dart/collision/fcl/FCLCollisionGroup.hpp"
+#include "dart/collision/fcl/tri_tri_intersection_test.hpp"
+#include "dart/dynamics/ShapeFrame.hpp"
+#include "dart/dynamics/Shape.hpp"
+#include "dart/dynamics/BoxShape.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/CylinderShape.hpp"
+#include "dart/dynamics/PlaneShape.hpp"
+#include "dart/dynamics/MeshShape.hpp"
+#include "dart/dynamics/SoftMeshShape.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/fcl/FCLCollisionDetector.h b/dart/collision/fcl/FCLCollisionDetector.hpp
similarity index 96%
rename from dart/collision/fcl/FCLCollisionDetector.h
rename to dart/collision/fcl/FCLCollisionDetector.hpp
index dbfce62fabb29..734b69430f9e9 100644
--- a/dart/collision/fcl/FCLCollisionDetector.h
+++ b/dart/collision/fcl/FCLCollisionDetector.hpp
@@ -35,13 +35,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_FCL_FCLCOLLISIONDETECTOR_H_
-#define DART_COLLISION_FCL_FCLCOLLISIONDETECTOR_H_
+#ifndef DART_COLLISION_FCL_FCLCOLLISIONDETECTOR_HPP_
+#define DART_COLLISION_FCL_FCLCOLLISIONDETECTOR_HPP_
 
 #include <vector>
 #include <fcl/collision_object.h>
 #include <boost/weak_ptr.hpp> // This should be removed once we migrate to fcl 0.5
-#include "dart/collision/CollisionDetector.h"
+#include "dart/collision/CollisionDetector.hpp"
 
 namespace dart {
 namespace collision {
@@ -183,4 +183,4 @@ class FCLCollisionDetector : public CollisionDetector
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_FCL_FCLCOLLISIONDETECTOR_H_
+#endif  // DART_COLLISION_FCL_FCLCOLLISIONDETECTOR_HPP_
diff --git a/dart/collision/fcl/FCLCollisionGroup.cpp b/dart/collision/fcl/FCLCollisionGroup.cpp
index 5385c696e30c2..c81fd8e8def7e 100644
--- a/dart/collision/fcl/FCLCollisionGroup.cpp
+++ b/dart/collision/fcl/FCLCollisionGroup.cpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/fcl/FCLCollisionGroup.h"
+#include "dart/collision/fcl/FCLCollisionGroup.hpp"
 
-#include "dart/collision/CollisionObject.h"
-#include "dart/collision/fcl/FCLCollisionObject.h"
+#include "dart/collision/CollisionObject.hpp"
+#include "dart/collision/fcl/FCLCollisionObject.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/fcl/FCLCollisionGroup.h b/dart/collision/fcl/FCLCollisionGroup.hpp
similarity index 94%
rename from dart/collision/fcl/FCLCollisionGroup.h
rename to dart/collision/fcl/FCLCollisionGroup.hpp
index 2df6f11d97730..6a72f75cf8f1d 100644
--- a/dart/collision/fcl/FCLCollisionGroup.h
+++ b/dart/collision/fcl/FCLCollisionGroup.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_FCL_FCLCOLLISIONGROUP_H_
-#define DART_COLLISION_FCL_FCLCOLLISIONGROUP_H_
+#ifndef DART_COLLISION_FCL_FCLCOLLISIONGROUP_HPP_
+#define DART_COLLISION_FCL_FCLCOLLISIONGROUP_HPP_
 
 #include <fcl/broadphase/broadphase_dynamic_AABB_tree.h>
 
-#include "dart/collision/CollisionGroup.h"
+#include "dart/collision/CollisionGroup.hpp"
 
 namespace dart {
 namespace collision {
@@ -100,4 +100,4 @@ class FCLCollisionGroup : public CollisionGroup
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_FCL_FCLCOLLISIONGROUP_H_
+#endif  // DART_COLLISION_FCL_FCLCOLLISIONGROUP_HPP_
diff --git a/dart/collision/fcl/FCLCollisionObject.cpp b/dart/collision/fcl/FCLCollisionObject.cpp
index cbb6c544990d6..164aeedb06d63 100644
--- a/dart/collision/fcl/FCLCollisionObject.cpp
+++ b/dart/collision/fcl/FCLCollisionObject.cpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/fcl/FCLCollisionObject.h"
+#include "dart/collision/fcl/FCLCollisionObject.hpp"
 
 #include <fcl/BVH/BVH_model.h>
 
-#include "dart/collision/fcl/FCLTypes.h"
-#include "dart/dynamics/SoftMeshShape.h"
-#include "dart/dynamics/ShapeFrame.h"
+#include "dart/collision/fcl/FCLTypes.hpp"
+#include "dart/dynamics/SoftMeshShape.hpp"
+#include "dart/dynamics/ShapeFrame.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/fcl/FCLCollisionObject.h b/dart/collision/fcl/FCLCollisionObject.hpp
similarity index 93%
rename from dart/collision/fcl/FCLCollisionObject.h
rename to dart/collision/fcl/FCLCollisionObject.hpp
index afc4f066ddfec..8c34ab3c1b2ed 100644
--- a/dart/collision/fcl/FCLCollisionObject.h
+++ b/dart/collision/fcl/FCLCollisionObject.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_FCL_FCLCOLLISIONOBJECT_H_
-#define DART_COLLISION_FCL_FCLCOLLISIONOBJECT_H_
+#ifndef DART_COLLISION_FCL_FCLCOLLISIONOBJECT_HPP_
+#define DART_COLLISION_FCL_FCLCOLLISIONOBJECT_HPP_
 
 #include <fcl/collision_object.h>
-#include "dart/collision/CollisionObject.h"
+#include "dart/collision/CollisionObject.hpp"
 
 namespace dart {
 namespace collision {
@@ -87,4 +87,4 @@ class FCLCollisionObject : public CollisionObject
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_FCL_FCLCOLLISIONOBJECT_H_
+#endif  // DART_COLLISION_FCL_FCLCOLLISIONOBJECT_HPP_
diff --git a/dart/collision/fcl/FCLTypes.cpp b/dart/collision/fcl/FCLTypes.cpp
index bd2883fb3372a..74a18fe8e1254 100644
--- a/dart/collision/fcl/FCLTypes.cpp
+++ b/dart/collision/fcl/FCLTypes.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/collision/fcl/FCLTypes.h"
+#include "dart/collision/fcl/FCLTypes.hpp"
 
 namespace dart {
 namespace collision {
diff --git a/dart/collision/fcl/FCLTypes.h b/dart/collision/fcl/FCLTypes.hpp
similarity index 95%
rename from dart/collision/fcl/FCLTypes.h
rename to dart/collision/fcl/FCLTypes.hpp
index 49b5adc625689..4be91f72271c4 100644
--- a/dart/collision/fcl/FCLTypes.h
+++ b/dart/collision/fcl/FCLTypes.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_FCL_FCLTTYPES_H_
-#define DART_COLLISION_FCL_FCLTTYPES_H_
+#ifndef DART_COLLISION_FCL_FCLTTYPES_HPP_
+#define DART_COLLISION_FCL_FCLTTYPES_HPP_
 
 #include <Eigen/Dense>
 #include <fcl/math/vec_3f.h>
@@ -73,4 +73,4 @@ class FCLTypes
 }  // namespace collision
 }  // namespace dart
 
-#endif  // DART_COLLISION_FCL_FCLTTYPES_H_
+#endif  // DART_COLLISION_FCL_FCLTTYPES_HPP_
diff --git a/dart/collision/fcl/fcl.h.in b/dart/collision/fcl/fcl.hpp.in
similarity index 100%
rename from dart/collision/fcl/fcl.h.in
rename to dart/collision/fcl/fcl.hpp.in
diff --git a/dart/collision/fcl/tri_tri_intersection_test.h b/dart/collision/fcl/tri_tri_intersection_test.hpp
similarity index 98%
rename from dart/collision/fcl/tri_tri_intersection_test.h
rename to dart/collision/fcl/tri_tri_intersection_test.hpp
index 5599436567be2..9d53ae5fb53f9 100644
--- a/dart/collision/fcl/tri_tri_intersection_test.h
+++ b/dart/collision/fcl/tri_tri_intersection_test.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COLLISION_TRITRIINTERSECTIONTEST_H_
-#define DART_COLLISION_TRITRIINTERSECTIONTEST_H_
+#ifndef DART_COLLISION_TRITRIINTERSECTIONTEST_HPP_
+#define DART_COLLISION_TRITRIINTERSECTIONTEST_HPP_
 
 #include <math.h>
 
@@ -328,4 +328,4 @@ inline int tri_tri_intersect(float V0[3],float V1[3],float V2[3],
     return 1;
 }
 
-#endif // DART_COLLISION_TRITRIINTERSECTIONTEST_H_
+#endif // DART_COLLISION_TRITRIINTERSECTIONTEST_HPP_
diff --git a/dart/common/Aspect.cpp b/dart/common/Aspect.cpp
index 10b52f407b390..1a88d8b735fe6 100644
--- a/dart/common/Aspect.cpp
+++ b/dart/common/Aspect.cpp
@@ -38,8 +38,8 @@
 #include <string>
 #include <iostream>
 
-#include "dart/common/Aspect.h"
-#include "dart/common/Console.h"
+#include "dart/common/Aspect.hpp"
+#include "dart/common/Console.hpp"
 
 namespace dart {
 namespace common {
diff --git a/dart/common/Aspect.h b/dart/common/Aspect.hpp
similarity index 97%
rename from dart/common/Aspect.h
rename to dart/common/Aspect.hpp
index 06ca51c7ba21a..5a54d34a4c9e3 100644
--- a/dart/common/Aspect.h
+++ b/dart/common/Aspect.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_ASPECT_H_
-#define DART_COMMON_ASPECT_H_
+#ifndef DART_COMMON_ASPECT_HPP_
+#define DART_COMMON_ASPECT_HPP_
 
 #include <string>
 
-#include "dart/common/Cloneable.h"
-#include "dart/common/detail/NoOp.h"
+#include "dart/common/Cloneable.hpp"
+#include "dart/common/detail/NoOp.hpp"
 
 namespace dart {
 namespace common {
@@ -201,6 +201,6 @@ class CompositeTrackingAspect : public Aspect
   DART_COMMON_SET_ASPECT_PROPERTY( Type, Name )\
   DART_COMMON_GET_ASPECT_PROPERTY( Type, Name )
 
-#include "dart/common/detail/Aspect.h"
+#include "dart/common/detail/Aspect.hpp"
 
-#endif // DART_COMMON_ASPECT_H_
+#endif // DART_COMMON_ASPECT_HPP_
diff --git a/dart/common/AspectWithVersion.h b/dart/common/AspectWithVersion.hpp
similarity index 97%
rename from dart/common/AspectWithVersion.h
rename to dart/common/AspectWithVersion.hpp
index eb9adf5a5bcd3..9a0fee3b1c369 100644
--- a/dart/common/AspectWithVersion.h
+++ b/dart/common/AspectWithVersion.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_ASPECTWITHVERSION_H_
-#define DART_COMMON_ASPECTWITHVERSION_H_
+#ifndef DART_COMMON_ASPECTWITHVERSION_HPP_
+#define DART_COMMON_ASPECTWITHVERSION_HPP_
 
-#include "dart/common/detail/AspectWithVersion.h"
+#include "dart/common/detail/AspectWithVersion.hpp"
 
 namespace dart {
 namespace common {
@@ -156,4 +156,4 @@ constexpr void (*AspectWithStateAndVersionedProperties<DerivedT, StateDataT,
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_ASPECTWITHVERSION_H_
+#endif // DART_COMMON_ASPECTWITHVERSION_HPP_
diff --git a/dart/common/CMakeLists.txt b/dart/common/CMakeLists.txt
index 41c3c9ba32ff3..8316d37ff12e0 100644
--- a/dart/common/CMakeLists.txt
+++ b/dart/common/CMakeLists.txt
@@ -1,8 +1,8 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
+file(GLOB detail_hdrs "detail/*.hpp")
 file(GLOB detail_srcs "detail/*.cpp")
-file(GLOB detail_hdrs "detail/*.h")
 
 set(dart_common_hdrs "${hdrs};${detail_hdrs}" PARENT_SCOPE)
 set(dart_common_srcs "${srcs};${detail_srcs}" PARENT_SCOPE)
@@ -16,13 +16,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/common.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/common.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/common.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/common.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/common.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/common.hpp
   DESTINATION include/dart/common
   COMPONENT headers
 )
diff --git a/dart/common/Cloneable.h b/dart/common/Cloneable.hpp
similarity index 98%
rename from dart/common/Cloneable.h
rename to dart/common/Cloneable.hpp
index aaeb72c7c654b..08df0a85a3f42 100644
--- a/dart/common/Cloneable.h
+++ b/dart/common/Cloneable.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_CLONEABLE_H_
-#define DART_COMMON_CLONEABLE_H_
+#ifndef DART_COMMON_CLONEABLE_HPP_
+#define DART_COMMON_CLONEABLE_HPP_
 
 #include <memory>
 #include <vector>
@@ -310,6 +310,6 @@ class CloneableVector
 } // namespace common
 } // namespace dart
 
-#include "dart/common/detail/Cloneable.h"
+#include "dart/common/detail/Cloneable.hpp"
 
-#endif // DART_COMMON_CLONEABLE_H_
+#endif // DART_COMMON_CLONEABLE_HPP_
diff --git a/dart/common/Composite.cpp b/dart/common/Composite.cpp
index 32dcdc371059c..b70495cb3a1bf 100644
--- a/dart/common/Composite.cpp
+++ b/dart/common/Composite.cpp
@@ -37,8 +37,8 @@
 #include <cassert>
 #include <iostream>
 
-#include "dart/common/Console.h"
-#include "dart/common/Composite.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/Composite.hpp"
 
 namespace dart {
 namespace common {
diff --git a/dart/common/Composite.h b/dart/common/Composite.hpp
similarity index 97%
rename from dart/common/Composite.h
rename to dart/common/Composite.hpp
index cb737602ec0e6..a03c9011cfba0 100644
--- a/dart/common/Composite.h
+++ b/dart/common/Composite.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_COMPOSITE_H_
-#define DART_COMMON_COMPOSITE_H_
+#ifndef DART_COMMON_COMPOSITE_HPP_
+#define DART_COMMON_COMPOSITE_HPP_
 
-#include "dart/common/detail/CompositeData.h"
+#include "dart/common/detail/CompositeData.hpp"
 
 namespace dart {
 namespace common {
@@ -205,6 +205,6 @@ void createAspects(T* comp);
 } // namespace common
 } // namespace dart
 
-#include "dart/common/detail/Composite.h"
+#include "dart/common/detail/Composite.hpp"
 
-#endif // DART_COMMON_COMPOSITE_H_
+#endif // DART_COMMON_COMPOSITE_HPP_
diff --git a/dart/common/CompositeJoiner.h b/dart/common/CompositeJoiner.hpp
similarity index 95%
rename from dart/common/CompositeJoiner.h
rename to dart/common/CompositeJoiner.hpp
index 2fcf439b1237f..95482326bde14 100644
--- a/dart/common/CompositeJoiner.h
+++ b/dart/common/CompositeJoiner.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_COMPOSITEJOINER_H_
-#define DART_COMMON_COMPOSITEJOINER_H_
+#ifndef DART_COMMON_COMPOSITEJOINER_HPP_
+#define DART_COMMON_COMPOSITEJOINER_HPP_
 
-#include "dart/common/Composite.h"
-#include "dart/common/Empty.h"
+#include "dart/common/Composite.hpp"
+#include "dart/common/Empty.hpp"
 
 namespace dart {
 namespace common {
@@ -162,7 +162,7 @@ class CompositeJoiner<Base1, Base2, OtherBases...> :
 } // namespace common
 } // namespace dart
 
-#include "dart/common/detail/CompositeJoiner.h"
+#include "dart/common/detail/CompositeJoiner.hpp"
 
-#endif // DART_COMMON_COMPOSITEJOINER_H_
+#endif // DART_COMMON_COMPOSITEJOINER_HPP_
 
diff --git a/dart/common/Console.cpp b/dart/common/Console.cpp
index fa3849ba5913e..5d28748e28512 100644
--- a/dart/common/Console.cpp
+++ b/dart/common/Console.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/Console.h"
+#include "dart/common/Console.hpp"
 
 #include <iostream>
 
diff --git a/dart/common/Console.h b/dart/common/Console.hpp
similarity index 96%
rename from dart/common/Console.h
rename to dart/common/Console.hpp
index 53d6c7087ca43..3d39427ff4234 100644
--- a/dart/common/Console.h
+++ b/dart/common/Console.hpp
@@ -35,8 +35,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_CONSOLE_H_
-#define DART_COMMON_CONSOLE_H_
+#ifndef DART_COMMON_CONSOLE_HPP_
+#define DART_COMMON_CONSOLE_HPP_
 
 #include <string>
 #include <ostream>
@@ -68,4 +68,4 @@ std::ostream& colorErr(const std::string& _msg,
 }  // namespace common
 }  // namespace dart
 
-#endif  // DART_COMMON_CONSOLE_H_
+#endif  // DART_COMMON_CONSOLE_HPP_
diff --git a/dart/common/Deprecated.h b/dart/common/Deprecated.hpp
similarity index 96%
rename from dart/common/Deprecated.h
rename to dart/common/Deprecated.hpp
index 21f64c46df88b..7c068ddabac92 100644
--- a/dart/common/Deprecated.h
+++ b/dart/common/Deprecated.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/config.h"
+#include "dart/config.hpp"
 
-#ifndef DART_COMMON_DEPRECATED_H_
-#define DART_COMMON_DEPRECATED_H_
+#ifndef DART_COMMON_DEPRECATED_HPP_
+#define DART_COMMON_DEPRECATED_HPP_
 
 //==============================================================================
 // Deprecated is used for backward compatibility between different minor
@@ -98,4 +98,4 @@
 
 #endif
 
-#endif  // DART_COMMON_DEPRECATED_H_
+#endif  // DART_COMMON_DEPRECATED_HPP_
diff --git a/dart/common/EmbeddedAspect.h b/dart/common/EmbeddedAspect.hpp
similarity index 98%
rename from dart/common/EmbeddedAspect.h
rename to dart/common/EmbeddedAspect.hpp
index be504d697a3b1..b957584f29a46 100644
--- a/dart/common/EmbeddedAspect.h
+++ b/dart/common/EmbeddedAspect.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_EMBEDDEDASPECT_H_
-#define DART_COMMON_EMBEDDEDASPECT_H_
+#ifndef DART_COMMON_EMBEDDEDASPECT_HPP_
+#define DART_COMMON_EMBEDDEDASPECT_HPP_
 
-#include "dart/common/detail/EmbeddedAspect.h"
-#include "dart/common/RequiresAspect.h"
-#include "dart/common/CompositeJoiner.h"
+#include "dart/common/detail/EmbeddedAspect.hpp"
+#include "dart/common/RequiresAspect.hpp"
+#include "dart/common/CompositeJoiner.hpp"
 
 namespace dart {
 namespace common {
@@ -480,4 +480,4 @@ class EmbedStateAndPropertiesOnTopOf : public CompositeJoiner<
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_EMBEDDEDASPECT_H_
+#endif // DART_COMMON_EMBEDDEDASPECT_HPP_
diff --git a/dart/common/Empty.h b/dart/common/Empty.hpp
similarity index 95%
rename from dart/common/Empty.h
rename to dart/common/Empty.hpp
index 05245cdfbb22a..f6edcee939a90 100644
--- a/dart/common/Empty.h
+++ b/dart/common/Empty.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_EMPTY_H_
-#define DART_COMMON_EMPTY_H_
+#ifndef DART_COMMON_EMPTY_HPP_
+#define DART_COMMON_EMPTY_HPP_
 
 namespace dart {
 namespace common {
@@ -51,4 +51,4 @@ enum NoArgTag { NoArg };
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_EMPTY_H_
+#endif // DART_COMMON_EMPTY_HPP_
diff --git a/dart/common/LocalResource.cpp b/dart/common/LocalResource.cpp
index 88cb9ede2187d..402dedc26359e 100644
--- a/dart/common/LocalResource.cpp
+++ b/dart/common/LocalResource.cpp
@@ -37,8 +37,8 @@
 #include <cstring>
 #include <limits>
 #include <iostream>
-#include "dart/common/Console.h"
-#include "LocalResource.h"
+#include "dart/common/Console.hpp"
+#include "LocalResource.hpp"
 
 namespace dart {
 namespace common {
diff --git a/dart/common/LocalResource.h b/dart/common/LocalResource.hpp
similarity index 93%
rename from dart/common/LocalResource.h
rename to dart/common/LocalResource.hpp
index 62b096d8aec5f..63bc4e07f8425 100644
--- a/dart/common/LocalResource.h
+++ b/dart/common/LocalResource.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_LOCALRESOURCE_H_
-#define DART_COMMON_LOCALRESOURCE_H_
+#ifndef DART_COMMON_LOCALRESOURCE_HPP_
+#define DART_COMMON_LOCALRESOURCE_HPP_
 
-#include "dart/common/Resource.h"
+#include "dart/common/Resource.hpp"
 
 namespace dart {
 namespace common {
@@ -73,4 +73,4 @@ class LocalResource : public virtual Resource
 } // namespace common
 } // namespace dart
 
-#endif // ifndef DART_COMMON_LOCALRESOURCE_H_
+#endif // ifndef DART_COMMON_LOCALRESOURCE_HPP_
diff --git a/dart/common/LocalResourceRetriever.cpp b/dart/common/LocalResourceRetriever.cpp
index 198cb396fdf17..49e1ef8531d7e 100644
--- a/dart/common/LocalResourceRetriever.cpp
+++ b/dart/common/LocalResourceRetriever.cpp
@@ -36,10 +36,10 @@
 
 #include <iostream>
 #include <fstream>
-#include "dart/common/Console.h"
-#include "dart/common/Uri.h"
-#include "LocalResourceRetriever.h"
-#include "LocalResource.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/Uri.hpp"
+#include "dart/common/LocalResourceRetriever.hpp"
+#include "dart/common/LocalResource.hpp"
 
 namespace dart {
 namespace common {
diff --git a/dart/common/LocalResourceRetriever.h b/dart/common/LocalResourceRetriever.hpp
similarity index 92%
rename from dart/common/LocalResourceRetriever.h
rename to dart/common/LocalResourceRetriever.hpp
index f8196af213e8b..2a2c302d5cc15 100644
--- a/dart/common/LocalResourceRetriever.h
+++ b/dart/common/LocalResourceRetriever.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_LOCALRESOURCERETRIEVER_H_
-#define DART_COMMON_LOCALRESOURCERETRIEVER_H_
+#ifndef DART_COMMON_LOCALRESOURCERETRIEVER_HPP_
+#define DART_COMMON_LOCALRESOURCERETRIEVER_HPP_
 
-#include "dart/common/ResourceRetriever.h"
+#include "dart/common/ResourceRetriever.hpp"
 
 namespace dart {
 namespace common {
@@ -61,4 +61,4 @@ using LocalResourceRetrieverPtr = std::shared_ptr<LocalResourceRetriever>;
 } // namespace common
 } // namespace dart
 
-#endif // ifndef DART_COMMON_LOCALRESOURCERETRIEVER_H_
+#endif // ifndef DART_COMMON_LOCALRESOURCERETRIEVER_HPP_
diff --git a/dart/common/Memory.h b/dart/common/Memory.hpp
similarity index 95%
rename from dart/common/Memory.h
rename to dart/common/Memory.hpp
index 1295488031df1..9af8fe0397a0a 100644
--- a/dart/common/Memory.h
+++ b/dart/common/Memory.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_MEMORY_H_
-#define DART_COMMON_MEMORY_H_
+#ifndef DART_COMMON_MEMORY_HPP_
+#define DART_COMMON_MEMORY_HPP_
 
 #ifdef __GNUC__
   #define DART_ALIGNED(v) __attribute__ ((aligned(v)))
@@ -45,4 +45,4 @@
   #define DART_ALIGNED(v)
 #endif
 
-#endif  // DART_COMMON_MEMORY_H_
+#endif  // DART_COMMON_MEMORY_HPP_
diff --git a/dart/common/NameManager.h b/dart/common/NameManager.hpp
similarity index 97%
rename from dart/common/NameManager.h
rename to dart/common/NameManager.hpp
index bf1249e1af68c..7c5870a7e4b96 100644
--- a/dart/common/NameManager.h
+++ b/dart/common/NameManager.hpp
@@ -35,8 +35,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_NAMEMANAGER_H_
-#define DART_COMMON_NAMEMANAGER_H_
+#ifndef DART_COMMON_NAMEMANAGER_HPP_
+#define DART_COMMON_NAMEMANAGER_HPP_
 
 #include <map>
 #include <string>
@@ -182,6 +182,6 @@ class NameManager
 } // namespace common
 } // namespace dart
 
-#include "dart/common/detail/NameManager.h"
+#include "dart/common/detail/NameManager.hpp"
 
-#endif // DART_COMMON_NAMEMANAGER_H_
+#endif // DART_COMMON_NAMEMANAGER_HPP_
diff --git a/dart/common/Observer.cpp b/dart/common/Observer.cpp
index 7584b1794a118..08ee89179537c 100644
--- a/dart/common/Observer.cpp
+++ b/dart/common/Observer.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/Subject.h"
-#include "dart/common/Observer.h"
+#include "dart/common/Subject.hpp"
+#include "dart/common/Observer.hpp"
 
 namespace dart {
 namespace common {
diff --git a/dart/common/Observer.h b/dart/common/Observer.hpp
similarity index 96%
rename from dart/common/Observer.h
rename to dart/common/Observer.hpp
index 9fc612a3d0c0d..bfed6d7a8bf4a 100644
--- a/dart/common/Observer.h
+++ b/dart/common/Observer.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_OBSERVER_H_
-#define DART_COMMON_OBSERVER_H_
+#ifndef DART_COMMON_OBSERVER_HPP_
+#define DART_COMMON_OBSERVER_HPP_
 
 #include <set>
 
@@ -89,4 +89,4 @@ class Observer
 } // namespace dart
 } // namespace common
 
-#endif // DART_COMMON_OBSERVER_H_
+#endif // DART_COMMON_OBSERVER_HPP_
diff --git a/dart/common/ProxyAspect.h b/dart/common/ProxyAspect.hpp
similarity index 95%
rename from dart/common/ProxyAspect.h
rename to dart/common/ProxyAspect.hpp
index 3909fc8de0482..576f0e01d862f 100644
--- a/dart/common/ProxyAspect.h
+++ b/dart/common/ProxyAspect.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_PROXYASPECT_H_
-#define DART_COMMON_PROXYASPECT_H_
+#ifndef DART_COMMON_PROXYASPECT_HPP_
+#define DART_COMMON_PROXYASPECT_HPP_
 
-#include "dart/common/detail/ProxyAspect.h"
+#include "dart/common/detail/ProxyAspect.hpp"
 
 namespace dart {
 namespace common {
@@ -92,4 +92,4 @@ class ProxyStateAndPropertiesAspect :
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_PROXYASPECT_H_
+#endif // DART_COMMON_PROXYASPECT_HPP_
diff --git a/dart/common/RequiresAspect.h b/dart/common/RequiresAspect.hpp
similarity index 93%
rename from dart/common/RequiresAspect.h
rename to dart/common/RequiresAspect.hpp
index 30a7e122070bb..38ae273af6c32 100644
--- a/dart/common/RequiresAspect.h
+++ b/dart/common/RequiresAspect.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_REQUIRESASPECT_H_
-#define DART_COMMON_REQUIRESASPECT_H_
+#ifndef DART_COMMON_REQUIRESASPECT_HPP_
+#define DART_COMMON_REQUIRESASPECT_HPP_
 
-#include "dart/common/SpecializedForAspect.h"
+#include "dart/common/SpecializedForAspect.hpp"
 
 namespace dart {
 namespace common {
@@ -72,6 +72,6 @@ class RequiresAspect<ReqAspect1, OtherReqAspects...> :
 } // namespace common
 } // namespace dart
 
-#include "dart/common/detail/RequiresAspect.h"
+#include "dart/common/detail/RequiresAspect.hpp"
 
-#endif // DART_COMMON_REQUIRESASPECT_H_
+#endif // DART_COMMON_REQUIRESASPECT_HPP_
diff --git a/dart/common/Resource.h b/dart/common/Resource.hpp
similarity index 96%
rename from dart/common/Resource.h
rename to dart/common/Resource.hpp
index dc14f8d99a379..2db05ba9e4d08 100644
--- a/dart/common/Resource.h
+++ b/dart/common/Resource.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_RESOURCE_H_
-#define DART_COMMON_RESOURCE_H_
+#ifndef DART_COMMON_RESOURCE_HPP_
+#define DART_COMMON_RESOURCE_HPP_
 
 #include <cstddef>
 #include <memory>
@@ -87,4 +87,4 @@ using ResourcePtr = std::shared_ptr<Resource>;
 } // namespace common
 } // namespace dart
 
-#endif // ifndef DART_COMMON_RESOURCE_H_
+#endif // ifndef DART_COMMON_RESOURCE_HPP_
diff --git a/dart/common/ResourceRetriever.h b/dart/common/ResourceRetriever.hpp
similarity index 93%
rename from dart/common/ResourceRetriever.h
rename to dart/common/ResourceRetriever.hpp
index 203f7203211ce..39ff2fc129302 100644
--- a/dart/common/ResourceRetriever.h
+++ b/dart/common/ResourceRetriever.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_RESOURCERETRIEVER_H_
-#define DART_COMMON_RESOURCERETRIEVER_H_
+#ifndef DART_COMMON_RESOURCERETRIEVER_HPP_
+#define DART_COMMON_RESOURCERETRIEVER_HPP_
 
 #include <memory>
 #include <string>
-#include "dart/common/Resource.h"
-#include "dart/common/Uri.h"
+#include "dart/common/Resource.hpp"
+#include "dart/common/Uri.hpp"
 
 namespace dart {
 namespace common {
@@ -70,4 +70,4 @@ using ResourceRetrieverPtr = std::shared_ptr<ResourceRetriever>;
 } // namespace common
 } // namespace dart
 
-#endif // ifndef DART_COMMON_RESOURCERETRIEVER_H_
+#endif // ifndef DART_COMMON_RESOURCERETRIEVER_HPP_
diff --git a/dart/common/Signal.cpp b/dart/common/Signal.cpp
index 87cae61c721f4..0edf4515a3295 100644
--- a/dart/common/Signal.cpp
+++ b/dart/common/Signal.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/Signal.h"
+#include "dart/common/Signal.hpp"
 
 namespace dart {
 namespace common {
diff --git a/dart/common/Signal.h b/dart/common/Signal.hpp
similarity index 97%
rename from dart/common/Signal.h
rename to dart/common/Signal.hpp
index ed5b14347b655..2433492a8a1e5 100644
--- a/dart/common/Signal.h
+++ b/dart/common/Signal.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_SIGNAL_H_
-#define DART_COMMON_SIGNAL_H_
+#ifndef DART_COMMON_SIGNAL_HPP_
+#define DART_COMMON_SIGNAL_HPP_
 
 #include <functional>
 #include <memory>
 #include <set>
 
-#include "dart/common/detail/ConnectionBody.h"
+#include "dart/common/detail/ConnectionBody.hpp"
 
 namespace dart {
 namespace common {
@@ -234,7 +234,7 @@ class SlotRegister
 }  // namespace common
 }  // namespace dart
 
-#include "dart/common/detail/Signal.h"
+#include "dart/common/detail/Signal.hpp"
 
-#endif  // DART_COMMON_SIGNAL_H_
+#endif  // DART_COMMON_SIGNAL_HPP_
 
diff --git a/dart/common/SmartPointer.h b/dart/common/SmartPointer.hpp
similarity index 94%
rename from dart/common/SmartPointer.h
rename to dart/common/SmartPointer.hpp
index 06476c038e17d..53b767a4e2aeb 100644
--- a/dart/common/SmartPointer.h
+++ b/dart/common/SmartPointer.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_SMARTPOINTER_H_
-#define DART_COMMON_SMARTPOINTER_H_
+#ifndef DART_COMMON_SMARTPOINTER_HPP_
+#define DART_COMMON_SMARTPOINTER_HPP_
 
 #include <memory>
 
@@ -49,4 +49,4 @@
   typedef std::weak_ptr< X >         Weak ## X ## Ptr;\
   typedef std::weak_ptr< const X >   WeakConst ## X ## Ptr;
 
-#endif // DART_COMMON_SMARTPOINTER_H_
+#endif // DART_COMMON_SMARTPOINTER_HPP_
diff --git a/dart/common/SpecializedForAspect.h b/dart/common/SpecializedForAspect.hpp
similarity index 95%
rename from dart/common/SpecializedForAspect.h
rename to dart/common/SpecializedForAspect.hpp
index 6e4ce38a297cd..b0e1f1aa105fe 100644
--- a/dart/common/SpecializedForAspect.h
+++ b/dart/common/SpecializedForAspect.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_SPECIALIZEDFORASPECT_H_
-#define DART_COMMON_SPECIALIZEDFORASPECT_H_
+#ifndef DART_COMMON_SPECIALIZEDFORASPECT_HPP_
+#define DART_COMMON_SPECIALIZEDFORASPECT_HPP_
 
-#include "dart/common/Composite.h"
-#include "dart/common/CompositeJoiner.h"
-#include "dart/common/Virtual.h"
+#include "dart/common/Composite.hpp"
+#include "dart/common/CompositeJoiner.hpp"
+#include "dart/common/Virtual.hpp"
 
 namespace dart {
 namespace common {
@@ -202,6 +202,6 @@ class SpecializedForAspect<SpecAspect1, OtherSpecAspects...> :
 } // namespace common
 } // namespace dart
 
-#include "dart/common/detail/SpecializedForAspect.h"
+#include "dart/common/detail/SpecializedForAspect.hpp"
 
-#endif // DART_COMMON_SPECIALIZEDFORASPECT_H_
+#endif // DART_COMMON_SPECIALIZEDFORASPECT_HPP_
diff --git a/dart/common/StlHelpers.h b/dart/common/StlHelpers.hpp
similarity index 96%
rename from dart/common/StlHelpers.h
rename to dart/common/StlHelpers.hpp
index d4e3a6404dcd2..df683541020ad 100644
--- a/dart/common/StlHelpers.h
+++ b/dart/common/StlHelpers.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_STLHELPERS_H_
-#define DART_COMMON_STLHELPERS_H_
+#ifndef DART_COMMON_STLHELPERS_HPP_
+#define DART_COMMON_STLHELPERS_HPP_
 
 #include <cassert>
 #include <cstddef>
@@ -73,4 +73,4 @@ static T getVectorObjectIfAvailable(std::size_t index, const std::vector<T>& vec
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_EMPTY_H_
+#endif // DART_COMMON_EMPTY_HPP_
diff --git a/dart/common/Subject.cpp b/dart/common/Subject.cpp
index 8c85e65acb092..77b82aabbfdb1 100644
--- a/dart/common/Subject.cpp
+++ b/dart/common/Subject.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/Subject.h"
-#include "dart/common/Observer.h"
+#include "dart/common/Subject.hpp"
+#include "dart/common/Observer.hpp"
 
 namespace dart {
 namespace common {
diff --git a/dart/common/Subject.h b/dart/common/Subject.hpp
similarity index 97%
rename from dart/common/Subject.h
rename to dart/common/Subject.hpp
index d8cf62033a1e1..8d7159be32b95 100644
--- a/dart/common/Subject.h
+++ b/dart/common/Subject.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_SUBJECT_H_
-#define DART_COMMON_SUBJECT_H_
+#ifndef DART_COMMON_SUBJECT_HPP_
+#define DART_COMMON_SUBJECT_HPP_
 
 #include <set>
 
@@ -88,4 +88,4 @@ class Subject
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_SUBJECT_H_
+#endif // DART_COMMON_SUBJECT_HPP_
diff --git a/dart/common/Timer.cpp b/dart/common/Timer.cpp
index 6a11be131a533..d2a9389e016b4 100644
--- a/dart/common/Timer.cpp
+++ b/dart/common/Timer.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/Timer.h"
+#include "dart/common/Timer.hpp"
 
 #include <ctime>
 #include <iostream>
diff --git a/dart/common/Timer.h b/dart/common/Timer.hpp
similarity index 97%
rename from dart/common/Timer.h
rename to dart/common/Timer.hpp
index 40e3792daeeb6..7451b4875f50f 100644
--- a/dart/common/Timer.h
+++ b/dart/common/Timer.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_TIMER_H_
-#define DART_COMMON_TIMER_H_
+#ifndef DART_COMMON_TIMER_HPP_
+#define DART_COMMON_TIMER_HPP_
 
 #include <string>
 
@@ -122,4 +122,4 @@ class Timer
 }  // namespace common
 }  // namespace dart
 
-#endif  // DART_COMMON_TIMER_H_
+#endif  // DART_COMMON_TIMER_HPP_
diff --git a/dart/common/Uri.cpp b/dart/common/Uri.cpp
index 530543dde3050..219155514e2a7 100644
--- a/dart/common/Uri.cpp
+++ b/dart/common/Uri.cpp
@@ -36,8 +36,8 @@
 
 #include <cassert>
 #include <sstream>
-#include "dart/common/Console.h"
-#include "Uri.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/Uri.hpp"
 
 // std::regex is only implemented in GCC 4.9 and above; i.e. libstdc++ 6.0.20
 // or above. In fact, it contains major bugs in GCC 4.8 [1]. There is no
diff --git a/dart/common/Uri.h b/dart/common/Uri.hpp
similarity index 98%
rename from dart/common/Uri.h
rename to dart/common/Uri.hpp
index 259a2a1508443..dd2df8d38db40 100644
--- a/dart/common/Uri.h
+++ b/dart/common/Uri.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_URI_H_
-#define DART_COMMON_URI_H_
+#ifndef DART_COMMON_URI_HPP_
+#define DART_COMMON_URI_HPP_
 
 #include <string>
 
@@ -230,4 +230,4 @@ struct Uri final
 } // namespace common
 } // namespace dart
 
-#endif // ifndef DART_COMMON_URI_H_
+#endif // ifndef DART_COMMON_URI_HPP_
diff --git a/dart/common/VersionCounter.cpp b/dart/common/VersionCounter.cpp
index 3495691122a46..c72c42f0e0814 100644
--- a/dart/common/VersionCounter.cpp
+++ b/dart/common/VersionCounter.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/VersionCounter.h"
-#include "dart/common/Console.h"
+#include "dart/common/VersionCounter.hpp"
+#include "dart/common/Console.hpp"
 
 #include <iostream>
 #include <cassert>
diff --git a/dart/common/VersionCounter.h b/dart/common/VersionCounter.hpp
similarity index 95%
rename from dart/common/VersionCounter.h
rename to dart/common/VersionCounter.hpp
index 0d012191fe1bd..b6cea5ec5c3e2 100644
--- a/dart/common/VersionCounter.h
+++ b/dart/common/VersionCounter.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_VERSIONCOUNTER_H_
-#define DART_COMMON_VERSIONCOUNTER_H_
+#ifndef DART_COMMON_VERSIONCOUNTER_HPP_
+#define DART_COMMON_VERSIONCOUNTER_HPP_
 
 #include <cstddef>
 
@@ -71,4 +71,4 @@ class VersionCounter
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_VERSIONCOUNTER_H_
+#endif // DART_COMMON_VERSIONCOUNTER_HPP_
diff --git a/dart/common/Virtual.h b/dart/common/Virtual.hpp
similarity index 95%
rename from dart/common/Virtual.h
rename to dart/common/Virtual.hpp
index e4ccb4e944eff..7d9b673032dd3 100644
--- a/dart/common/Virtual.h
+++ b/dart/common/Virtual.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_VIRTUAL_H_
-#define DART_COMMON_VIRTUAL_H_
+#ifndef DART_COMMON_VIRTUAL_HPP_
+#define DART_COMMON_VIRTUAL_HPP_
 
 namespace dart {
 namespace common {
@@ -52,4 +52,4 @@ class Virtual : public virtual T
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_VIRTUAL_H_
+#endif // DART_COMMON_VIRTUAL_HPP_
diff --git a/dart/common/common.h.in b/dart/common/common.hpp.in
similarity index 100%
rename from dart/common/common.h.in
rename to dart/common/common.hpp.in
diff --git a/dart/common/detail/Aspect.h b/dart/common/detail/Aspect.hpp
similarity index 95%
rename from dart/common/detail/Aspect.h
rename to dart/common/detail/Aspect.hpp
index 65d52910ff71c..edaddfbbe4bfc 100644
--- a/dart/common/detail/Aspect.h
+++ b/dart/common/detail/Aspect.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_ASPECT_H_
-#define DART_COMMON_DETAIL_ASPECT_H_
+#ifndef DART_COMMON_DETAIL_ASPECT_HPP_
+#define DART_COMMON_DETAIL_ASPECT_HPP_
 
 #include <cassert>
 
-#include "dart/common/Console.h"
-#include "dart/common/Aspect.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/Aspect.hpp"
 
 namespace dart {
 namespace common {
@@ -106,4 +106,4 @@ void CompositeTrackingAspect<CompositeType>::loseComposite(
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_DETAIL_ASPECT_H_
+#endif // DART_COMMON_DETAIL_ASPECT_HPP_
diff --git a/dart/common/detail/AspectWithVersion.h b/dart/common/detail/AspectWithVersion.hpp
similarity index 98%
rename from dart/common/detail/AspectWithVersion.h
rename to dart/common/detail/AspectWithVersion.hpp
index 84fb7e069114a..4f1b61ef38f88 100644
--- a/dart/common/detail/AspectWithVersion.h
+++ b/dart/common/detail/AspectWithVersion.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_ASPECTWITHVERSION_H_
-#define DART_COMMON_DETAIL_ASPECTWITHVERSION_H_
+#ifndef DART_COMMON_DETAIL_ASPECTWITHVERSION_HPP_
+#define DART_COMMON_DETAIL_ASPECTWITHVERSION_HPP_
 
-#include "dart/common/Aspect.h"
-#include "dart/common/StlHelpers.h"
+#include "dart/common/Aspect.hpp"
+#include "dart/common/StlHelpers.hpp"
 
 namespace dart {
 namespace common {
@@ -346,4 +346,4 @@ void AspectWithVersionedProperties<
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_DETAIL_ASPECTWITHVERSION_H_
+#endif // DART_COMMON_DETAIL_ASPECTWITHVERSION_HPP_
diff --git a/dart/common/detail/Cloneable.h b/dart/common/detail/Cloneable.hpp
similarity index 98%
rename from dart/common/detail/Cloneable.h
rename to dart/common/detail/Cloneable.hpp
index 4913146f2aa13..80c9b4544c1c3 100644
--- a/dart/common/detail/Cloneable.h
+++ b/dart/common/detail/Cloneable.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_CLONEABLE_H_
-#define DART_COMMON_DETAIL_CLONEABLE_H_
+#ifndef DART_COMMON_DETAIL_CLONEABLE_HPP_
+#define DART_COMMON_DETAIL_CLONEABLE_HPP_
 
-#include "dart/common/Cloneable.h"
-#include "dart/common/StlHelpers.h"
+#include "dart/common/Cloneable.hpp"
+#include "dart/common/StlHelpers.hpp"
 
 namespace dart {
 namespace common {
@@ -571,4 +571,4 @@ const std::vector<T>& CloneableVector<T>::getVector() const
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_DETAIL_CLONEABLE_H_
+#endif // DART_COMMON_DETAIL_CLONEABLE_HPP_
diff --git a/dart/common/detail/Composite.h b/dart/common/detail/Composite.hpp
similarity index 97%
rename from dart/common/detail/Composite.h
rename to dart/common/detail/Composite.hpp
index ccd81c06fcfd0..b96ef66ec1163 100644
--- a/dart/common/detail/Composite.h
+++ b/dart/common/detail/Composite.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_COMPOSITE_H_
-#define DART_COMMON_DETAIL_COMPOSITE_H_
+#ifndef DART_COMMON_DETAIL_COMPOSITE_HPP_
+#define DART_COMMON_DETAIL_COMPOSITE_HPP_
 
-#include "dart/common/Composite.h"
+#include "dart/common/Composite.hpp"
 
 #define DART_COMMON_CHECK_ILLEGAL_ASPECT_ERASE( Func, T, ReturnType )\
   if(requiresAspect< T >())\
@@ -221,4 +221,4 @@ void createAspects(T* comp)
 #define DART_BAKE_SPECIALIZED_ASPECT(AspectName)\
   DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(AspectName, AspectName);
 
-#endif // DART_COMMON_DETAIL_COMPOSITE_H_
+#endif // DART_COMMON_DETAIL_COMPOSITE_HPP_
diff --git a/dart/common/detail/CompositeData.h b/dart/common/detail/CompositeData.hpp
similarity index 98%
rename from dart/common/detail/CompositeData.h
rename to dart/common/detail/CompositeData.hpp
index 6aad81de0f0c3..7ed2f93c97229 100644
--- a/dart/common/detail/CompositeData.h
+++ b/dart/common/detail/CompositeData.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_COMPOSITEDATA_H_
-#define DART_COMMON_DETAIL_COMPOSITEDATA_H_
+#ifndef DART_COMMON_DETAIL_COMPOSITEDATA_HPP_
+#define DART_COMMON_DETAIL_COMPOSITEDATA_HPP_
 
 #include <Eigen/Core>
 
@@ -44,7 +44,7 @@
 #include <typeinfo>
 #include <typeindex>
 
-#include "dart/common/Aspect.h"
+#include "dart/common/Aspect.hpp"
 
 namespace dart {
 namespace common {
@@ -351,4 +351,4 @@ using MakeCompositeProperties =
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_DETAIL_COMPOSITEDATA_H_
+#endif // DART_COMMON_DETAIL_COMPOSITEDATA_HPP_
diff --git a/dart/common/detail/CompositeJoiner.h b/dart/common/detail/CompositeJoiner.hpp
similarity index 95%
rename from dart/common/detail/CompositeJoiner.h
rename to dart/common/detail/CompositeJoiner.hpp
index 6ac31526be29d..dda738dcd46e0 100644
--- a/dart/common/detail/CompositeJoiner.h
+++ b/dart/common/detail/CompositeJoiner.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_COMPOSITEJOINER_H_
-#define DART_COMMON_DETAIL_COMPOSITEJOINER_H_
+#ifndef DART_COMMON_DETAIL_COMPOSITEJOINER_HPP_
+#define DART_COMMON_DETAIL_COMPOSITEJOINER_HPP_
 
-#include "dart/common/CompositeJoiner.h"
-#include "dart/common/detail/TemplateJoinerDispatchMacro.h"
+#include "dart/common/CompositeJoiner.hpp"
+#include "dart/common/detail/TemplateJoinerDispatchMacro.hpp"
 
 namespace dart {
 namespace common {
@@ -122,5 +122,5 @@ CompositeJoiner<Base1, Base2, OtherBases...>::CompositeJoiner(
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_DETAIL_COMPOSITEJOINER_H_
+#endif // DART_COMMON_DETAIL_COMPOSITEJOINER_HPP_
 
diff --git a/dart/common/detail/ConnectionBody.cpp b/dart/common/detail/ConnectionBody.cpp
index 77ffb2d35f8cb..d6a613acd1890 100644
--- a/dart/common/detail/ConnectionBody.cpp
+++ b/dart/common/detail/ConnectionBody.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/detail/ConnectionBody.h"
+#include "dart/common/detail/ConnectionBody.hpp"
 
 namespace dart {
 namespace common {
diff --git a/dart/common/detail/ConnectionBody.h b/dart/common/detail/ConnectionBody.hpp
similarity index 96%
rename from dart/common/detail/ConnectionBody.h
rename to dart/common/detail/ConnectionBody.hpp
index 8615f8579bb25..5fdd72fe6f02e 100644
--- a/dart/common/detail/ConnectionBody.h
+++ b/dart/common/detail/ConnectionBody.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_CONNECTIONBODY_H_
-#define DART_COMMON_DETAIL_CONNECTIONBODY_H_
+#ifndef DART_COMMON_DETAIL_CONNECTIONBODY_HPP_
+#define DART_COMMON_DETAIL_CONNECTIONBODY_HPP_
 
 #include <memory>
 
@@ -142,5 +142,5 @@ struct DefaultCombiner
 }  // namespace common
 }  // namespace dart
 
-#endif  // DART_COMMON_DETAIL_CONNECTIONBODY_H_
+#endif  // DART_COMMON_DETAIL_CONNECTIONBODY_HPP_
 
diff --git a/dart/common/detail/EmbeddedAspect.h b/dart/common/detail/EmbeddedAspect.hpp
similarity index 98%
rename from dart/common/detail/EmbeddedAspect.h
rename to dart/common/detail/EmbeddedAspect.hpp
index 351f5f915ad78..5f9bc2693aa99 100644
--- a/dart/common/detail/EmbeddedAspect.h
+++ b/dart/common/detail/EmbeddedAspect.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_EMBEDDEDASPECT_H_
-#define DART_COMMON_DETAIL_EMBEDDEDASPECT_H_
+#ifndef DART_COMMON_DETAIL_EMBEDDEDASPECT_HPP_
+#define DART_COMMON_DETAIL_EMBEDDEDASPECT_HPP_
 
-#include "dart/common/Aspect.h"
-#include "dart/common/StlHelpers.h"
+#include "dart/common/Aspect.hpp"
+#include "dart/common/StlHelpers.hpp"
 
 namespace dart {
 namespace common {
@@ -465,4 +465,4 @@ constexpr const PropertiesT& (*EmbeddedPropertiesAspect<
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_DETAIL_EMBEDDEDASPECT_H_
+#endif // DART_COMMON_DETAIL_EMBEDDEDASPECT_HPP_
diff --git a/dart/common/detail/NameManager.h b/dart/common/detail/NameManager.hpp
similarity index 97%
rename from dart/common/detail/NameManager.h
rename to dart/common/detail/NameManager.hpp
index e7c45525e1932..bbcfce82b5d84 100644
--- a/dart/common/detail/NameManager.h
+++ b/dart/common/detail/NameManager.hpp
@@ -35,13 +35,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_NAMEMANAGER_H_
-#define DART_COMMON_DETAIL_NAMEMANAGER_H_
+#ifndef DART_COMMON_DETAIL_NAMEMANAGER_HPP_
+#define DART_COMMON_DETAIL_NAMEMANAGER_HPP_
 
 #include <sstream>
 #include <cassert>
-#include "dart/common/Console.h"
-#include "dart/common/NameManager.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/NameManager.hpp"
 
 namespace dart {
 namespace common {
@@ -303,4 +303,4 @@ const std::string& NameManager<T>::getManagerName() const
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_DETAIL_NAMEMANAGER_H_
+#endif // DART_COMMON_DETAIL_NAMEMANAGER_HPP_
diff --git a/dart/common/detail/NoOp.h b/dart/common/detail/NoOp.hpp
similarity index 95%
rename from dart/common/detail/NoOp.h
rename to dart/common/detail/NoOp.hpp
index 9b0e7109d50da..50d7782a03a7c 100644
--- a/dart/common/detail/NoOp.h
+++ b/dart/common/detail/NoOp.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_NOOP_H_
-#define DART_COMMON_DETAIL_NOOP_H_
+#ifndef DART_COMMON_DETAIL_NOOP_HPP_
+#define DART_COMMON_DETAIL_NOOP_HPP_
 
 namespace dart {
 namespace common {
@@ -59,4 +59,4 @@ void NoOp(Args... /*args*/)
 #define DART_BLANK // leave blank
 
 
-#endif // DART_COMMON_DETAIL_NOOP_H_
+#endif // DART_COMMON_DETAIL_NOOP_HPP_
diff --git a/dart/common/detail/ProxyAspect.h b/dart/common/detail/ProxyAspect.hpp
similarity index 97%
rename from dart/common/detail/ProxyAspect.h
rename to dart/common/detail/ProxyAspect.hpp
index 9880af5ab924c..4a04d4ffc4e7a 100644
--- a/dart/common/detail/ProxyAspect.h
+++ b/dart/common/detail/ProxyAspect.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_PROXYASPECT_H_
-#define DART_COMMON_DETAIL_PROXYASPECT_H_
+#ifndef DART_COMMON_DETAIL_PROXYASPECT_HPP_
+#define DART_COMMON_DETAIL_PROXYASPECT_HPP_
 
-#include "dart/common/Aspect.h"
+#include "dart/common/Aspect.hpp"
 
 namespace dart {
 namespace common {
@@ -183,4 +183,4 @@ class ProxyPropertiesAspect : public BaseT
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_DETAIL_PROXYASPECT_H_
+#endif // DART_COMMON_DETAIL_PROXYASPECT_HPP_
diff --git a/dart/common/detail/RequiresAspect.h b/dart/common/detail/RequiresAspect.hpp
similarity index 91%
rename from dart/common/detail/RequiresAspect.h
rename to dart/common/detail/RequiresAspect.hpp
index 2f8cef0c65a2f..d7d9ad02f819b 100644
--- a/dart/common/detail/RequiresAspect.h
+++ b/dart/common/detail/RequiresAspect.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_REQUIRESASPECT_H_
-#define DART_COMMON_DETAIL_REQUIRESASPECT_H_
+#ifndef DART_COMMON_DETAIL_REQUIRESASPECT_HPP_
+#define DART_COMMON_DETAIL_REQUIRESASPECT_HPP_
 
-#include "dart/common/RequiresAspect.h"
+#include "dart/common/RequiresAspect.hpp"
 
 namespace dart {
 namespace common {
@@ -52,4 +52,4 @@ RequiresAspect<ReqAspect>::RequiresAspect()
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_DETAIL_REQUIRESASPECT_H_
+#endif // DART_COMMON_DETAIL_REQUIRESASPECT_HPP_
diff --git a/dart/common/detail/Signal.h b/dart/common/detail/Signal.hpp
similarity index 98%
rename from dart/common/detail/Signal.h
rename to dart/common/detail/Signal.hpp
index 0c4a701f6fa0a..6460df4640a43 100644
--- a/dart/common/detail/Signal.h
+++ b/dart/common/detail/Signal.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_SIGNAL_H_
-#define DART_COMMON_DETAIL_SIGNAL_H_
+#ifndef DART_COMMON_DETAIL_SIGNAL_HPP_
+#define DART_COMMON_DETAIL_SIGNAL_HPP_
 
 #include <vector>
 
@@ -275,5 +275,5 @@ Connection SlotRegister<T>::connect(const SlotType& _slot)
 }  // namespace common
 }  // namespace dart
 
-#endif  // DART_COMMON_DETAIL_SIGNAL_H_
+#endif  // DART_COMMON_DETAIL_SIGNAL_HPP_
 
diff --git a/dart/common/detail/SpecializedForAspect.h b/dart/common/detail/SpecializedForAspect.hpp
similarity index 98%
rename from dart/common/detail/SpecializedForAspect.h
rename to dart/common/detail/SpecializedForAspect.hpp
index 452c157a97010..87f3560b744a2 100644
--- a/dart/common/detail/SpecializedForAspect.h
+++ b/dart/common/detail/SpecializedForAspect.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_SPECIALIZEDFORASPECT_H_
-#define DART_COMMON_DETAIL_SPECIALIZEDFORASPECT_H_
+#ifndef DART_COMMON_DETAIL_SPECIALIZEDFORASPECT_HPP_
+#define DART_COMMON_DETAIL_SPECIALIZEDFORASPECT_HPP_
 
-#include "dart/common/SpecializedForAspect.h"
+#include "dart/common/SpecializedForAspect.hpp"
 
 // This preprocessor token should only be used by the unittest that is
 // responsible for checking that the specialized routines are being used to
@@ -331,4 +331,4 @@ constexpr bool SpecializedForAspect<SpecAspect>::_isSpecializedFor(type<SpecAspe
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_DETAIL_SPECIALIZEDFORASPECT_H_
+#endif // DART_COMMON_DETAIL_SPECIALIZEDFORASPECT_HPP_
diff --git a/dart/common/detail/TemplateJoinerDispatchMacro.h b/dart/common/detail/TemplateJoinerDispatchMacro.hpp
similarity index 93%
rename from dart/common/detail/TemplateJoinerDispatchMacro.h
rename to dart/common/detail/TemplateJoinerDispatchMacro.hpp
index b8b75b747c963..c353c4c0cc41a 100644
--- a/dart/common/detail/TemplateJoinerDispatchMacro.h
+++ b/dart/common/detail/TemplateJoinerDispatchMacro.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_TEMPLATEJOINERDISPATCHMACRO_H_
-#define DART_COMMON_DETAIL_TEMPLATEJOINERDISPATCHMACRO_H_
+#ifndef DART_COMMON_DETAIL_TEMPLATEJOINERDISPATCHMACRO_HPP_
+#define DART_COMMON_DETAIL_TEMPLATEJOINERDISPATCHMACRO_HPP_
 
 //==============================================================================
 /// This macro provides the implementation for most of the member functions in
@@ -57,4 +57,4 @@
 #define DETAIL_DART_COMMON_TEMPLATEJOINERDISPATCH_IMPL(ReturnType, ClassName, Function, Suffix, Args)\
   DETAIL_DART_COMMON_IRREGULAR_TEMPLATEJOINERDISPATCH_IMPL(ReturnType, ClassName, Function, Suffix, isSpecializedFor, Args)
 
-#endif // DART_COMMON_DETAIL_TEMPLATEJOINERDISPATCHMACRO_H_
+#endif // DART_COMMON_DETAIL_TEMPLATEJOINERDISPATCHMACRO_HPP_
diff --git a/dart/common/detail/sub_ptr.h b/dart/common/detail/sub_ptr.hpp
similarity index 96%
rename from dart/common/detail/sub_ptr.h
rename to dart/common/detail/sub_ptr.hpp
index 8761e6d6a9913..547f48ce2ba89 100644
--- a/dart/common/detail/sub_ptr.h
+++ b/dart/common/detail/sub_ptr.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_DETAIL_SUB_PTR_H_
-#define DART_COMMON_DETAIL_SUB_PTR_H_
+#ifndef DART_COMMON_DETAIL_SUB_PTR_HPP_
+#define DART_COMMON_DETAIL_SUB_PTR_HPP_
 
-#include "dart/common/sub_ptr.h"
+#include "dart/common/sub_ptr.hpp"
 
 namespace dart {
 namespace common {
@@ -136,4 +136,4 @@ void sub_ptr<T>::handleDestructionNotification(const Subject* _subject)
 } // namespace common
 } // namespace dart
 
-#endif // DART_COMMON_DETAIL_SUB_PTR_H_
+#endif // DART_COMMON_DETAIL_SUB_PTR_HPP_
diff --git a/dart/common/sub_ptr.h b/dart/common/sub_ptr.hpp
similarity index 94%
rename from dart/common/sub_ptr.h
rename to dart/common/sub_ptr.hpp
index 36bbc1362ee56..4324e51717f50 100644
--- a/dart/common/sub_ptr.h
+++ b/dart/common/sub_ptr.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_SUB_PTR_H_
-#define DART_COMMON_SUB_PTR_H_
+#ifndef DART_COMMON_SUB_PTR_HPP_
+#define DART_COMMON_SUB_PTR_HPP_
 
-#include "dart/common/Observer.h"
+#include "dart/common/Observer.hpp"
 
 namespace dart {
 namespace common {
@@ -100,6 +100,6 @@ using sub_ptr = common::sub_ptr<T>;
 
 } // namespace dart
 
-#include "dart/common/detail/sub_ptr.h"
+#include "dart/common/detail/sub_ptr.hpp"
 
-#endif // DART_COMMON_SUB_PTR_H_
+#endif // DART_COMMON_SUB_PTR_HPP_
diff --git a/dart/config.h.in b/dart/config.hpp.in
similarity index 95%
rename from dart/config.h.in
rename to dart/config.hpp.in
index 21c7a3ca9b7b9..8965f23049e1e 100644
--- a/dart/config.h.in
+++ b/dart/config.hpp.in
@@ -1,6 +1,6 @@
 /* config.h. Generated by CMake for @PROJECT_NAME@. */
-#ifndef DART_CONFIG_H_
-#define DART_CONFIG_H_
+#ifndef DART_CONFIG_HPP_
+#define DART_CONFIG_HPP_
 
 /* Version number */
 #define DART_MAJOR_VERSION @DART_MAJOR_VERSION@
@@ -58,4 +58,4 @@
 // BULLET_DEFINITIONS or generate a #cmakedefine header.
 #cmakedefine BT_USE_DOUBLE_PRECISION
 
-#endif // #ifndef DART_CONFIG_H_
+#endif // #ifndef DART_CONFIG_HPP_
diff --git a/dart/constraint/BalanceConstraint.cpp b/dart/constraint/BalanceConstraint.cpp
index ae340c611e372..5e96a4455840b 100644
--- a/dart/constraint/BalanceConstraint.cpp
+++ b/dart/constraint/BalanceConstraint.cpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/BalanceConstraint.h"
+#include "dart/constraint/BalanceConstraint.hpp"
 
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/EndEffector.h"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/EndEffector.hpp"
 
 namespace dart {
 namespace constraint {
diff --git a/dart/constraint/BalanceConstraint.h b/dart/constraint/BalanceConstraint.hpp
similarity index 97%
rename from dart/constraint/BalanceConstraint.h
rename to dart/constraint/BalanceConstraint.hpp
index cabe19d075ade..1491ee96f94d7 100644
--- a/dart/constraint/BalanceConstraint.h
+++ b/dart/constraint/BalanceConstraint.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_BALANCECONSTRAINT_H_
-#define DART_CONSTRAINT_BALANCECONSTRAINT_H_
+#ifndef DART_CONSTRAINT_BALANCECONSTRAINT_HPP_
+#define DART_CONSTRAINT_BALANCECONSTRAINT_HPP_
 
-#include "dart/dynamics/HierarchicalIK.h"
+#include "dart/dynamics/HierarchicalIK.hpp"
 
 namespace dart {
 namespace constraint {
@@ -205,4 +205,4 @@ class BalanceConstraint : public optimizer::Function,
 } // namespace constraint
 } // namespace dart
 
-#endif // DART_CONSTRAINT_BALANCECONSTRAINT_H_
+#endif // DART_CONSTRAINT_BALANCECONSTRAINT_HPP_
diff --git a/dart/constraint/BallJointConstraint.cpp b/dart/constraint/BallJointConstraint.cpp
index 29d19f8729cd8..29f38a3e97889 100644
--- a/dart/constraint/BallJointConstraint.cpp
+++ b/dart/constraint/BallJointConstraint.cpp
@@ -35,10 +35,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 #include <iostream>
-#include "dart/constraint/BallJointConstraint.h"
+#include "dart/constraint/BallJointConstraint.hpp"
 
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 #include "dart/lcpsolver/lcp.h"
 
 namespace dart {
diff --git a/dart/constraint/BallJointConstraint.h b/dart/constraint/BallJointConstraint.hpp
similarity index 95%
rename from dart/constraint/BallJointConstraint.h
rename to dart/constraint/BallJointConstraint.hpp
index ff97a75886c3d..84c940a4b29c6 100644
--- a/dart/constraint/BallJointConstraint.h
+++ b/dart/constraint/BallJointConstraint.hpp
@@ -35,13 +35,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_BALLJOINTCONSTRAINT_H_
-#define DART_CONSTRAINT_BALLJOINTCONSTRAINT_H_
+#ifndef DART_CONSTRAINT_BALLJOINTCONSTRAINT_HPP_
+#define DART_CONSTRAINT_BALLJOINTCONSTRAINT_HPP_
 
 #include <Eigen/Dense>
 
-#include "dart/math/MathTypes.h"
-#include "dart/constraint/JointConstraint.h"
+#include "dart/math/MathTypes.hpp"
+#include "dart/constraint/JointConstraint.hpp"
 
 namespace dart {
 namespace constraint {
@@ -133,5 +133,5 @@ class BallJointConstraint : public JointConstraint
 }  // namespace constraint
 }  // namespace dart
 
-#endif  // DART_CONSTRAINT_BALLJOINTCONSTRAINT_H_
+#endif  // DART_CONSTRAINT_BALLJOINTCONSTRAINT_HPP_
 
diff --git a/dart/constraint/CMakeLists.txt b/dart/constraint/CMakeLists.txt
index 0f4cb7e63c46f..cbad38e99da3d 100644
--- a/dart/constraint/CMakeLists.txt
+++ b/dart/constraint/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 set(dart_constraint_hdrs ${hdrs} PARENT_SCOPE)
 set(dart_constraint_srcs ${srcs} PARENT_SCOPE)
@@ -14,13 +14,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/constraint.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/constraint.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/constraint.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/constraint.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/constraint.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/constraint.hpp
   DESTINATION include/dart/constraint
   COMPONENT headers
 )
diff --git a/dart/constraint/ConstrainedGroup.cpp b/dart/constraint/ConstrainedGroup.cpp
index d4b0752dabecd..b72e62dfb9754 100644
--- a/dart/constraint/ConstrainedGroup.cpp
+++ b/dart/constraint/ConstrainedGroup.cpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/ConstrainedGroup.h"
+#include "dart/constraint/ConstrainedGroup.hpp"
 
 #include <algorithm>
 #include <iostream>
 #include <vector>
 
-#include "dart/common/Console.h"
-#include "dart/constraint/ConstraintBase.h"
-#include "dart/constraint/ConstraintSolver.h"
+#include "dart/common/Console.hpp"
+#include "dart/constraint/ConstraintBase.hpp"
+#include "dart/constraint/ConstraintSolver.hpp"
 
 namespace dart {
 namespace constraint {
diff --git a/dart/constraint/ConstrainedGroup.h b/dart/constraint/ConstrainedGroup.hpp
similarity index 95%
rename from dart/constraint/ConstrainedGroup.h
rename to dart/constraint/ConstrainedGroup.hpp
index f252629cb8aae..f90e5a7e27167 100644
--- a/dart/constraint/ConstrainedGroup.h
+++ b/dart/constraint/ConstrainedGroup.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_CONSTRAINEDGROUP_H_
-#define DART_CONSTRAINT_CONSTRAINEDGROUP_H_
+#ifndef DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_
+#define DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_
 
 #include <vector>
 #include <memory>
 #include <Eigen/Dense>
 
-#include "dart/constraint/SmartPointer.h"
+#include "dart/constraint/SmartPointer.hpp"
 
 namespace dart {
 
@@ -115,5 +115,5 @@ class ConstrainedGroup
 }  // namespace constraint
 }  // namespace dart
 
-#endif  // DART_CONSTRAINT_CONSTRAINEDGROUP_H_
+#endif  // DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_
 
diff --git a/dart/constraint/ConstraintBase.cpp b/dart/constraint/ConstraintBase.cpp
index 3174bc383cb7c..4e2318f4f913e 100644
--- a/dart/constraint/ConstraintBase.cpp
+++ b/dart/constraint/ConstraintBase.cpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/ConstraintBase.h"
+#include "dart/constraint/ConstraintBase.hpp"
 
 #include <cmath>
 #include <cstring>
 #include <iomanip>
 #include <iostream>
 
-#include "dart/dynamics/Skeleton.h"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 namespace constraint {
diff --git a/dart/constraint/ConstraintBase.h b/dart/constraint/ConstraintBase.hpp
similarity index 95%
rename from dart/constraint/ConstraintBase.h
rename to dart/constraint/ConstraintBase.hpp
index 3e5fcf23f4a5f..e082396c3e219 100644
--- a/dart/constraint/ConstraintBase.h
+++ b/dart/constraint/ConstraintBase.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_CONSTRAINTBASE_H_
-#define DART_CONSTRAINT_CONSTRAINTBASE_H_
+#ifndef DART_CONSTRAINT_CONSTRAINTBASE_HPP_
+#define DART_CONSTRAINT_CONSTRAINTBASE_HPP_
 
 #include <cstddef>
 
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 
@@ -139,5 +139,5 @@ class ConstraintBase
 } // namespace constraint
 } // namespace dart
 
-#endif  // DART_CONSTRAINT_CONSTRAINTBASE_H_
+#endif  // DART_CONSTRAINT_CONSTRAINTBASE_HPP_
 
diff --git a/dart/constraint/ConstraintSolver.cpp b/dart/constraint/ConstraintSolver.cpp
index 3d1132f80eb62..74bf96b2e2517 100644
--- a/dart/constraint/ConstraintSolver.cpp
+++ b/dart/constraint/ConstraintSolver.cpp
@@ -34,29 +34,29 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/ConstraintSolver.h"
-
-#include "dart/common/Console.h"
-#include "dart/collision/CollisionObject.h"
-#include "dart/collision/CollisionGroup.h"
-#include "dart/collision/CollisionFilter.h"
-#include "dart/collision/fcl/FCLCollisionDetector.h"
-#include "dart/collision/dart/DARTCollisionDetector.h"
+#include "dart/constraint/ConstraintSolver.hpp"
+
+#include "dart/common/Console.hpp"
+#include "dart/collision/CollisionObject.hpp"
+#include "dart/collision/CollisionGroup.hpp"
+#include "dart/collision/CollisionFilter.hpp"
+#include "dart/collision/fcl/FCLCollisionDetector.hpp"
+#include "dart/collision/dart/DARTCollisionDetector.hpp"
 #if HAVE_BULLET_COLLISION
-  #include "dart/collision/bullet/BulletCollisionDetector.h"
+  #include "dart/collision/bullet/BulletCollisionDetector.hpp"
 #endif
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/SoftBodyNode.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/constraint/ConstrainedGroup.h"
-#include "dart/constraint/ContactConstraint.h"
-#include "dart/constraint/SoftContactConstraint.h"
-#include "dart/constraint/JointLimitConstraint.h"
-#include "dart/constraint/ServoMotorConstraint.h"
-#include "dart/constraint/JointCoulombFrictionConstraint.h"
-#include "dart/constraint/DantzigLCPSolver.h"
-#include "dart/constraint/PGSLCPSolver.h"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/constraint/ConstrainedGroup.hpp"
+#include "dart/constraint/ContactConstraint.hpp"
+#include "dart/constraint/SoftContactConstraint.hpp"
+#include "dart/constraint/JointLimitConstraint.hpp"
+#include "dart/constraint/ServoMotorConstraint.hpp"
+#include "dart/constraint/JointCoulombFrictionConstraint.hpp"
+#include "dart/constraint/DantzigLCPSolver.hpp"
+#include "dart/constraint/PGSLCPSolver.hpp"
 
 namespace dart {
 namespace constraint {
diff --git a/dart/constraint/ConstraintSolver.h b/dart/constraint/ConstraintSolver.hpp
similarity index 95%
rename from dart/constraint/ConstraintSolver.h
rename to dart/constraint/ConstraintSolver.hpp
index e838fc99d482b..d9f26530544c4 100644
--- a/dart/constraint/ConstraintSolver.h
+++ b/dart/constraint/ConstraintSolver.hpp
@@ -34,17 +34,17 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_CONSTRAINTSOVER_H_
-#define DART_CONSTRAINT_CONSTRAINTSOVER_H_
+#ifndef DART_CONSTRAINT_CONSTRAINTSOVER_HPP_
+#define DART_CONSTRAINT_CONSTRAINTSOVER_HPP_
 
 #include <vector>
 
 #include <Eigen/Dense>
 
-#include "dart/common/Deprecated.h"
-#include "dart/constraint/SmartPointer.h"
-#include "dart/constraint/ConstraintBase.h"
-#include "dart/collision/CollisionDetector.h"
+#include "dart/common/Deprecated.hpp"
+#include "dart/constraint/SmartPointer.hpp"
+#include "dart/constraint/ConstraintBase.hpp"
+#include "dart/collision/CollisionDetector.hpp"
 
 namespace dart {
 
@@ -218,4 +218,4 @@ class ConstraintSolver
 }  // namespace constraint
 }  // namespace dart
 
-#endif  // DART_CONSTRAINT_CONSTRAINTSOVER_H_
+#endif  // DART_CONSTRAINT_CONSTRAINTSOVER_HPP_
diff --git a/dart/constraint/ContactConstraint.cpp b/dart/constraint/ContactConstraint.cpp
index 906e8894b3869..0d0ec109b7122 100644
--- a/dart/constraint/ContactConstraint.cpp
+++ b/dart/constraint/ContactConstraint.cpp
@@ -34,16 +34,16 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/ContactConstraint.h"
+#include "dart/constraint/ContactConstraint.hpp"
 
 #include <iostream>
 
-#include "dart/common/Console.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/collision/CollisionObject.h"
+#include "dart/common/Console.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/collision/CollisionObject.hpp"
 #include "dart/lcpsolver/lcp.h"
-#include "dart/math/Helpers.h"
+#include "dart/math/Helpers.hpp"
 
 #define DART_EPSILON 1e-6
 #define DART_ERROR_ALLOWANCE 0.0
diff --git a/dart/constraint/ContactConstraint.h b/dart/constraint/ContactConstraint.hpp
similarity index 95%
rename from dart/constraint/ContactConstraint.h
rename to dart/constraint/ContactConstraint.hpp
index a8bfbd26b4419..45e272bc07151 100644
--- a/dart/constraint/ContactConstraint.h
+++ b/dart/constraint/ContactConstraint.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_CONTACTCONSTRAINT_H_
-#define DART_CONSTRAINT_CONTACTCONSTRAINT_H_
+#ifndef DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_
+#define DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_
 
-#include "dart/constraint/ConstraintBase.h"
+#include "dart/constraint/ConstraintBase.hpp"
 
-#include "dart/math/MathTypes.h"
-#include "dart/collision/CollisionDetector.h"
+#include "dart/math/MathTypes.hpp"
+#include "dart/collision/CollisionDetector.hpp"
 
 namespace dart {
 
@@ -212,5 +212,5 @@ class ContactConstraint : public ConstraintBase
 } // namespace constraint
 } // namespace dart
 
-#endif  // DART_CONSTRAINT_CONTACTCONSTRAINT_H_
+#endif  // DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_
 
diff --git a/dart/constraint/DantzigLCPSolver.cpp b/dart/constraint/DantzigLCPSolver.cpp
index 787e2f8148dbe..f6c1e5dc71746 100644
--- a/dart/constraint/DantzigLCPSolver.cpp
+++ b/dart/constraint/DantzigLCPSolver.cpp
@@ -34,17 +34,17 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/DantzigLCPSolver.h"
+#include "dart/constraint/DantzigLCPSolver.hpp"
 
 #ifndef NDEBUG
 #include <iomanip>
 #include <iostream>
 #endif
 
-#include "dart/common/Console.h"
-#include "dart/constraint/ConstraintBase.h"
-#include "dart/constraint/ConstrainedGroup.h"
-#include "dart/lcpsolver/Lemke.h"
+#include "dart/common/Console.hpp"
+#include "dart/constraint/ConstraintBase.hpp"
+#include "dart/constraint/ConstrainedGroup.hpp"
+#include "dart/lcpsolver/Lemke.hpp"
 #include "dart/lcpsolver/lcp.h"
 
 namespace dart {
diff --git a/dart/constraint/DantzigLCPSolver.h b/dart/constraint/DantzigLCPSolver.hpp
similarity index 92%
rename from dart/constraint/DantzigLCPSolver.h
rename to dart/constraint/DantzigLCPSolver.hpp
index 27fecc25b02be..75e8516c24ae3 100644
--- a/dart/constraint/DantzigLCPSolver.h
+++ b/dart/constraint/DantzigLCPSolver.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_DANTZIGLCPSOLVER_H_
-#define DART_CONSTRAINT_DANTZIGLCPSOLVER_H_
+#ifndef DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
+#define DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
 
 #include <cstddef>
 
-#include "dart/config.h"
-#include "dart/constraint/LCPSolver.h"
+#include "dart/config.hpp"
+#include "dart/constraint/LCPSolver.hpp"
 
 namespace dart {
 namespace constraint {
@@ -76,5 +76,5 @@ class DantzigLCPSolver : public LCPSolver
 } // namespace constraint
 } // namespace dart
 
-#endif  // DART_CONSTRAINT_DANTZIGLCPSOLVER_H_
+#endif  // DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
 
diff --git a/dart/constraint/JointConstraint.cpp b/dart/constraint/JointConstraint.cpp
index fcd134acfaaf1..458b17258822b 100644
--- a/dart/constraint/JointConstraint.cpp
+++ b/dart/constraint/JointConstraint.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/JointConstraint.h"
+#include "dart/constraint/JointConstraint.hpp"
 
 #include <cassert>
 #include <iostream>
 
-#include "dart/common/Console.h"
+#include "dart/common/Console.hpp"
 
 #define DART_ERROR_ALLOWANCE 0.0
 #define DART_ERP     0.01
diff --git a/dart/constraint/JointConstraint.h b/dart/constraint/JointConstraint.hpp
similarity index 95%
rename from dart/constraint/JointConstraint.h
rename to dart/constraint/JointConstraint.hpp
index 24d5b31513d36..54d7df20fa9b0 100644
--- a/dart/constraint/JointConstraint.h
+++ b/dart/constraint/JointConstraint.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_JOINTCONSTRAINT_H_
-#define DART_CONSTRAINT_JOINTCONSTRAINT_H_
+#ifndef DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
+#define DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
 
-#include "dart/constraint/ConstraintBase.h"
+#include "dart/constraint/ConstraintBase.hpp"
 
 namespace dart {
 
@@ -120,5 +120,5 @@ class JointConstraint : public ConstraintBase
 } // namespace constraint
 } // namespace dart
 
-#endif  // DART_CONSTRAINT_CONSTRAINT_H_
+#endif  // DART_CONSTRAINT_CONSTRAINT_HPP_
 
diff --git a/dart/constraint/JointCoulombFrictionConstraint.cpp b/dart/constraint/JointCoulombFrictionConstraint.cpp
index 7f9818100b727..902700ad06211 100644
--- a/dart/constraint/JointCoulombFrictionConstraint.cpp
+++ b/dart/constraint/JointCoulombFrictionConstraint.cpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/JointCoulombFrictionConstraint.h"
+#include "dart/constraint/JointCoulombFrictionConstraint.hpp"
 
 #include <iostream>
 
-#include "dart/common/Console.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/common/Console.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 #include "dart/lcpsolver/lcp.h"
 
 #define DART_CFM     1e-9
diff --git a/dart/constraint/JointCoulombFrictionConstraint.h b/dart/constraint/JointCoulombFrictionConstraint.hpp
similarity index 94%
rename from dart/constraint/JointCoulombFrictionConstraint.h
rename to dart/constraint/JointCoulombFrictionConstraint.hpp
index 48de5ac176583..29d44836cf07a 100644
--- a/dart/constraint/JointCoulombFrictionConstraint.h
+++ b/dart/constraint/JointCoulombFrictionConstraint.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_JOINTCOULOMBFRICTIONCONSTRAINT_H_
-#define DART_CONSTRAINT_JOINTCOULOMBFRICTIONCONSTRAINT_H_
+#ifndef DART_CONSTRAINT_JOINTCOULOMBFRICTIONCONSTRAINT_HPP_
+#define DART_CONSTRAINT_JOINTCOULOMBFRICTIONCONSTRAINT_HPP_
 
-#include "dart/constraint/ConstraintBase.h"
+#include "dart/constraint/ConstraintBase.hpp"
 
 namespace dart {
 
@@ -144,5 +144,5 @@ class JointCoulombFrictionConstraint : public ConstraintBase
 }  // namespace constraint
 }  // namespace dart
 
-#endif  // DART_CONSTRAINT_JOINTCOULOMBFRICTIONCONSTRAINT_H_
+#endif  // DART_CONSTRAINT_JOINTCOULOMBFRICTIONCONSTRAINT_HPP_
 
diff --git a/dart/constraint/JointLimitConstraint.cpp b/dart/constraint/JointLimitConstraint.cpp
index 938b084ddb48f..1fcb9f16079e6 100644
--- a/dart/constraint/JointLimitConstraint.cpp
+++ b/dart/constraint/JointLimitConstraint.cpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/JointLimitConstraint.h"
+#include "dart/constraint/JointLimitConstraint.hpp"
 
 #include <iostream>
 
-#include "dart/common/Console.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/common/Console.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 #include "dart/lcpsolver/lcp.h"
 
 #define DART_ERROR_ALLOWANCE 0.0
diff --git a/dart/constraint/JointLimitConstraint.h b/dart/constraint/JointLimitConstraint.hpp
similarity index 96%
rename from dart/constraint/JointLimitConstraint.h
rename to dart/constraint/JointLimitConstraint.hpp
index cd9c347d45f3c..6930d3fdc81b4 100644
--- a/dart/constraint/JointLimitConstraint.h
+++ b/dart/constraint/JointLimitConstraint.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_JOINTLIMITCONSTRAINT_H_
-#define DART_CONSTRAINT_JOINTLIMITCONSTRAINT_H_
+#ifndef DART_CONSTRAINT_JOINTLIMITCONSTRAINT_HPP_
+#define DART_CONSTRAINT_JOINTLIMITCONSTRAINT_HPP_
 
-#include "dart/constraint/ConstraintBase.h"
+#include "dart/constraint/ConstraintBase.hpp"
 
 namespace dart {
 
@@ -176,5 +176,5 @@ class JointLimitConstraint : public ConstraintBase
 }  // namespace constraint
 }  // namespace dart
 
-#endif  // DART_CONSTRAINT_JOINTLIMITCONSTRAINT_H_
+#endif  // DART_CONSTRAINT_JOINTLIMITCONSTRAINT_HPP_
 
diff --git a/dart/constraint/LCPSolver.cpp b/dart/constraint/LCPSolver.cpp
index 4171335e0f963..5469b8feebdeb 100644
--- a/dart/constraint/LCPSolver.cpp
+++ b/dart/constraint/LCPSolver.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/LCPSolver.h"
+#include "dart/constraint/LCPSolver.hpp"
 
 #include <cassert>
 
diff --git a/dart/constraint/LCPSolver.h b/dart/constraint/LCPSolver.hpp
similarity index 94%
rename from dart/constraint/LCPSolver.h
rename to dart/constraint/LCPSolver.hpp
index af051baec4f84..fb2082a72842a 100644
--- a/dart/constraint/LCPSolver.h
+++ b/dart/constraint/LCPSolver.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_LCPSOLVER_H_
-#define DART_CONSTRAINT_LCPSOLVER_H_
+#ifndef DART_CONSTRAINT_LCPSOLVER_HPP_
+#define DART_CONSTRAINT_LCPSOLVER_HPP_
 
 namespace dart {
 namespace constraint {
@@ -70,5 +70,5 @@ class LCPSolver
 } // namespace constraint
 } // namespace dart
 
-#endif  // DART_CONSTRAINT_LCPSOLVER_H_
+#endif  // DART_CONSTRAINT_LCPSOLVER_HPP_
 
diff --git a/dart/constraint/PGSLCPSolver.cpp b/dart/constraint/PGSLCPSolver.cpp
index 9748bf9e23e41..c69441ee77145 100644
--- a/dart/constraint/PGSLCPSolver.cpp
+++ b/dart/constraint/PGSLCPSolver.cpp
@@ -34,17 +34,17 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/PGSLCPSolver.h"
+#include "dart/constraint/PGSLCPSolver.hpp"
 
 #ifndef NDEBUG
 #include <iomanip>
 #include <iostream>
 #endif
 
-#include "dart/common/Console.h"
-#include "dart/constraint/ConstraintBase.h"
-#include "dart/constraint/ConstrainedGroup.h"
-#include "dart/lcpsolver/Lemke.h"
+#include "dart/common/Console.hpp"
+#include "dart/constraint/ConstraintBase.hpp"
+#include "dart/constraint/ConstrainedGroup.hpp"
+#include "dart/lcpsolver/Lemke.hpp"
 #include "dart/lcpsolver/lcp.h"
 
 namespace dart {
diff --git a/dart/constraint/PGSLCPSolver.h b/dart/constraint/PGSLCPSolver.hpp
similarity index 93%
rename from dart/constraint/PGSLCPSolver.h
rename to dart/constraint/PGSLCPSolver.hpp
index ae6887a5b53f6..785408daa3329 100644
--- a/dart/constraint/PGSLCPSolver.h
+++ b/dart/constraint/PGSLCPSolver.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_PGSLCPSOLVER_H_
-#define DART_CONSTRAINT_PGSLCPSOLVER_H_
+#ifndef DART_CONSTRAINT_PGSLCPSOLVER_HPP_
+#define DART_CONSTRAINT_PGSLCPSOLVER_HPP_
 
 #include <cstddef>
 
-#include "dart/config.h"
-#include "dart/constraint/LCPSolver.h"
+#include "dart/config.hpp"
+#include "dart/constraint/LCPSolver.hpp"
 
 namespace dart {
 namespace constraint {
@@ -92,5 +92,5 @@ bool solvePGS(int n, int nskip, int /*nub*/, double* A,
 } // namespace constraint
 } // namespace dart
 
-#endif  // DART_CONSTRAINT_PGSLCPSOLVER_H_
+#endif  // DART_CONSTRAINT_PGSLCPSOLVER_HPP_
 
diff --git a/dart/constraint/ServoMotorConstraint.cpp b/dart/constraint/ServoMotorConstraint.cpp
index a70bf0b56c023..ed96874f340e4 100644
--- a/dart/constraint/ServoMotorConstraint.cpp
+++ b/dart/constraint/ServoMotorConstraint.cpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/ServoMotorConstraint.h"
+#include "dart/constraint/ServoMotorConstraint.hpp"
 
 #include <iostream>
 
-#include "dart/common/Console.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/common/Console.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 #include "dart/lcpsolver/lcp.h"
 
 #define DART_CFM     1e-9
diff --git a/dart/constraint/ServoMotorConstraint.h b/dart/constraint/ServoMotorConstraint.hpp
similarity index 95%
rename from dart/constraint/ServoMotorConstraint.h
rename to dart/constraint/ServoMotorConstraint.hpp
index 1449741c6d298..7e8a1ed78ffae 100644
--- a/dart/constraint/ServoMotorConstraint.h
+++ b/dart/constraint/ServoMotorConstraint.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_SERVOMOTORCONSTRAINT_H_
-#define DART_CONSTRAINT_SERVOMOTORCONSTRAINT_H_
+#ifndef DART_CONSTRAINT_SERVOMOTORCONSTRAINT_HPP_
+#define DART_CONSTRAINT_SERVOMOTORCONSTRAINT_HPP_
 
-#include "dart/constraint/ConstraintBase.h"
+#include "dart/constraint/ConstraintBase.hpp"
 
 namespace dart {
 
@@ -146,5 +146,5 @@ class ServoMotorConstraint : public ConstraintBase
 }  // namespace constraint
 }  // namespace dart
 
-#endif  // DART_CONSTRAINT_SERVOMOTORCONSTRAINT_H_
+#endif  // DART_CONSTRAINT_SERVOMOTORCONSTRAINT_HPP_
 
diff --git a/dart/constraint/SmartPointer.h b/dart/constraint/SmartPointer.hpp
similarity index 93%
rename from dart/constraint/SmartPointer.h
rename to dart/constraint/SmartPointer.hpp
index 49b31cdc107e4..9acce97863693 100644
--- a/dart/constraint/SmartPointer.h
+++ b/dart/constraint/SmartPointer.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_SMARTPOINTER_H_
-#define DART_CONSTRAINT_SMARTPOINTER_H_
+#ifndef DART_CONSTRAINT_SMARTPOINTER_HPP_
+#define DART_CONSTRAINT_SMARTPOINTER_HPP_
 
-#include "dart/common/SmartPointer.h"
+#include "dart/common/SmartPointer.hpp"
 
 namespace dart {
 namespace constraint {
@@ -61,4 +61,4 @@ DART_COMMON_MAKE_SHARED_WEAK(BalanceConstraint)
 } // namespace constraint
 } // namespace dart
 
-#endif // DART_CONSTRAINT_SMARTPOINTER_H_
+#endif // DART_CONSTRAINT_SMARTPOINTER_HPP_
diff --git a/dart/constraint/SoftContactConstraint.cpp b/dart/constraint/SoftContactConstraint.cpp
index b198e323a899b..b2845afe18aa5 100644
--- a/dart/constraint/SoftContactConstraint.cpp
+++ b/dart/constraint/SoftContactConstraint.cpp
@@ -34,17 +34,17 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/SoftContactConstraint.h"
+#include "dart/constraint/SoftContactConstraint.hpp"
 
 #include <iostream>
 
-#include "dart/common/Console.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/PointMass.h"
-#include "dart/dynamics/SoftBodyNode.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/Shape.h"
-#include "dart/collision/CollisionObject.h"
+#include "dart/common/Console.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/PointMass.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/Shape.hpp"
+#include "dart/collision/CollisionObject.hpp"
 #include "dart/lcpsolver/lcp.h"
 
 #define DART_EPSILON 1e-6
diff --git a/dart/constraint/SoftContactConstraint.h b/dart/constraint/SoftContactConstraint.hpp
similarity index 96%
rename from dart/constraint/SoftContactConstraint.h
rename to dart/constraint/SoftContactConstraint.hpp
index 666694f134b16..1e79fdb28c375 100644
--- a/dart/constraint/SoftContactConstraint.h
+++ b/dart/constraint/SoftContactConstraint.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_H_
-#define DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_H_
+#ifndef DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_
+#define DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_
 
-#include "dart/constraint/ConstraintBase.h"
+#include "dart/constraint/ConstraintBase.hpp"
 
-#include "dart/math/MathTypes.h"
-#include "dart/collision/CollisionDetector.h"
+#include "dart/math/MathTypes.hpp"
+#include "dart/collision/CollisionDetector.hpp"
 
 namespace dart {
 
@@ -255,5 +255,5 @@ class SoftContactConstraint : public ConstraintBase
 } // namespace constraint
 } // namespace dart
 
-#endif  // DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_H_
+#endif  // DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_
 
diff --git a/dart/constraint/WeldJointConstraint.cpp b/dart/constraint/WeldJointConstraint.cpp
index 0eaf61deb66ce..c3d4c014da6c6 100644
--- a/dart/constraint/WeldJointConstraint.cpp
+++ b/dart/constraint/WeldJointConstraint.cpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/constraint/WeldJointConstraint.h"
+#include "dart/constraint/WeldJointConstraint.hpp"
 
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 #include "dart/lcpsolver/lcp.h"
 
 namespace dart {
diff --git a/dart/constraint/WeldJointConstraint.h b/dart/constraint/WeldJointConstraint.hpp
similarity index 93%
rename from dart/constraint/WeldJointConstraint.h
rename to dart/constraint/WeldJointConstraint.hpp
index bb77e58e9e256..3793c4887bca2 100644
--- a/dart/constraint/WeldJointConstraint.h
+++ b/dart/constraint/WeldJointConstraint.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_CONSTRAINT_WELDJOINTCONSTRAINT_H_
-#define DART_CONSTRAINT_WELDJOINTCONSTRAINT_H_
+#ifndef DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_
+#define DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_
 
 #include <Eigen/Dense>
 
-#include "dart/math/MathTypes.h"
-#include "dart/constraint/JointConstraint.h"
+#include "dart/math/MathTypes.hpp"
+#include "dart/constraint/JointConstraint.hpp"
 
 namespace dart {
 namespace constraint {
@@ -121,5 +121,5 @@ class WeldJointConstraint : public JointConstraint
 }  // namespace constraint
 }  // namespace dart
 
-#endif  // DART_CONSTRAINT_WELDJOINTCONSTRAINT_H_
+#endif  // DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_
 
diff --git a/dart/constraint/constraint.h.in b/dart/constraint/constraint.hpp.in
similarity index 100%
rename from dart/constraint/constraint.h.in
rename to dart/constraint/constraint.hpp.in
diff --git a/dart/dart.h b/dart/dart.hpp
similarity index 82%
rename from dart/dart.h
rename to dart/dart.hpp
index 36b42b2e65ca0..83651aa649f92 100644
--- a/dart/dart.h
+++ b/dart/dart.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/config.h"
-#include "dart/common/common.h"
-#include "dart/math/math.h"
-#include "dart/integration/integration.h"
-#include "dart/collision/collision.h"
-#include "dart/lcpsolver/lcpsolver.h"
-#include "dart/constraint/constraint.h"
-#include "dart/optimizer/optimizer.h"
-#include "dart/dynamics/dynamics.h"
-#include "dart/simulation/simulation.h"
+#include "dart/config.hpp"
+#include "dart/common/common.hpp"
+#include "dart/math/math.hpp"
+#include "dart/integration/integration.hpp"
+#include "dart/collision/collision.hpp"
+#include "dart/lcpsolver/lcpsolver.hpp"
+#include "dart/constraint/constraint.hpp"
+#include "dart/optimizer/optimizer.hpp"
+#include "dart/dynamics/dynamics.hpp"
+#include "dart/simulation/simulation.hpp"
diff --git a/dart/dynamics/ArrowShape.cpp b/dart/dynamics/ArrowShape.cpp
index 43113e2bc08d1..06f1842d71ffa 100644
--- a/dart/dynamics/ArrowShape.cpp
+++ b/dart/dynamics/ArrowShape.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/ArrowShape.h"
+#include "dart/dynamics/ArrowShape.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/ArrowShape.h b/dart/dynamics/ArrowShape.hpp
similarity index 96%
rename from dart/dynamics/ArrowShape.h
rename to dart/dynamics/ArrowShape.hpp
index ad0141b127fbd..4ad9b312e3def 100644
--- a/dart/dynamics/ArrowShape.h
+++ b/dart/dynamics/ArrowShape.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_ARROWSHAPE_H_
-#define DART_DYNAMICS_ARROWSHAPE_H_
+#ifndef DART_DYNAMICS_ARROWSHAPE_HPP_
+#define DART_DYNAMICS_ARROWSHAPE_HPP_
 
-#include "dart/dynamics/MeshShape.h"
+#include "dart/dynamics/MeshShape.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -112,4 +112,4 @@ class ArrowShape : public MeshShape
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_ARROWSHAPE_H_
+#endif // DART_DYNAMICS_ARROWSHAPE_HPP_
diff --git a/dart/dynamics/AssimpInputResourceAdaptor.cpp b/dart/dynamics/AssimpInputResourceAdaptor.cpp
index 844c186d9a460..9c4d0b0f35363 100644
--- a/dart/dynamics/AssimpInputResourceAdaptor.cpp
+++ b/dart/dynamics/AssimpInputResourceAdaptor.cpp
@@ -37,8 +37,8 @@
 #include <cassert>
 #include <iostream>
 #include <assimp/IOStream.hpp>
-#include "dart/common/Console.h"
-#include "AssimpInputResourceAdaptor.h"
+#include "dart/common/Console.hpp"
+#include "dart/dynamics/AssimpInputResourceAdaptor.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/AssimpInputResourceAdaptor.h b/dart/dynamics/AssimpInputResourceAdaptor.hpp
similarity index 94%
rename from dart/dynamics/AssimpInputResourceAdaptor.h
rename to dart/dynamics/AssimpInputResourceAdaptor.hpp
index d8013de9f8cc9..7cadf04393421 100644
--- a/dart/dynamics/AssimpInputResourceAdaptor.h
+++ b/dart/dynamics/AssimpInputResourceAdaptor.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_ASSIMPINPUTRESOURCEADAPTOR_H_
-#define DART_DYNAMICS_ASSIMPINPUTRESOURCEADAPTOR_H_
+#ifndef DART_DYNAMICS_ASSIMPINPUTRESOURCEADAPTOR_HPP_
+#define DART_DYNAMICS_ASSIMPINPUTRESOURCEADAPTOR_HPP_
 
 #include <assimp/cfileio.h>
 #include <assimp/IOStream.hpp>
 #include <assimp/IOSystem.hpp>
-#include "dart/common/Resource.h"
-#include "dart/common/ResourceRetriever.h"
+#include "dart/common/Resource.hpp"
+#include "dart/common/ResourceRetriever.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -127,4 +127,4 @@ aiFileIO createFileIO(Assimp::IOSystem* adaptor);
 } // namespace dynamics
 } // namespace dart
 
-#endif // ifndef DART_DYNAMICS_ASSIMPINPUTRESOURCEADAPTOR_H_
+#endif // ifndef DART_DYNAMICS_ASSIMPINPUTRESOURCEADAPTOR_HPP_
diff --git a/dart/dynamics/BallJoint.cpp b/dart/dynamics/BallJoint.cpp
index 2a4867d3301b7..e5006e9d28a5a 100644
--- a/dart/dynamics/BallJoint.cpp
+++ b/dart/dynamics/BallJoint.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/BallJoint.h"
+#include "dart/dynamics/BallJoint.hpp"
 
 #include <string>
 
-#include "dart/math/Helpers.h"
-#include "dart/math/Geometry.h"
+#include "dart/math/Helpers.hpp"
+#include "dart/math/Geometry.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/BallJoint.h b/dart/dynamics/BallJoint.hpp
similarity index 96%
rename from dart/dynamics/BallJoint.h
rename to dart/dynamics/BallJoint.hpp
index 5114a73ddc340..66d3e22245e91 100644
--- a/dart/dynamics/BallJoint.h
+++ b/dart/dynamics/BallJoint.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_BALLJOINT_H_
-#define DART_DYNAMICS_BALLJOINT_H_
+#ifndef DART_DYNAMICS_BALLJOINT_HPP_
+#define DART_DYNAMICS_BALLJOINT_HPP_
 
 #include <Eigen/Dense>
 
-#include "dart/dynamics/MultiDofJoint.h"
+#include "dart/dynamics/MultiDofJoint.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -142,5 +142,5 @@ class BallJoint : public MultiDofJoint<3>
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_BALLJOINT_H_
+#endif  // DART_DYNAMICS_BALLJOINT_HPP_
 
diff --git a/dart/dynamics/BodyNode.cpp b/dart/dynamics/BodyNode.cpp
index 8786dc512b8c6..48a7aef98a6f1 100644
--- a/dart/dynamics/BodyNode.cpp
+++ b/dart/dynamics/BodyNode.cpp
@@ -35,22 +35,22 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/BodyNode.h"
+#include "dart/dynamics/BodyNode.hpp"
 
 #include <algorithm>
 #include <vector>
 #include <string>
 
-#include "dart/common/Console.h"
-#include "dart/common/StlHelpers.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/Shape.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/Chain.h"
-#include "dart/dynamics/Marker.h"
-#include "dart/dynamics/SoftBodyNode.h"
-#include "dart/dynamics/EndEffector.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/StlHelpers.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/Shape.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/Chain.hpp"
+#include "dart/dynamics/Marker.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/EndEffector.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/BodyNode.h b/dart/dynamics/BodyNode.hpp
similarity index 98%
rename from dart/dynamics/BodyNode.h
rename to dart/dynamics/BodyNode.hpp
index 40a2657319a8b..68936603e4642 100644
--- a/dart/dynamics/BodyNode.h
+++ b/dart/dynamics/BodyNode.hpp
@@ -35,8 +35,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_BODYNODE_H_
-#define DART_DYNAMICS_BODYNODE_H_
+#ifndef DART_DYNAMICS_BODYNODE_HPP_
+#define DART_DYNAMICS_BODYNODE_HPP_
 
 #include <string>
 #include <vector>
@@ -44,17 +44,17 @@
 #include <Eigen/Dense>
 #include <Eigen/StdVector>
 
-#include "dart/config.h"
-#include "dart/common/Signal.h"
-#include "dart/common/EmbeddedAspect.h"
-#include "dart/math/Geometry.h"
-#include "dart/dynamics/Node.h"
-#include "dart/dynamics/Frame.h"
-#include "dart/dynamics/SmartPointer.h"
-#include "dart/dynamics/TemplatedJacobianNode.h"
-#include "dart/dynamics/SpecializedNodeManager.h"
-#include "dart/dynamics/detail/BodyNodeAspect.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/config.hpp"
+#include "dart/common/Signal.hpp"
+#include "dart/common/EmbeddedAspect.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/dynamics/Node.hpp"
+#include "dart/dynamics/Frame.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
+#include "dart/dynamics/TemplatedJacobianNode.hpp"
+#include "dart/dynamics/SpecializedNodeManager.hpp"
+#include "dart/dynamics/detail/BodyNodeAspect.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -1205,6 +1205,6 @@ class BodyNode :
 }  // namespace dynamics
 }  // namespace dart
 
-#include "dart/dynamics/detail/BodyNode.h"
+#include "dart/dynamics/detail/BodyNode.hpp"
 
-#endif  // DART_DYNAMICS_BODYNODE_H_
+#endif  // DART_DYNAMICS_BODYNODE_HPP_
diff --git a/dart/dynamics/BoxShape.cpp b/dart/dynamics/BoxShape.cpp
index 9107324c7b874..dfe9880594c3a 100644
--- a/dart/dynamics/BoxShape.cpp
+++ b/dart/dynamics/BoxShape.cpp
@@ -36,7 +36,7 @@
  */
 
 #include <cmath>
-#include "dart/dynamics/BoxShape.h"
+#include "dart/dynamics/BoxShape.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/BoxShape.h b/dart/dynamics/BoxShape.hpp
similarity index 95%
rename from dart/dynamics/BoxShape.h
rename to dart/dynamics/BoxShape.hpp
index 3c87c90fac5fa..ecbb8018e6e92 100644
--- a/dart/dynamics/BoxShape.h
+++ b/dart/dynamics/BoxShape.hpp
@@ -35,10 +35,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_BOXSHAPE_H_
-#define DART_DYNAMICS_BOXSHAPE_H_
+#ifndef DART_DYNAMICS_BOXSHAPE_HPP_
+#define DART_DYNAMICS_BOXSHAPE_HPP_
 
-#include "dart/dynamics/Shape.h"
+#include "dart/dynamics/Shape.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -83,4 +83,4 @@ class BoxShape : public Shape {
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_BOXSHAPE_H_
+#endif  // DART_DYNAMICS_BOXSHAPE_HPP_
diff --git a/dart/dynamics/Branch.cpp b/dart/dynamics/Branch.cpp
index e93cfe35d1d8e..9f9aa7a63ae22 100644
--- a/dart/dynamics/Branch.cpp
+++ b/dart/dynamics/Branch.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/Branch.h"
-#include "dart/dynamics/BodyNode.h"
+#include "dart/dynamics/Branch.hpp"
+#include "dart/dynamics/BodyNode.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/Branch.h b/dart/dynamics/Branch.hpp
similarity index 96%
rename from dart/dynamics/Branch.h
rename to dart/dynamics/Branch.hpp
index 6ad3f882ed095..a3207b9bf834f 100644
--- a/dart/dynamics/Branch.h
+++ b/dart/dynamics/Branch.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_BRANCH_H_
-#define DART_DYNAMICS_BRANCH_H_
+#ifndef DART_DYNAMICS_BRANCH_HPP_
+#define DART_DYNAMICS_BRANCH_HPP_
 
-#include "dart/dynamics/Linkage.h"
+#include "dart/dynamics/Linkage.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -94,4 +94,4 @@ class Branch : public Linkage
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_BRANCH_H_
+#endif // DART_DYNAMICS_BRANCH_HPP_
diff --git a/dart/dynamics/CMakeLists.txt b/dart/dynamics/CMakeLists.txt
index 21642c2866f3b..04aeef8c25aa3 100644
--- a/dart/dynamics/CMakeLists.txt
+++ b/dart/dynamics/CMakeLists.txt
@@ -1,10 +1,11 @@
 # Search all header and source files
-file(GLOB srcs "*.cpp" "detail/*.cpp")
-file(GLOB hdrs "*.h")
-file(GLOB detail "detail/*.h")
+file(GLOB hdrs "*.hpp")
+file(GLOB srcs "*.cpp")
+file(GLOB detail_hdrs "detail/*.hpp")
+file(GLOB detail_srcs "detail/*.cpp")
 
-set(dart_dynamics_hdrs "${hdrs};${detail}" PARENT_SCOPE)
-set(dart_dynamics_srcs ${srcs} PARENT_SCOPE)
+set(dart_dynamics_hdrs "${hdrs};${detail_hdrs}" PARENT_SCOPE)
+set(dart_dynamics_srcs "${srcs};${detail_srcs}" PARENT_SCOPE)
 
 # Generate header for this namespace
 dart_get_filename_components(header_names "dynamics headers" ${hdrs})
@@ -15,13 +16,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/dynamics.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/dynamics.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/dynamics.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/dynamics.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/dynamics.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/dynamics.hpp
   DESTINATION include/dart/dynamics
   COMPONENT headers
 )
diff --git a/dart/dynamics/Chain.cpp b/dart/dynamics/Chain.cpp
index b7c6a98855c15..7cc4d5b45a87e 100644
--- a/dart/dynamics/Chain.cpp
+++ b/dart/dynamics/Chain.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/Chain.h"
-#include "dart/dynamics/FreeJoint.h"
+#include "dart/dynamics/Chain.hpp"
+#include "dart/dynamics/FreeJoint.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/Chain.h b/dart/dynamics/Chain.hpp
similarity index 97%
rename from dart/dynamics/Chain.h
rename to dart/dynamics/Chain.hpp
index 56381f546bb75..a04a423d2f4bf 100644
--- a/dart/dynamics/Chain.h
+++ b/dart/dynamics/Chain.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_CHAIN_H_
-#define DART_DYNAMICS_CHAIN_H_
+#ifndef DART_DYNAMICS_CHAIN_HPP_
+#define DART_DYNAMICS_CHAIN_HPP_
 
-#include "dart/dynamics/Linkage.h"
+#include "dart/dynamics/Linkage.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -119,4 +119,4 @@ class Chain : public Linkage
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_CHAIN_H_
+#endif // DART_DYNAMICS_CHAIN_HPP_
diff --git a/dart/dynamics/CompositeNode.h b/dart/dynamics/CompositeNode.hpp
similarity index 93%
rename from dart/dynamics/CompositeNode.h
rename to dart/dynamics/CompositeNode.hpp
index 0f840b4f9411f..1708ff59f7715 100644
--- a/dart/dynamics/CompositeNode.h
+++ b/dart/dynamics/CompositeNode.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_COMPOSITENODE_H_
-#define DART_DYNAMICS_COMPOSITENODE_H_
+#ifndef DART_DYNAMICS_COMPOSITENODE_HPP_
+#define DART_DYNAMICS_COMPOSITENODE_HPP_
 
-#include "dart/common/Composite.h"
-#include "dart/dynamics/Node.h"
+#include "dart/common/Composite.hpp"
+#include "dart/dynamics/Node.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -118,6 +118,6 @@ class CompositeNode : public CompositePropertiesNode<CompositeStateNode<Base> >
 } // namespace dynamics
 } // namespace dart
 
-#include "dart/dynamics/detail/CompositeNode.h"
+#include "dart/dynamics/detail/CompositeNode.hpp"
 
-#endif // DART_DYNAMICS_COMPOSITENODE_H_
+#endif // DART_DYNAMICS_COMPOSITENODE_HPP_
diff --git a/dart/dynamics/CylinderShape.cpp b/dart/dynamics/CylinderShape.cpp
index e6d9ed25f5808..076865fa7b084 100644
--- a/dart/dynamics/CylinderShape.cpp
+++ b/dart/dynamics/CylinderShape.cpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/CylinderShape.h"
+#include "dart/dynamics/CylinderShape.hpp"
 
 #include <cmath>
-#include "dart/math/Helpers.h"
+#include "dart/math/Helpers.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/CylinderShape.h b/dart/dynamics/CylinderShape.hpp
similarity index 94%
rename from dart/dynamics/CylinderShape.h
rename to dart/dynamics/CylinderShape.hpp
index 0b03ab882b76b..ffd5b3a037565 100644
--- a/dart/dynamics/CylinderShape.h
+++ b/dart/dynamics/CylinderShape.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_CYLINDERSHAPE_H_
-#define DART_DYNAMICS_CYLINDERSHAPE_H_
+#ifndef DART_DYNAMICS_CYLINDERSHAPE_HPP_
+#define DART_DYNAMICS_CYLINDERSHAPE_HPP_
 
-#include "dart/dynamics/Shape.h"
+#include "dart/dynamics/Shape.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -90,4 +90,4 @@ class CylinderShape : public Shape {
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_CYLINDERSHAPE_H_
+#endif  // DART_DYNAMICS_CYLINDERSHAPE_HPP_
diff --git a/dart/dynamics/DegreeOfFreedom.cpp b/dart/dynamics/DegreeOfFreedom.cpp
index 09c72c35820a0..08ddbb0035d50 100644
--- a/dart/dynamics/DegreeOfFreedom.cpp
+++ b/dart/dynamics/DegreeOfFreedom.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "DegreeOfFreedom.h"
-#include "Joint.h"
-#include "Skeleton.h"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/DegreeOfFreedom.h b/dart/dynamics/DegreeOfFreedom.hpp
similarity index 98%
rename from dart/dynamics/DegreeOfFreedom.h
rename to dart/dynamics/DegreeOfFreedom.hpp
index 744abc8e05409..532f581032f8a 100644
--- a/dart/dynamics/DegreeOfFreedom.h
+++ b/dart/dynamics/DegreeOfFreedom.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DEGREEOFFREEDOM_H_
-#define DART_DYNAMICS_DEGREEOFFREEDOM_H_
+#ifndef DART_DYNAMICS_DEGREEOFFREEDOM_HPP_
+#define DART_DYNAMICS_DEGREEOFFREEDOM_HPP_
 
 #include <string>
 #include <memory>
 #include <Eigen/Core>
 
-#include "dart/common/Subject.h"
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/common/Subject.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -414,4 +414,4 @@ class DegreeOfFreedom : public virtual common::Subject
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DEGREEOFFREEDOM_H_
+#endif // DART_DYNAMICS_DEGREEOFFREEDOM_HPP_
diff --git a/dart/dynamics/EllipsoidShape.cpp b/dart/dynamics/EllipsoidShape.cpp
index eeed6443a36a0..227dbcab045fc 100644
--- a/dart/dynamics/EllipsoidShape.cpp
+++ b/dart/dynamics/EllipsoidShape.cpp
@@ -35,9 +35,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/EllipsoidShape.h"
+#include "dart/dynamics/EllipsoidShape.hpp"
 
-#include "dart/math/Helpers.h"
+#include "dart/math/Helpers.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/EllipsoidShape.h b/dart/dynamics/EllipsoidShape.hpp
similarity index 94%
rename from dart/dynamics/EllipsoidShape.h
rename to dart/dynamics/EllipsoidShape.hpp
index a2039b489ab86..141939a27cd5b 100644
--- a/dart/dynamics/EllipsoidShape.h
+++ b/dart/dynamics/EllipsoidShape.hpp
@@ -35,10 +35,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_ELLIPSOIDSHAPE_H_
-#define DART_DYNAMICS_ELLIPSOIDSHAPE_H_
+#ifndef DART_DYNAMICS_ELLIPSOIDSHAPE_HPP_
+#define DART_DYNAMICS_ELLIPSOIDSHAPE_HPP_
 
-#include "dart/dynamics/Shape.h"
+#include "dart/dynamics/Shape.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -86,4 +86,4 @@ class EllipsoidShape : public Shape {
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_ELLIPSOIDSHAPE_H_
+#endif  // DART_DYNAMICS_ELLIPSOIDSHAPE_HPP_
diff --git a/dart/dynamics/EndEffector.cpp b/dart/dynamics/EndEffector.cpp
index 1eb7d37c42f95..cfca866218759 100644
--- a/dart/dynamics/EndEffector.cpp
+++ b/dart/dynamics/EndEffector.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/Console.h"
-#include "dart/dynamics/EndEffector.h"
-#include "dart/dynamics/BodyNode.h"
+#include "dart/common/Console.hpp"
+#include "dart/dynamics/EndEffector.hpp"
+#include "dart/dynamics/BodyNode.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/EndEffector.h b/dart/dynamics/EndEffector.hpp
similarity index 93%
rename from dart/dynamics/EndEffector.h
rename to dart/dynamics/EndEffector.hpp
index fc81af30a4b03..e954b22ed8046 100644
--- a/dart/dynamics/EndEffector.h
+++ b/dart/dynamics/EndEffector.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_ENDEFFECTOR_H_
-#define DART_DYNAMICS_ENDEFFECTOR_H_
+#ifndef DART_DYNAMICS_ENDEFFECTOR_HPP_
+#define DART_DYNAMICS_ENDEFFECTOR_HPP_
 
-#include "dart/common/Aspect.h"
-#include "dart/common/SpecializedForAspect.h"
-#include "dart/common/AspectWithVersion.h"
-#include "dart/dynamics/FixedJacobianNode.h"
-#include "dart/dynamics/CompositeNode.h"
-#include "dart/dynamics/detail/EndEffectorAspect.h"
+#include "dart/common/Aspect.hpp"
+#include "dart/common/SpecializedForAspect.hpp"
+#include "dart/common/AspectWithVersion.hpp"
+#include "dart/dynamics/FixedJacobianNode.hpp"
+#include "dart/dynamics/CompositeNode.hpp"
+#include "dart/dynamics/detail/EndEffectorAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -172,4 +172,4 @@ class EndEffector final :
 } // namespace dart
 
 
-#endif // DART_DYNAMICS_ENDEFFECTOR_H_
+#endif // DART_DYNAMICS_ENDEFFECTOR_HPP_
diff --git a/dart/dynamics/Entity.cpp b/dart/dynamics/Entity.cpp
index 7970245cb31b0..48b9a663c2e09 100644
--- a/dart/dynamics/Entity.cpp
+++ b/dart/dynamics/Entity.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/Entity.h"
+#include "dart/dynamics/Entity.hpp"
 
-#include "dart/common/Console.h"
-#include "dart/common/StlHelpers.h"
-#include "dart/dynamics/Frame.h"
-#include "dart/dynamics/Shape.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/StlHelpers.hpp"
+#include "dart/dynamics/Frame.hpp"
+#include "dart/dynamics/Shape.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/Entity.h b/dart/dynamics/Entity.hpp
similarity index 96%
rename from dart/dynamics/Entity.h
rename to dart/dynamics/Entity.hpp
index 3e42e884c6cc9..29bb5a6048a42 100644
--- a/dart/dynamics/Entity.h
+++ b/dart/dynamics/Entity.hpp
@@ -34,18 +34,18 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_ENTITY_H_
-#define DART_DYNAMICS_ENTITY_H_
+#ifndef DART_DYNAMICS_ENTITY_HPP_
+#define DART_DYNAMICS_ENTITY_HPP_
 
 #include <Eigen/Core>
 #include <string>
 #include <vector>
 
-#include "dart/common/Subject.h"
-#include "dart/common/Signal.h"
-#include "dart/common/Composite.h"
-#include "dart/dynamics/Shape.h"
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/common/Subject.hpp"
+#include "dart/common/Signal.hpp"
+#include "dart/common/Composite.hpp"
+#include "dart/dynamics/Shape.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -231,4 +231,4 @@ class Detachable : public virtual Entity
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_ENTITY_H_
+#endif // DART_DYNAMICS_ENTITY_HPP_
diff --git a/dart/dynamics/EntityNode.h b/dart/dynamics/EntityNode.hpp
similarity index 92%
rename from dart/dynamics/EntityNode.h
rename to dart/dynamics/EntityNode.hpp
index 0db68633b6984..39629a2b542ad 100644
--- a/dart/dynamics/EntityNode.h
+++ b/dart/dynamics/EntityNode.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_ENTITYNODE_H_
-#define DART_DYNAMICS_ENTITYNODE_H_
+#ifndef DART_DYNAMICS_ENTITYNODE_HPP_
+#define DART_DYNAMICS_ENTITYNODE_HPP_
 
-#include "dart/dynamics/detail/EntityNodeAspect.h"
+#include "dart/dynamics/detail/EntityNodeAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -77,6 +77,6 @@ class EntityNode : public detail::EntityNodeBase<
 } // namespace dynamics
 } // namespace dart
 
-#include "dart/dynamics/detail/EntityNode.h"
+#include "dart/dynamics/detail/EntityNode.hpp"
 
-#endif // DART_DYNAMICS_ENTITYNODE_H_
+#endif // DART_DYNAMICS_ENTITYNODE_HPP_
diff --git a/dart/dynamics/EulerJoint.cpp b/dart/dynamics/EulerJoint.cpp
index b6e9aea1c3dd4..324da0ef2a4b7 100644
--- a/dart/dynamics/EulerJoint.cpp
+++ b/dart/dynamics/EulerJoint.cpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/EulerJoint.h"
+#include "dart/dynamics/EulerJoint.hpp"
 
 #include <string>
 
-#include "dart/common/Console.h"
-#include "dart/math/Geometry.h"
-#include "dart/dynamics/DegreeOfFreedom.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/EulerJoint.h b/dart/dynamics/EulerJoint.hpp
similarity index 97%
rename from dart/dynamics/EulerJoint.h
rename to dart/dynamics/EulerJoint.hpp
index 51b147c693e5f..f30ef1be69ba4 100644
--- a/dart/dynamics/EulerJoint.h
+++ b/dart/dynamics/EulerJoint.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_EULERJOINT_H_
-#define DART_DYNAMICS_EULERJOINT_H_
+#ifndef DART_DYNAMICS_EULERJOINT_HPP_
+#define DART_DYNAMICS_EULERJOINT_HPP_
 
-#include "dart/dynamics/detail/EulerJointAspect.h"
+#include "dart/dynamics/detail/EulerJointAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -181,4 +181,4 @@ class EulerJoint : public detail::EulerJointBase
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_EULERJOINT_H_
+#endif  // DART_DYNAMICS_EULERJOINT_HPP_
diff --git a/dart/dynamics/FixedFrame.cpp b/dart/dynamics/FixedFrame.cpp
index 6345d0b431aed..6aa2bd1ef1ee6 100644
--- a/dart/dynamics/FixedFrame.cpp
+++ b/dart/dynamics/FixedFrame.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "FixedFrame.h"
+#include "dart/dynamics/FixedFrame.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/FixedFrame.h b/dart/dynamics/FixedFrame.hpp
similarity index 92%
rename from dart/dynamics/FixedFrame.h
rename to dart/dynamics/FixedFrame.hpp
index ab4358da42781..bfca906169cf4 100644
--- a/dart/dynamics/FixedFrame.h
+++ b/dart/dynamics/FixedFrame.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_FIXEDFRAME_H_
-#define DART_DYNAMICS_FIXEDFRAME_H_
+#ifndef DART_DYNAMICS_FIXEDFRAME_HPP_
+#define DART_DYNAMICS_FIXEDFRAME_HPP_
 
-#include "dart/dynamics/Frame.h"
-#include "dart/common/EmbeddedAspect.h"
-#include "dart/common/VersionCounter.h"
-#include "dart/dynamics/detail/FixedFrameAspect.h"
+#include "dart/dynamics/Frame.hpp"
+#include "dart/common/EmbeddedAspect.hpp"
+#include "dart/common/VersionCounter.hpp"
+#include "dart/dynamics/detail/FixedFrameAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -104,4 +104,4 @@ class FixedFrame :
 } // namespace dart
 
 
-#endif // DART_DYNAMICS_FIXEDFRAME_H_
+#endif // DART_DYNAMICS_FIXEDFRAME_HPP_
diff --git a/dart/dynamics/FixedJacobianNode.cpp b/dart/dynamics/FixedJacobianNode.cpp
index 0a87f5bc45dac..ab3d7710f95a0 100644
--- a/dart/dynamics/FixedJacobianNode.cpp
+++ b/dart/dynamics/FixedJacobianNode.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/FixedJacobianNode.h"
-#include "dart/dynamics/BodyNode.h"
+#include "dart/dynamics/FixedJacobianNode.hpp"
+#include "dart/dynamics/BodyNode.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/FixedJacobianNode.h b/dart/dynamics/FixedJacobianNode.hpp
similarity index 96%
rename from dart/dynamics/FixedJacobianNode.h
rename to dart/dynamics/FixedJacobianNode.hpp
index f84b3c297af9c..78ee4aeda4517 100644
--- a/dart/dynamics/FixedJacobianNode.h
+++ b/dart/dynamics/FixedJacobianNode.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_FIXEDJACOBIANNODE_H_
-#define DART_DYNAMICS_FIXEDJACOBIANNODE_H_
+#ifndef DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_
+#define DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_
 
-#include "dart/dynamics/detail/FixedJacobianNode.h"
+#include "dart/dynamics/detail/FixedJacobianNode.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -175,4 +175,4 @@ class FixedJacobianNode :
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_FIXEDJACOBIANNODE_H_
+#endif // DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_
diff --git a/dart/dynamics/Frame.cpp b/dart/dynamics/Frame.cpp
index d97c48e647504..8c331844dc53d 100644
--- a/dart/dynamics/Frame.cpp
+++ b/dart/dynamics/Frame.cpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/Frame.h"
+#include "dart/dynamics/Frame.hpp"
 
-#include "dart/common/Console.h"
-#include "dart/dynamics/Shape.h"
+#include "dart/common/Console.hpp"
+#include "dart/dynamics/Shape.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/Frame.h b/dart/dynamics/Frame.hpp
similarity index 98%
rename from dart/dynamics/Frame.h
rename to dart/dynamics/Frame.hpp
index d8178b700799c..23aa7fae7768d 100644
--- a/dart/dynamics/Frame.h
+++ b/dart/dynamics/Frame.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_FRAME_H_
-#define DART_DYNAMICS_FRAME_H_
+#ifndef DART_DYNAMICS_FRAME_HPP_
+#define DART_DYNAMICS_FRAME_HPP_
 
 #include <set>
 
 #include <Eigen/Geometry>
 
-#include "dart/dynamics/Entity.h"
-#include "dart/math/MathTypes.h"
+#include "dart/dynamics/Entity.hpp"
+#include "dart/math/MathTypes.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -369,4 +369,4 @@ class WorldFrame : public Frame
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_FRAME_H_
+#endif // DART_DYNAMICS_FRAME_HPP_
diff --git a/dart/dynamics/FreeJoint.cpp b/dart/dynamics/FreeJoint.cpp
index a72c5cc85b4c1..8e4c04d9e14e1 100644
--- a/dart/dynamics/FreeJoint.cpp
+++ b/dart/dynamics/FreeJoint.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/FreeJoint.h"
+#include "dart/dynamics/FreeJoint.hpp"
 
 #include <string>
 
-#include "dart/math/Helpers.h"
-#include "dart/math/Geometry.h"
+#include "dart/math/Helpers.hpp"
+#include "dart/math/Geometry.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/FreeJoint.h b/dart/dynamics/FreeJoint.hpp
similarity index 98%
rename from dart/dynamics/FreeJoint.h
rename to dart/dynamics/FreeJoint.hpp
index 8b20be0c8b3e1..6d11c5796cb91 100644
--- a/dart/dynamics/FreeJoint.h
+++ b/dart/dynamics/FreeJoint.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_FREEJOINT_H_
-#define DART_DYNAMICS_FREEJOINT_H_
+#ifndef DART_DYNAMICS_FREEJOINT_HPP_
+#define DART_DYNAMICS_FREEJOINT_HPP_
 
 #include <string>
 
 #include <Eigen/Dense>
 
-#include "dart/dynamics/MultiDofJoint.h"
+#include "dart/dynamics/MultiDofJoint.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -311,4 +311,4 @@ class FreeJoint : public MultiDofJoint<6>
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_FREEJOINT_H_
+#endif  // DART_DYNAMICS_FREEJOINT_HPP_
diff --git a/dart/dynamics/Group.cpp b/dart/dynamics/Group.cpp
index aff4fc6bd6a34..ba3ddc644960f 100644
--- a/dart/dynamics/Group.cpp
+++ b/dart/dynamics/Group.cpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/Console.h"
-#include "dart/dynamics/Group.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/DegreeOfFreedom.h"
+#include "dart/common/Console.hpp"
+#include "dart/dynamics/Group.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/Group.h b/dart/dynamics/Group.hpp
similarity index 98%
rename from dart/dynamics/Group.h
rename to dart/dynamics/Group.hpp
index 69112fa7fb287..085077f7b9de0 100644
--- a/dart/dynamics/Group.h
+++ b/dart/dynamics/Group.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/ReferentialSkeleton.h"
+#include "dart/dynamics/ReferentialSkeleton.hpp"
 
-#ifndef DART_DYNAMICS_GROUP_H_
-#define DART_DYNAMICS_GROUP_H_
+#ifndef DART_DYNAMICS_GROUP_HPP_
+#define DART_DYNAMICS_GROUP_HPP_
 
 namespace dart {
 namespace dynamics {
@@ -248,4 +248,4 @@ class Group : public ReferentialSkeleton
 } // dynamics
 } // dart
 
-#endif // DART_DYNAMICS_GROUP_H_
+#endif // DART_DYNAMICS_GROUP_HPP_
diff --git a/dart/dynamics/HierarchicalIK.cpp b/dart/dynamics/HierarchicalIK.cpp
index 2ef782aac608b..2cb87c57e3ae3 100644
--- a/dart/dynamics/HierarchicalIK.cpp
+++ b/dart/dynamics/HierarchicalIK.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/DegreeOfFreedom.h"
-#include "dart/dynamics/HierarchicalIK.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/EndEffector.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/optimizer/GradientDescentSolver.h"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
+#include "dart/dynamics/HierarchicalIK.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/EndEffector.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/optimizer/GradientDescentSolver.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/HierarchicalIK.h b/dart/dynamics/HierarchicalIK.hpp
similarity index 98%
rename from dart/dynamics/HierarchicalIK.h
rename to dart/dynamics/HierarchicalIK.hpp
index 85bf9f071ef50..bfad14c6cfd55 100644
--- a/dart/dynamics/HierarchicalIK.h
+++ b/dart/dynamics/HierarchicalIK.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_HIERARCHICALIK_H_
-#define DART_DYNAMICS_HIERARCHICALIK_H_
+#ifndef DART_DYNAMICS_HIERARCHICALIK_HPP_
+#define DART_DYNAMICS_HIERARCHICALIK_HPP_
 
 #include <unordered_set>
 
-#include "dart/dynamics/InverseKinematics.h"
+#include "dart/dynamics/InverseKinematics.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -392,4 +392,4 @@ class WholeBodyIK : public HierarchicalIK
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_HIERARCHICALIK_H_
+#endif // DART_DYNAMICS_HIERARCHICALIK_HPP_
diff --git a/dart/dynamics/Inertia.cpp b/dart/dynamics/Inertia.cpp
index 73da1231f1999..7a15b3afd828c 100644
--- a/dart/dynamics/Inertia.cpp
+++ b/dart/dynamics/Inertia.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/Inertia.h"
-#include "dart/common/Console.h"
-#include "dart/math/Geometry.h"
+#include "dart/dynamics/Inertia.hpp"
+#include "dart/common/Console.hpp"
+#include "dart/math/Geometry.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/Inertia.h b/dart/dynamics/Inertia.hpp
similarity index 97%
rename from dart/dynamics/Inertia.h
rename to dart/dynamics/Inertia.hpp
index 92f43856786d1..296b3ee1943e8 100644
--- a/dart/dynamics/Inertia.h
+++ b/dart/dynamics/Inertia.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_INERTIA_H_
-#define DART_DYNAMICS_INERTIA_H_
+#ifndef DART_DYNAMICS_INERTIA_HPP_
+#define DART_DYNAMICS_INERTIA_HPP_
 
 #include <array>
 
-#include "dart/math/MathTypes.h"
+#include "dart/math/MathTypes.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -154,4 +154,4 @@ class Inertia
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_INERTIA_H_
+#endif // DART_DYNAMICS_INERTIA_HPP_
diff --git a/dart/dynamics/InvalidIndex.h b/dart/dynamics/InvalidIndex.hpp
similarity index 94%
rename from dart/dynamics/InvalidIndex.h
rename to dart/dynamics/InvalidIndex.hpp
index e7105f471f080..e5895321bd7f0 100644
--- a/dart/dynamics/InvalidIndex.h
+++ b/dart/dynamics/InvalidIndex.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_INVALIDINDEX_H_
-#define DART_DYNAMICS_INVALIDINDEX_H_
+#ifndef DART_DYNAMICS_INVALIDINDEX_HPP_
+#define DART_DYNAMICS_INVALIDINDEX_HPP_
 
 #include <cstddef>
 
@@ -47,4 +47,4 @@ constexpr std::size_t INVALID_INDEX = static_cast<std::size_t>(-1);
 }  // namespace dynamics
 }  // namespace dart
 
-#endif // DART_DYNAMICS_INVALIDINDEX_H_
+#endif // DART_DYNAMICS_INVALIDINDEX_HPP_
diff --git a/dart/dynamics/InverseKinematics.cpp b/dart/dynamics/InverseKinematics.cpp
index d2679e3840649..51455dc0e0ee3 100644
--- a/dart/dynamics/InverseKinematics.cpp
+++ b/dart/dynamics/InverseKinematics.cpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/InverseKinematics.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/DegreeOfFreedom.h"
-#include "dart/dynamics/SimpleFrame.h"
-#include "dart/optimizer/GradientDescentSolver.h"
+#include "dart/dynamics/InverseKinematics.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
+#include "dart/optimizer/GradientDescentSolver.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/InverseKinematics.h b/dart/dynamics/InverseKinematics.hpp
similarity index 98%
rename from dart/dynamics/InverseKinematics.h
rename to dart/dynamics/InverseKinematics.hpp
index bd2f47307bb10..59ac99c7af7e0 100644
--- a/dart/dynamics/InverseKinematics.h
+++ b/dart/dynamics/InverseKinematics.hpp
@@ -34,23 +34,23 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_INVERSEKINEMATICS_H_
-#define DART_DYNAMICS_INVERSEKINEMATICS_H_
+#ifndef DART_DYNAMICS_INVERSEKINEMATICS_HPP_
+#define DART_DYNAMICS_INVERSEKINEMATICS_HPP_
 
 #include <memory>
 #include <functional>
 
 #include <Eigen/SVD>
 
-#include "dart/common/sub_ptr.h"
-#include "dart/common/Signal.h"
-#include "dart/common/Subject.h"
-#include "dart/math/Geometry.h"
-#include "dart/optimizer/Solver.h"
-#include "dart/optimizer/Problem.h"
-#include "dart/optimizer/Function.h"
-#include "dart/dynamics/SmartPointer.h"
-#include "dart/dynamics/JacobianNode.h"
+#include "dart/common/sub_ptr.hpp"
+#include "dart/common/Signal.hpp"
+#include "dart/common/Subject.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/optimizer/Solver.hpp"
+#include "dart/optimizer/Problem.hpp"
+#include "dart/optimizer/Function.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
+#include "dart/dynamics/JacobianNode.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -1299,6 +1299,6 @@ class InverseKinematics::Constraint final :
 } // namespace dynamics
 } // namespace dart
 
-#include "dart/dynamics/detail/InverseKinematics.h"
+#include "dart/dynamics/detail/InverseKinematics.hpp"
 
-#endif // DART_DYNAMICS_INVERSEKINEMATICS_H_
+#endif // DART_DYNAMICS_INVERSEKINEMATICS_HPP_
diff --git a/dart/dynamics/JacobianNode.cpp b/dart/dynamics/JacobianNode.cpp
index 1e193054acf06..1cd2838958fcf 100644
--- a/dart/dynamics/JacobianNode.cpp
+++ b/dart/dynamics/JacobianNode.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/JacobianNode.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/InverseKinematics.h"
+#include "dart/dynamics/JacobianNode.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/InverseKinematics.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/JacobianNode.h b/dart/dynamics/JacobianNode.hpp
similarity index 98%
rename from dart/dynamics/JacobianNode.h
rename to dart/dynamics/JacobianNode.hpp
index a0c56eb5311d5..e76b799d7ffb5 100644
--- a/dart/dynamics/JacobianNode.h
+++ b/dart/dynamics/JacobianNode.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_JACOBIANNODE_H_
-#define DART_DYNAMICS_JACOBIANNODE_H_
+#ifndef DART_DYNAMICS_JACOBIANNODE_HPP_
+#define DART_DYNAMICS_JACOBIANNODE_HPP_
 
 #include <memory>
 #include <unordered_set>
 
-#include "dart/dynamics/Frame.h"
-#include "dart/dynamics/Node.h"
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/dynamics/Frame.hpp"
+#include "dart/dynamics/Node.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -302,4 +302,4 @@ class JacobianNode : public virtual Frame, public Node
 } // namespace dart
 } // namespace dynamics
 
-#endif // DART_DYNAMICS_JACOBIANNODE_H_
+#endif // DART_DYNAMICS_JACOBIANNODE_HPP_
diff --git a/dart/dynamics/Joint.cpp b/dart/dynamics/Joint.cpp
index 47e6461002e3c..305cdf8a20356 100644
--- a/dart/dynamics/Joint.cpp
+++ b/dart/dynamics/Joint.cpp
@@ -35,15 +35,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/Joint.h"
+#include "dart/dynamics/Joint.hpp"
 
 #include <string>
 
-#include "dart/common/Console.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/DegreeOfFreedom.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/Joint.h b/dart/dynamics/Joint.hpp
similarity index 98%
rename from dart/dynamics/Joint.h
rename to dart/dynamics/Joint.hpp
index e20e588393ab1..3d4dcce87c0f8 100644
--- a/dart/dynamics/Joint.h
+++ b/dart/dynamics/Joint.hpp
@@ -35,19 +35,19 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_JOINT_H_
-#define DART_DYNAMICS_JOINT_H_
+#ifndef DART_DYNAMICS_JOINT_HPP_
+#define DART_DYNAMICS_JOINT_HPP_
 
 #include <string>
 #include <vector>
 #include <memory>
 
-#include "dart/common/Subject.h"
-#include "dart/common/VersionCounter.h"
-#include "dart/common/EmbeddedAspect.h"
-#include "dart/math/MathTypes.h"
-#include "dart/dynamics/SmartPointer.h"
-#include "dart/dynamics/detail/JointAspect.h"
+#include "dart/common/Subject.hpp"
+#include "dart/common/VersionCounter.hpp"
+#include "dart/common/EmbeddedAspect.hpp"
+#include "dart/math/MathTypes.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
+#include "dart/dynamics/detail/JointAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -894,4 +894,4 @@ class Joint : public virtual common::Subject,
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_JOINT_H_
+#endif  // DART_DYNAMICS_JOINT_HPP_
diff --git a/dart/dynamics/LineSegmentShape.cpp b/dart/dynamics/LineSegmentShape.cpp
index 8823284a939f9..751401fa62920 100644
--- a/dart/dynamics/LineSegmentShape.cpp
+++ b/dart/dynamics/LineSegmentShape.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/LineSegmentShape.h"
-#include "dart/common/Console.h"
-#include "dart/math/Geometry.h"
+#include "dart/dynamics/LineSegmentShape.hpp"
+#include "dart/common/Console.hpp"
+#include "dart/math/Geometry.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/LineSegmentShape.h b/dart/dynamics/LineSegmentShape.hpp
similarity index 96%
rename from dart/dynamics/LineSegmentShape.h
rename to dart/dynamics/LineSegmentShape.hpp
index d9e079401d02f..996cfce973596 100644
--- a/dart/dynamics/LineSegmentShape.h
+++ b/dart/dynamics/LineSegmentShape.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_LINESEGMENTSHAPE_H_
-#define DART_DYNAMICS_LINESEGMENTSHAPE_H_
+#ifndef DART_DYNAMICS_LINESEGMENTSHAPE_HPP_
+#define DART_DYNAMICS_LINESEGMENTSHAPE_HPP_
 
-#include "dart/dynamics/Shape.h"
+#include "dart/dynamics/Shape.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -128,4 +128,4 @@ class LineSegmentShape : public Shape
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_LINESEGMENTSHAPE_H_
+#endif // DART_DYNAMICS_LINESEGMENTSHAPE_HPP_
diff --git a/dart/dynamics/Linkage.cpp b/dart/dynamics/Linkage.cpp
index 1062fb5ef2973..64197c27f5c65 100644
--- a/dart/dynamics/Linkage.cpp
+++ b/dart/dynamics/Linkage.cpp
@@ -37,8 +37,8 @@
 #include <algorithm>
 #include <unordered_set>
 
-#include "dart/dynamics/Linkage.h"
-#include "dart/dynamics/FreeJoint.h"
+#include "dart/dynamics/Linkage.hpp"
+#include "dart/dynamics/FreeJoint.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/Linkage.h b/dart/dynamics/Linkage.hpp
similarity index 98%
rename from dart/dynamics/Linkage.h
rename to dart/dynamics/Linkage.hpp
index 2d6473d77fa25..6647f9c53f230 100644
--- a/dart/dynamics/Linkage.h
+++ b/dart/dynamics/Linkage.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_LINKAGE_H_
-#define DART_DYNAMICS_LINKAGE_H_
+#ifndef DART_DYNAMICS_LINKAGE_HPP_
+#define DART_DYNAMICS_LINKAGE_HPP_
 
-#include "ReferentialSkeleton.h"
+#include "dart/dynamics/ReferentialSkeleton.hpp"
 #include <unordered_set>
 
 namespace dart {
@@ -201,4 +201,4 @@ class Linkage : public ReferentialSkeleton
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_LINKAGE_H_
+#endif // DART_DYNAMICS_LINKAGE_HPP_
diff --git a/dart/dynamics/Marker.cpp b/dart/dynamics/Marker.cpp
index 2eae141806a6c..57522855fa5a1 100644
--- a/dart/dynamics/Marker.cpp
+++ b/dart/dynamics/Marker.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/Marker.h"
+#include "dart/dynamics/Marker.hpp"
 
-#include "dart/dynamics/BodyNode.h"
+#include "dart/dynamics/BodyNode.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/Marker.h b/dart/dynamics/Marker.hpp
similarity index 94%
rename from dart/dynamics/Marker.h
rename to dart/dynamics/Marker.hpp
index 0b1ad100f2bc0..f2e65a26637a1 100644
--- a/dart/dynamics/Marker.h
+++ b/dart/dynamics/Marker.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_MARKER_H_
-#define DART_DYNAMICS_MARKER_H_
+#ifndef DART_DYNAMICS_MARKER_HPP_
+#define DART_DYNAMICS_MARKER_HPP_
 
 #include <Eigen/Dense>
-#include "dart/common/Deprecated.h"
-#include "dart/dynamics/detail/MarkerAspect.h"
-#include "dart/dynamics/FixedJacobianNode.h"
+#include "dart/common/Deprecated.hpp"
+#include "dart/dynamics/detail/MarkerAspect.hpp"
+#include "dart/dynamics/FixedJacobianNode.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -134,4 +134,4 @@ class Marker final :
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_MARKER_H_
+#endif  // DART_DYNAMICS_MARKER_HPP_
diff --git a/dart/dynamics/MeshShape.cpp b/dart/dynamics/MeshShape.cpp
index 38bd517b9f986..2e4c777ddc5c2 100644
--- a/dart/dynamics/MeshShape.cpp
+++ b/dart/dynamics/MeshShape.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/MeshShape.h"
+#include "dart/dynamics/MeshShape.hpp"
 
 #include <limits>
 #include <string>
@@ -44,11 +44,11 @@
 #include <assimp/postprocess.h>
 #include <assimp/cimport.h>
 
-#include "dart/config.h"
-#include "dart/common/Console.h"
-#include "dart/common/LocalResourceRetriever.h"
-#include "dart/common/Uri.h"
-#include "dart/dynamics/AssimpInputResourceAdaptor.h"
+#include "dart/config.hpp"
+#include "dart/common/Console.hpp"
+#include "dart/common/LocalResourceRetriever.hpp"
+#include "dart/common/Uri.hpp"
+#include "dart/dynamics/AssimpInputResourceAdaptor.hpp"
 
 #if !(ASSIMP_AISCENE_CTOR_DTOR_DEFINED)
 // We define our own constructor and destructor for aiScene, because it seems to
diff --git a/dart/dynamics/MeshShape.h b/dart/dynamics/MeshShape.hpp
similarity index 96%
rename from dart/dynamics/MeshShape.h
rename to dart/dynamics/MeshShape.hpp
index dcaa896121d88..35ab8c7121b5f 100644
--- a/dart/dynamics/MeshShape.h
+++ b/dart/dynamics/MeshShape.hpp
@@ -35,15 +35,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_MESHSHAPE_H_
-#define DART_DYNAMICS_MESHSHAPE_H_
+#ifndef DART_DYNAMICS_MESHSHAPE_HPP_
+#define DART_DYNAMICS_MESHSHAPE_HPP_
 
 #include <string>
 
 #include <assimp/scene.h>
 
-#include "dart/dynamics/Shape.h"
-#include "dart/common/ResourceRetriever.h"
+#include "dart/dynamics/Shape.hpp"
+#include "dart/common/ResourceRetriever.hpp"
 
 namespace Assimp {
 
@@ -175,4 +175,4 @@ class MeshShape : public Shape {
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_MESHSHAPE_H_
+#endif  // DART_DYNAMICS_MESHSHAPE_HPP_
diff --git a/dart/dynamics/MetaSkeleton.cpp b/dart/dynamics/MetaSkeleton.cpp
index 144a5cdf0a273..effa7ca8a15c1 100644
--- a/dart/dynamics/MetaSkeleton.cpp
+++ b/dart/dynamics/MetaSkeleton.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/Console.h"
-#include "dart/dynamics/MetaSkeleton.h"
-#include "dart/dynamics/DegreeOfFreedom.h"
+#include "dart/common/Console.hpp"
+#include "dart/dynamics/MetaSkeleton.hpp"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/MetaSkeleton.h b/dart/dynamics/MetaSkeleton.hpp
similarity index 98%
rename from dart/dynamics/MetaSkeleton.h
rename to dart/dynamics/MetaSkeleton.hpp
index 9127f3a12ad07..c78b9faa19be3 100644
--- a/dart/dynamics/MetaSkeleton.h
+++ b/dart/dynamics/MetaSkeleton.hpp
@@ -34,19 +34,19 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_METASKELETON_H_
-#define DART_DYNAMICS_METASKELETON_H_
+#ifndef DART_DYNAMICS_METASKELETON_HPP_
+#define DART_DYNAMICS_METASKELETON_HPP_
 
 #include <vector>
 #include <string>
 
 #include <Eigen/Dense>
 
-#include "dart/common/Signal.h"
-#include "dart/common/Subject.h"
-#include "dart/math/Geometry.h"
-#include "dart/dynamics/Frame.h"
-#include "dart/dynamics/InvalidIndex.h"
+#include "dart/common/Signal.hpp"
+#include "dart/common/Subject.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/dynamics/Frame.hpp"
+#include "dart/dynamics/InvalidIndex.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -628,4 +628,4 @@ class MetaSkeleton : public common::Subject
 } // namespace dart
 
 
-#endif // DART_DYNAMICS_METASKELETON_H_
+#endif // DART_DYNAMICS_METASKELETON_HPP_
diff --git a/dart/dynamics/MultiDofJoint.h b/dart/dynamics/MultiDofJoint.hpp
similarity index 97%
rename from dart/dynamics/MultiDofJoint.h
rename to dart/dynamics/MultiDofJoint.hpp
index 2b8157e891449..78d3162496bcd 100644
--- a/dart/dynamics/MultiDofJoint.h
+++ b/dart/dynamics/MultiDofJoint.hpp
@@ -34,21 +34,21 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_MULTIDOFJOINT_H_
-#define DART_DYNAMICS_MULTIDOFJOINT_H_
+#ifndef DART_DYNAMICS_MULTIDOFJOINT_HPP_
+#define DART_DYNAMICS_MULTIDOFJOINT_HPP_
 
 #include <string>
 #include <array>
 
-#include "dart/config.h"
-#include "dart/common/Console.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/DegreeOfFreedom.h"
-#include "dart/common/RequiresAspect.h"
-#include "dart/dynamics/detail/MultiDofJointAspect.h"
+#include "dart/config.hpp"
+#include "dart/common/Console.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
+#include "dart/common/RequiresAspect.hpp"
+#include "dart/dynamics/detail/MultiDofJointAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -752,6 +752,6 @@ class MultiDofJoint : public detail::MultiDofJointBase< MultiDofJoint<DOF>, DOF
 }  // namespace dynamics
 }  // namespace dart
 
-#include "dart/dynamics/detail/MultiDofJoint.h"
+#include "dart/dynamics/detail/MultiDofJoint.hpp"
 
-#endif  // DART_DYNAMICS_MULTIDOFJOINT_H_
+#endif  // DART_DYNAMICS_MULTIDOFJOINT_HPP_
diff --git a/dart/dynamics/Node.cpp b/dart/dynamics/Node.cpp
index 5c26beda2e248..a0e5e457a7fb6 100644
--- a/dart/dynamics/Node.cpp
+++ b/dart/dynamics/Node.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/Node.h"
-#include "dart/dynamics/BodyNode.h"
+#include "dart/dynamics/Node.hpp"
+#include "dart/dynamics/BodyNode.hpp"
 
 #define REPORT_INVALID_NODE( func )                                          \
   dterr << "[Node::" #func "] This Node was not constructed correctly. It "  \
diff --git a/dart/dynamics/Node.h b/dart/dynamics/Node.hpp
similarity index 96%
rename from dart/dynamics/Node.h
rename to dart/dynamics/Node.hpp
index 4a6aeb2b01604..157f1a9ba9718 100644
--- a/dart/dynamics/Node.h
+++ b/dart/dynamics/Node.hpp
@@ -34,17 +34,17 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_NODE_H_
-#define DART_DYNAMICS_NODE_H_
+#ifndef DART_DYNAMICS_NODE_HPP_
+#define DART_DYNAMICS_NODE_HPP_
 
 #include <memory>
 
-#include "dart/common/Subject.h"
-#include "dart/common/Cloneable.h"
-#include "dart/common/VersionCounter.h"
-#include "dart/common/EmbeddedAspect.h"
+#include "dart/common/Subject.hpp"
+#include "dart/common/Cloneable.hpp"
+#include "dart/common/VersionCounter.hpp"
+#include "dart/common/EmbeddedAspect.hpp"
 
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -273,6 +273,6 @@ class AccessoryNode
 } // namespace dynamics
 } // namespace dart
 
-#include "dart/dynamics/detail/Node.h"
+#include "dart/dynamics/detail/Node.hpp"
 
-#endif // DART_DYNAMICS_NODE_H_
+#endif // DART_DYNAMICS_NODE_HPP_
diff --git a/dart/dynamics/NodeManagerJoiner.h b/dart/dynamics/NodeManagerJoiner.hpp
similarity index 96%
rename from dart/dynamics/NodeManagerJoiner.h
rename to dart/dynamics/NodeManagerJoiner.hpp
index e1faf7aca495c..f3a08fbeb1486 100644
--- a/dart/dynamics/NodeManagerJoiner.h
+++ b/dart/dynamics/NodeManagerJoiner.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_NODEMANAGERJOINER_H_
-#define DART_DYNAMICS_NODEMANAGERJOINER_H_
+#ifndef DART_DYNAMICS_NODEMANAGERJOINER_HPP_
+#define DART_DYNAMICS_NODEMANAGERJOINER_HPP_
 
 #include <string>
 
-#include "dart/common/Empty.h"
+#include "dart/common/Empty.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -185,6 +185,6 @@ class NodeManagerJoinerForSkeleton<Base1, Base2, OtherBases...> :
 } // namespace dynamics
 } // namespace dart
 
-#include "dart/dynamics/detail/NodeManagerJoiner.h"
+#include "dart/dynamics/detail/NodeManagerJoiner.hpp"
 
-#endif // DART_DYNAMICS_NODEMANAGERJOINER_H_
+#endif // DART_DYNAMICS_NODEMANAGERJOINER_HPP_
diff --git a/dart/dynamics/PlanarJoint.cpp b/dart/dynamics/PlanarJoint.cpp
index 8ab3e65d11515..7cc172f9aca3c 100644
--- a/dart/dynamics/PlanarJoint.cpp
+++ b/dart/dynamics/PlanarJoint.cpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/PlanarJoint.h"
+#include "dart/dynamics/PlanarJoint.hpp"
 
 #include <string>
 
-#include "dart/common/Console.h"
-#include "dart/math/Geometry.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/DegreeOfFreedom.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/PlanarJoint.h b/dart/dynamics/PlanarJoint.hpp
similarity index 96%
rename from dart/dynamics/PlanarJoint.h
rename to dart/dynamics/PlanarJoint.hpp
index 5956bba9cf093..8603fdbe3d4fd 100644
--- a/dart/dynamics/PlanarJoint.h
+++ b/dart/dynamics/PlanarJoint.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_PLANARRJOINT_H_
-#define DART_DYNAMICS_PLANARRJOINT_H_
+#ifndef DART_DYNAMICS_PLANARRJOINT_HPP_
+#define DART_DYNAMICS_PLANARRJOINT_HPP_
 
-#include "dart/dynamics/detail/PlanarJointAspect.h"
+#include "dart/dynamics/detail/PlanarJointAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -165,5 +165,5 @@ class PlanarJoint : public detail::PlanarJointBase
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_PLANARRJOINT_H_
+#endif  // DART_DYNAMICS_PLANARRJOINT_HPP_
 
diff --git a/dart/dynamics/PlaneShape.cpp b/dart/dynamics/PlaneShape.cpp
index 19e871a4c9e4b..e8ea631bd2d15 100644
--- a/dart/dynamics/PlaneShape.cpp
+++ b/dart/dynamics/PlaneShape.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/PlaneShape.h"
+#include "dart/dynamics/PlaneShape.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/PlaneShape.h b/dart/dynamics/PlaneShape.hpp
similarity index 95%
rename from dart/dynamics/PlaneShape.h
rename to dart/dynamics/PlaneShape.hpp
index c4317491d0d7e..a48b786716438 100644
--- a/dart/dynamics/PlaneShape.h
+++ b/dart/dynamics/PlaneShape.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_PLANESHAPE_H_
-#define DART_DYNAMICS_PLANESHAPE_H_
+#ifndef DART_DYNAMICS_PLANESHAPE_HPP_
+#define DART_DYNAMICS_PLANESHAPE_HPP_
 
-#include "dart/dynamics/Shape.h"
+#include "dart/dynamics/Shape.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -98,4 +98,4 @@ class PlaneShape : public Shape
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_PLANESHAPE_H_
+#endif  // DART_DYNAMICS_PLANESHAPE_HPP_
diff --git a/dart/dynamics/PointMass.cpp b/dart/dynamics/PointMass.cpp
index fb103c3437fdc..36bdedeaf0668 100644
--- a/dart/dynamics/PointMass.cpp
+++ b/dart/dynamics/PointMass.cpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/PointMass.h"
+#include "dart/dynamics/PointMass.hpp"
 
-#include "dart/common/Console.h"
-#include "dart/math/Geometry.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/dynamics/SoftBodyNode.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
 
 using namespace Eigen;
 
diff --git a/dart/dynamics/PointMass.h b/dart/dynamics/PointMass.hpp
similarity index 99%
rename from dart/dynamics/PointMass.h
rename to dart/dynamics/PointMass.hpp
index fa3dd995d5dba..a81b9615738af 100644
--- a/dart/dynamics/PointMass.h
+++ b/dart/dynamics/PointMass.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_POINTMASS_H_
-#define DART_DYNAMICS_POINTMASS_H_
+#ifndef DART_DYNAMICS_POINTMASS_HPP_
+#define DART_DYNAMICS_POINTMASS_HPP_
 
 #include <vector>
 #include <Eigen/Dense>
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/Entity.h"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/Entity.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -713,4 +713,4 @@ class PointMassNotifier : public Entity
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_POINTMASS_H_
+#endif  // DART_DYNAMICS_POINTMASS_HPP_
diff --git a/dart/dynamics/PrismaticJoint.cpp b/dart/dynamics/PrismaticJoint.cpp
index 9117b6482503f..36374e67ca522 100644
--- a/dart/dynamics/PrismaticJoint.cpp
+++ b/dart/dynamics/PrismaticJoint.cpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/PrismaticJoint.h"
+#include "dart/dynamics/PrismaticJoint.hpp"
 
 #include <string>
 
-#include "dart/math/Geometry.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/BodyNode.h"
+#include "dart/math/Geometry.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/BodyNode.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/PrismaticJoint.h b/dart/dynamics/PrismaticJoint.hpp
similarity index 95%
rename from dart/dynamics/PrismaticJoint.h
rename to dart/dynamics/PrismaticJoint.hpp
index 1193894a9a949..910239c493766 100644
--- a/dart/dynamics/PrismaticJoint.h
+++ b/dart/dynamics/PrismaticJoint.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_PRISMATICJOINT_H_
-#define DART_DYNAMICS_PRISMATICJOINT_H_
+#ifndef DART_DYNAMICS_PRISMATICJOINT_HPP_
+#define DART_DYNAMICS_PRISMATICJOINT_HPP_
 
-#include "dart/dynamics/detail/PrismaticJointAspect.h"
+#include "dart/dynamics/detail/PrismaticJointAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -119,4 +119,4 @@ class PrismaticJoint : public detail::PrismaticJointBase
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_PRISMATICJOINT_H_
+#endif  // DART_DYNAMICS_PRISMATICJOINT_HPP_
diff --git a/dart/dynamics/ReferentialSkeleton.cpp b/dart/dynamics/ReferentialSkeleton.cpp
index eefd625cfe5f6..916d77c8bcfab 100644
--- a/dart/dynamics/ReferentialSkeleton.cpp
+++ b/dart/dynamics/ReferentialSkeleton.cpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/ReferentialSkeleton.h"
+#include "dart/dynamics/ReferentialSkeleton.hpp"
 
-#include "dart/common/Deprecated.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/SoftBodyNode.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/DegreeOfFreedom.h"
+#include "dart/common/Deprecated.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/ReferentialSkeleton.h b/dart/dynamics/ReferentialSkeleton.hpp
similarity index 98%
rename from dart/dynamics/ReferentialSkeleton.h
rename to dart/dynamics/ReferentialSkeleton.hpp
index 905ed3bfc1cab..86b67cfc99539 100644
--- a/dart/dynamics/ReferentialSkeleton.h
+++ b/dart/dynamics/ReferentialSkeleton.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_REFERENTIALSKELETON_H_
-#define DART_DYNAMICS_REFERENTIALSKELETON_H_
+#ifndef DART_DYNAMICS_REFERENTIALSKELETON_HPP_
+#define DART_DYNAMICS_REFERENTIALSKELETON_HPP_
 
 #include <unordered_map>
 
-#include "dart/dynamics/MetaSkeleton.h"
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/dynamics/MetaSkeleton.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -455,4 +455,4 @@ class ReferentialSkeleton : public MetaSkeleton
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_REFERENTIALSKELETON_H_
+#endif // DART_DYNAMICS_REFERENTIALSKELETON_HPP_
diff --git a/dart/dynamics/RevoluteJoint.cpp b/dart/dynamics/RevoluteJoint.cpp
index e32fe841a1497..140c6c223b761 100644
--- a/dart/dynamics/RevoluteJoint.cpp
+++ b/dart/dynamics/RevoluteJoint.cpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/RevoluteJoint.h"
+#include "dart/dynamics/RevoluteJoint.hpp"
 
 #include <string>
 
-#include "dart/common/Console.h"
-#include "dart/math/Geometry.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/BodyNode.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/BodyNode.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/RevoluteJoint.h b/dart/dynamics/RevoluteJoint.hpp
similarity index 95%
rename from dart/dynamics/RevoluteJoint.h
rename to dart/dynamics/RevoluteJoint.hpp
index 57973bb890d83..bdb7f04340048 100644
--- a/dart/dynamics/RevoluteJoint.h
+++ b/dart/dynamics/RevoluteJoint.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_REVOLUTEJOINT_H_
-#define DART_DYNAMICS_REVOLUTEJOINT_H_
+#ifndef DART_DYNAMICS_REVOLUTEJOINT_HPP_
+#define DART_DYNAMICS_REVOLUTEJOINT_HPP_
 
-#include "dart/dynamics/detail/RevoluteJointAspect.h"
+#include "dart/dynamics/detail/RevoluteJointAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -121,5 +121,5 @@ class RevoluteJoint : public detail::RevoluteJointBase
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_REVOLUTEJOINT_H_
+#endif  // DART_DYNAMICS_REVOLUTEJOINT_HPP_
 
diff --git a/dart/dynamics/ScrewJoint.cpp b/dart/dynamics/ScrewJoint.cpp
index a4bf07299f179..f74b38b9fa8cc 100644
--- a/dart/dynamics/ScrewJoint.cpp
+++ b/dart/dynamics/ScrewJoint.cpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/ScrewJoint.h"
+#include "dart/dynamics/ScrewJoint.hpp"
 
 #include <string>
 
-#include "dart/math/Geometry.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/BodyNode.h"
+#include "dart/math/Geometry.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/BodyNode.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/ScrewJoint.h b/dart/dynamics/ScrewJoint.hpp
similarity index 95%
rename from dart/dynamics/ScrewJoint.h
rename to dart/dynamics/ScrewJoint.hpp
index 179c2a5f4f7cd..4b3c70e4ba555 100644
--- a/dart/dynamics/ScrewJoint.h
+++ b/dart/dynamics/ScrewJoint.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_SCREWJOINT_H_
-#define DART_DYNAMICS_SCREWJOINT_H_
+#ifndef DART_DYNAMICS_SCREWJOINT_HPP_
+#define DART_DYNAMICS_SCREWJOINT_HPP_
 
-#include "dart/dynamics/detail/ScrewJointAspect.h"
+#include "dart/dynamics/detail/ScrewJointAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -126,4 +126,4 @@ class ScrewJoint : public detail::ScrewJointBase
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_SCREWJOINT_H_
+#endif  // DART_DYNAMICS_SCREWJOINT_HPP_
diff --git a/dart/dynamics/Shape.cpp b/dart/dynamics/Shape.cpp
index 6b1899ef9c9a7..e131a449ddce3 100644
--- a/dart/dynamics/Shape.cpp
+++ b/dart/dynamics/Shape.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/Shape.h"
+#include "dart/dynamics/Shape.hpp"
 
 #define PRIMITIVE_MAGIC_NUMBER 1000
 
diff --git a/dart/dynamics/Shape.h b/dart/dynamics/Shape.hpp
similarity index 96%
rename from dart/dynamics/Shape.h
rename to dart/dynamics/Shape.hpp
index 5d82fcf649102..fa3e8d0d6ffc9 100644
--- a/dart/dynamics/Shape.h
+++ b/dart/dynamics/Shape.hpp
@@ -35,16 +35,16 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_SHAPE_H_
-#define DART_DYNAMICS_SHAPE_H_
+#ifndef DART_DYNAMICS_SHAPE_HPP_
+#define DART_DYNAMICS_SHAPE_HPP_
 
 #include <memory>
 
 #include <Eigen/Dense>
 
-#include "dart/math/Geometry.h"
-#include "dart/common/Subject.h"
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/math/Geometry.hpp"
+#include "dart/common/Subject.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -163,4 +163,4 @@ class Shape : public virtual common::Subject
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_SHAPE_H_
+#endif  // DART_DYNAMICS_SHAPE_HPP_
diff --git a/dart/dynamics/ShapeFrame.cpp b/dart/dynamics/ShapeFrame.cpp
index 87a53e7a35d98..441d8ae54e5cc 100644
--- a/dart/dynamics/ShapeFrame.cpp
+++ b/dart/dynamics/ShapeFrame.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/ShapeFrame.h"
+#include "dart/dynamics/ShapeFrame.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/ShapeFrame.h b/dart/dynamics/ShapeFrame.hpp
similarity index 94%
rename from dart/dynamics/ShapeFrame.h
rename to dart/dynamics/ShapeFrame.hpp
index 793476da21af4..15b0f5da41f15 100644
--- a/dart/dynamics/ShapeFrame.h
+++ b/dart/dynamics/ShapeFrame.hpp
@@ -34,18 +34,18 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_SHAPEFRAME_H_
-#define DART_DYNAMICS_SHAPEFRAME_H_
+#ifndef DART_DYNAMICS_SHAPEFRAME_HPP_
+#define DART_DYNAMICS_SHAPEFRAME_HPP_
 
 #include <Eigen/Dense>
 
-#include "dart/common/Signal.h"
-#include "dart/common/AspectWithVersion.h"
-#include "dart/common/SpecializedForAspect.h"
-#include "dart/dynamics/FixedFrame.h"
-#include "dart/dynamics/TemplatedJacobianNode.h"
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/dynamics/detail/ShapeFrameAspect.h"
+#include "dart/common/Signal.hpp"
+#include "dart/common/AspectWithVersion.hpp"
+#include "dart/common/SpecializedForAspect.hpp"
+#include "dart/dynamics/FixedFrame.hpp"
+#include "dart/dynamics/TemplatedJacobianNode.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/detail/ShapeFrameAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -266,4 +266,4 @@ class ShapeFrame :
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_SHAPEFRAME_H_
+#endif // DART_DYNAMICS_SHAPEFRAME_HPP_
diff --git a/dart/dynamics/ShapeNode.cpp b/dart/dynamics/ShapeNode.cpp
index b02831c23121e..3e87c9ed63916 100644
--- a/dart/dynamics/ShapeNode.cpp
+++ b/dart/dynamics/ShapeNode.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/ShapeNode.h"
-#include "dart/dynamics/BodyNode.h"
+#include "dart/dynamics/ShapeNode.hpp"
+#include "dart/dynamics/BodyNode.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/ShapeNode.h b/dart/dynamics/ShapeNode.hpp
similarity index 95%
rename from dart/dynamics/ShapeNode.h
rename to dart/dynamics/ShapeNode.hpp
index 0d74486c6722f..b0da4a0248c49 100644
--- a/dart/dynamics/ShapeNode.h
+++ b/dart/dynamics/ShapeNode.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_SHAPENODE_H_
-#define DART_DYNAMICS_SHAPENODE_H_
+#ifndef DART_DYNAMICS_SHAPENODE_HPP_
+#define DART_DYNAMICS_SHAPENODE_HPP_
 
 #include <Eigen/Dense>
 
-#include "dart/common/Signal.h"
-#include "dart/dynamics/detail/ShapeNode.h"
+#include "dart/common/Signal.hpp"
+#include "dart/dynamics/detail/ShapeNode.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -136,4 +136,4 @@ class ShapeNode : public detail::ShapeNodeCompositeBase
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_SHAPENODE_H_
+#endif // DART_DYNAMICS_SHAPENODE_HPP_
diff --git a/dart/dynamics/SimpleFrame.cpp b/dart/dynamics/SimpleFrame.cpp
index 55c55e1ceb34e..a04b33dd63ed2 100644
--- a/dart/dynamics/SimpleFrame.cpp
+++ b/dart/dynamics/SimpleFrame.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/Console.h"
-#include "dart/math/Geometry.h"
-#include "dart/dynamics/SimpleFrame.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/SimpleFrame.h b/dart/dynamics/SimpleFrame.hpp
similarity index 98%
rename from dart/dynamics/SimpleFrame.h
rename to dart/dynamics/SimpleFrame.hpp
index 29c9259173d7b..08593ba41aa64 100644
--- a/dart/dynamics/SimpleFrame.h
+++ b/dart/dynamics/SimpleFrame.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_SIMPLEFRAME_H_
-#define DART_DYNAMICS_SIMPLEFRAME_H_
+#ifndef DART_DYNAMICS_SIMPLEFRAME_HPP_
+#define DART_DYNAMICS_SIMPLEFRAME_HPP_
 
-#include "dart/dynamics/ShapeNode.h"
+#include "dart/dynamics/ShapeNode.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -238,4 +238,4 @@ class SimpleFrame : public Detachable, public ShapeFrame
 } // namespace dart
 } // namespace dynamics
 
-#endif // DART_DYNAMICS_SIMPLEFRAME_H_
+#endif // DART_DYNAMICS_SIMPLEFRAME_HPP_
diff --git a/dart/dynamics/SingleDofJoint.cpp b/dart/dynamics/SingleDofJoint.cpp
index 1be6de6ed50fc..c0e9583d4133f 100644
--- a/dart/dynamics/SingleDofJoint.cpp
+++ b/dart/dynamics/SingleDofJoint.cpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/SingleDofJoint.h"
+#include "dart/dynamics/SingleDofJoint.hpp"
 
-#include "dart/common/Console.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/DegreeOfFreedom.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
 
 #define SINGLEDOFJOINT_REPORT_DIM_MISMATCH( func, arg )                        \
   dterr << "[SingleDofJoint::" #func "] Size of " << #arg << "[" << arg .size()\
diff --git a/dart/dynamics/SingleDofJoint.h b/dart/dynamics/SingleDofJoint.hpp
similarity index 99%
rename from dart/dynamics/SingleDofJoint.h
rename to dart/dynamics/SingleDofJoint.hpp
index acfbdef90ccb6..fa10b4c61fb5c 100644
--- a/dart/dynamics/SingleDofJoint.h
+++ b/dart/dynamics/SingleDofJoint.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_SINGLEDOFJOINT_H_
-#define DART_DYNAMICS_SINGLEDOFJOINT_H_
+#ifndef DART_DYNAMICS_SINGLEDOFJOINT_HPP_
+#define DART_DYNAMICS_SINGLEDOFJOINT_HPP_
 
 #include <string>
 
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/detail/SingleDofJointAspect.h"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/detail/SingleDofJointAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -745,4 +745,4 @@ class SingleDofJoint : public detail::SingleDofJointBase
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_SINGLEDOFJOINT_H_
+#endif  // DART_DYNAMICS_SINGLEDOFJOINT_HPP_
diff --git a/dart/dynamics/Skeleton.cpp b/dart/dynamics/Skeleton.cpp
index b5699a2e2ef20..4b87c729846ed 100644
--- a/dart/dynamics/Skeleton.cpp
+++ b/dart/dynamics/Skeleton.cpp
@@ -35,27 +35,27 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/Skeleton.h"
+#include "dart/dynamics/Skeleton.hpp"
 
 #include <algorithm>
 #include <queue>
 #include <string>
 #include <vector>
 
-#include "dart/common/Console.h"
-#include "dart/common/Deprecated.h"
-#include "dart/common/StlHelpers.h"
-#include "dart/math/Geometry.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/DegreeOfFreedom.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/ShapeNode.h"
-#include "dart/dynamics/EndEffector.h"
-#include "dart/dynamics/InverseKinematics.h"
-#include "dart/dynamics/Marker.h"
-#include "dart/dynamics/PointMass.h"
-#include "dart/dynamics/SoftBodyNode.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/Deprecated.hpp"
+#include "dart/common/StlHelpers.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/ShapeNode.hpp"
+#include "dart/dynamics/EndEffector.hpp"
+#include "dart/dynamics/InverseKinematics.hpp"
+#include "dart/dynamics/Marker.hpp"
+#include "dart/dynamics/PointMass.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
 
 #define SET_ALL_FLAGS( X ) for(auto& cache : mTreeCache) cache.mDirty. X = true;\
                            mSkelCache.mDirty. X = true;
diff --git a/dart/dynamics/Skeleton.h b/dart/dynamics/Skeleton.hpp
similarity index 98%
rename from dart/dynamics/Skeleton.h
rename to dart/dynamics/Skeleton.hpp
index 621f5d7af5dc2..96661a09741d0 100644
--- a/dart/dynamics/Skeleton.h
+++ b/dart/dynamics/Skeleton.hpp
@@ -35,22 +35,22 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_SKELETON_H_
-#define DART_DYNAMICS_SKELETON_H_
+#ifndef DART_DYNAMICS_SKELETON_HPP_
+#define DART_DYNAMICS_SKELETON_HPP_
 
 #include <mutex>
-#include "dart/common/NameManager.h"
-#include "dart/common/VersionCounter.h"
-#include "dart/dynamics/MetaSkeleton.h"
-#include "dart/dynamics/SmartPointer.h"
-#include "dart/dynamics/HierarchicalIK.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/ShapeNode.h"
-#include "dart/dynamics/EndEffector.h"
-#include "dart/dynamics/Marker.h"
-#include "dart/dynamics/detail/BodyNodeAspect.h"
-#include "dart/dynamics/SpecializedNodeManager.h"
-#include "dart/dynamics/detail/SkeletonAspect.h"
+#include "dart/common/NameManager.hpp"
+#include "dart/common/VersionCounter.hpp"
+#include "dart/dynamics/MetaSkeleton.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
+#include "dart/dynamics/HierarchicalIK.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/ShapeNode.hpp"
+#include "dart/dynamics/EndEffector.hpp"
+#include "dart/dynamics/Marker.hpp"
+#include "dart/dynamics/detail/BodyNodeAspect.hpp"
+#include "dart/dynamics/SpecializedNodeManager.hpp"
+#include "dart/dynamics/detail/SkeletonAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -1224,6 +1224,6 @@ class Skeleton :
 }  // namespace dynamics
 }  // namespace dart
 
-#include "dart/dynamics/detail/Skeleton.h"
+#include "dart/dynamics/detail/Skeleton.hpp"
 
-#endif  // DART_DYNAMICS_SKELETON_H_
+#endif  // DART_DYNAMICS_SKELETON_HPP_
diff --git a/dart/dynamics/SmartPointer.h b/dart/dynamics/SmartPointer.hpp
similarity index 95%
rename from dart/dynamics/SmartPointer.h
rename to dart/dynamics/SmartPointer.hpp
index de62041077f27..22c6c38827a69 100644
--- a/dart/dynamics/SmartPointer.h
+++ b/dart/dynamics/SmartPointer.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_SMARTPOINTER_H_
-#define DART_DYNAMICS_SMARTPOINTER_H_
+#ifndef DART_DYNAMICS_SMARTPOINTER_HPP_
+#define DART_DYNAMICS_SMARTPOINTER_HPP_
 
-#include "dart/common/SmartPointer.h"
-#include "dart/dynamics/detail/BodyNodePtr.h"
-#include "dart/dynamics/detail/JointPtr.h"
-#include "dart/dynamics/detail/DegreeOfFreedomPtr.h"
-#include "dart/dynamics/detail/NodePtr.h"
-#include "dart/dynamics/detail/InverseKinematicsPtr.h"
+#include "dart/common/SmartPointer.hpp"
+#include "dart/dynamics/detail/BodyNodePtr.hpp"
+#include "dart/dynamics/detail/JointPtr.hpp"
+#include "dart/dynamics/detail/DegreeOfFreedomPtr.hpp"
+#include "dart/dynamics/detail/NodePtr.hpp"
+#include "dart/dynamics/detail/InverseKinematicsPtr.hpp"
 
 // This file is a lightweight means of providing the smart pointers which are
 // commonly used within the dart::dynamics namespace. It is 'lightweight' in the
@@ -187,4 +187,4 @@ DART_DYNAMICS_MAKE_IK_PTR(InverseKinematics)
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_SMARTPOINTER_H_
+#endif // DART_DYNAMICS_SMARTPOINTER_HPP_
diff --git a/dart/dynamics/SoftBodyNode.cpp b/dart/dynamics/SoftBodyNode.cpp
index 1833d530b35cb..5affc46e83e2b 100644
--- a/dart/dynamics/SoftBodyNode.cpp
+++ b/dart/dynamics/SoftBodyNode.cpp
@@ -34,20 +34,20 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/SoftBodyNode.h"
+#include "dart/dynamics/SoftBodyNode.hpp"
 
 #include <map>
 #include <string>
 #include <vector>
 
-#include "dart/common/Console.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/Shape.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/Shape.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 
-#include "dart/dynamics/PointMass.h"
-#include "dart/dynamics/SoftMeshShape.h"
+#include "dart/dynamics/PointMass.hpp"
+#include "dart/dynamics/SoftMeshShape.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/SoftBodyNode.h b/dart/dynamics/SoftBodyNode.hpp
similarity index 98%
rename from dart/dynamics/SoftBodyNode.h
rename to dart/dynamics/SoftBodyNode.hpp
index f2e3311061397..eb1ca0018299e 100644
--- a/dart/dynamics/SoftBodyNode.h
+++ b/dart/dynamics/SoftBodyNode.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_SOFTBODYNODE_H_
-#define DART_DYNAMICS_SOFTBODYNODE_H_
+#ifndef DART_DYNAMICS_SOFTBODYNODE_HPP_
+#define DART_DYNAMICS_SOFTBODYNODE_HPP_
 
-#include "dart/dynamics/detail/SoftBodyNodeAspect.h"
+#include "dart/dynamics/detail/SoftBodyNodeAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -448,4 +448,4 @@ class SoftBodyNodeHelper
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_SOFTBODYNODE_H_
+#endif  // DART_DYNAMICS_SOFTBODYNODE_HPP_
diff --git a/dart/dynamics/SoftMeshShape.cpp b/dart/dynamics/SoftMeshShape.cpp
index dd81ee49cd4c2..07c300b26c475 100644
--- a/dart/dynamics/SoftMeshShape.cpp
+++ b/dart/dynamics/SoftMeshShape.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/SoftMeshShape.h"
+#include "dart/dynamics/SoftMeshShape.hpp"
 
-#include "dart/common/Console.h"
+#include "dart/common/Console.hpp"
 
-#include "dart/dynamics/PointMass.h"
-#include "dart/dynamics/SoftBodyNode.h"
+#include "dart/dynamics/PointMass.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/SoftMeshShape.h b/dart/dynamics/SoftMeshShape.hpp
similarity index 94%
rename from dart/dynamics/SoftMeshShape.h
rename to dart/dynamics/SoftMeshShape.hpp
index d2a17469cca8e..ff145d8cef284 100644
--- a/dart/dynamics/SoftMeshShape.h
+++ b/dart/dynamics/SoftMeshShape.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_SOFTMESHSHAPE_H_
-#define DART_DYNAMICS_SOFTMESHSHAPE_H_
+#ifndef DART_DYNAMICS_SOFTMESHSHAPE_HPP_
+#define DART_DYNAMICS_SOFTMESHSHAPE_HPP_
 
 #include <assimp/scene.h>
-#include "dart/dynamics/Shape.h"
+#include "dart/dynamics/Shape.hpp"
 #include <Eigen/Dense>
 
 namespace dart {
@@ -89,4 +89,4 @@ class SoftMeshShape : public Shape
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_SOFTMESHSHAPE_H_
+#endif  // DART_DYNAMICS_SOFTMESHSHAPE_HPP_
diff --git a/dart/dynamics/SpecializedNodeManager.h b/dart/dynamics/SpecializedNodeManager.hpp
similarity index 95%
rename from dart/dynamics/SpecializedNodeManager.h
rename to dart/dynamics/SpecializedNodeManager.hpp
index df1df5e713193..6d6b542052896 100644
--- a/dart/dynamics/SpecializedNodeManager.h
+++ b/dart/dynamics/SpecializedNodeManager.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_SPECIALIZEDNODEMANAGER_H_
-#define DART_DYNAMICS_SPECIALIZEDNODEMANAGER_H_
+#ifndef DART_DYNAMICS_SPECIALIZEDNODEMANAGER_HPP_
+#define DART_DYNAMICS_SPECIALIZEDNODEMANAGER_HPP_
 
-#include "dart/common/Virtual.h"
-#include "dart/dynamics/detail/BasicNodeManager.h"
-#include "dart/dynamics/NodeManagerJoiner.h"
+#include "dart/common/Virtual.hpp"
+#include "dart/dynamics/detail/BasicNodeManager.hpp"
+#include "dart/dynamics/NodeManagerJoiner.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -219,6 +219,6 @@ class SkeletonSpecializedFor<SpecNode1, OtherSpecNodes...> :
 } // namespace dynamics
 } // namespace dart
 
-#include "dart/dynamics/detail/SpecializedNodeManager.h"
+#include "dart/dynamics/detail/SpecializedNodeManager.hpp"
 
-#endif // DART_DYNAMICS_SPECIALIZEDNODEMANAGER_H_
+#endif // DART_DYNAMICS_SPECIALIZEDNODEMANAGER_HPP_
diff --git a/dart/dynamics/TemplatedJacobianNode.h b/dart/dynamics/TemplatedJacobianNode.hpp
similarity index 94%
rename from dart/dynamics/TemplatedJacobianNode.h
rename to dart/dynamics/TemplatedJacobianNode.hpp
index ce860843cbbc0..be5b7091652eb 100644
--- a/dart/dynamics/TemplatedJacobianNode.h
+++ b/dart/dynamics/TemplatedJacobianNode.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_H_
-#define DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_H_
+#ifndef DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_
+#define DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_
 
-#include "dart/dynamics/JacobianNode.h"
+#include "dart/dynamics/JacobianNode.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -130,6 +130,6 @@ class TemplatedJacobianNode : public JacobianNode
 } // namespace dynamics
 } // namespace dart
 
-#include "dart/dynamics/detail/TemplatedJacobianNode.h"
+#include "dart/dynamics/detail/TemplatedJacobianNode.hpp"
 
-#endif // DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_H_
+#endif // DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_
diff --git a/dart/dynamics/TranslationalJoint.cpp b/dart/dynamics/TranslationalJoint.cpp
index 39234a8d2bf7c..c84a34cc04611 100644
--- a/dart/dynamics/TranslationalJoint.cpp
+++ b/dart/dynamics/TranslationalJoint.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/TranslationalJoint.h"
+#include "dart/dynamics/TranslationalJoint.hpp"
 
 #include <string>
 
-#include "dart/math/Geometry.h"
-#include "dart/math/Helpers.h"
+#include "dart/math/Geometry.hpp"
+#include "dart/math/Helpers.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/TranslationalJoint.h b/dart/dynamics/TranslationalJoint.hpp
similarity index 94%
rename from dart/dynamics/TranslationalJoint.h
rename to dart/dynamics/TranslationalJoint.hpp
index a10235116e9f9..7a537572d6c4d 100644
--- a/dart/dynamics/TranslationalJoint.h
+++ b/dart/dynamics/TranslationalJoint.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_TRANSLATIONALJOINT_H_
-#define DART_DYNAMICS_TRANSLATIONALJOINT_H_
+#ifndef DART_DYNAMICS_TRANSLATIONALJOINT_HPP_
+#define DART_DYNAMICS_TRANSLATIONALJOINT_HPP_
 
 #include <string>
 
-#include "dart/dynamics/MultiDofJoint.h"
+#include "dart/dynamics/MultiDofJoint.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -109,5 +109,5 @@ class TranslationalJoint : public MultiDofJoint<3>
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_TRANSLATIONALJOINT_H_
+#endif  // DART_DYNAMICS_TRANSLATIONALJOINT_HPP_
 
diff --git a/dart/dynamics/UniversalJoint.cpp b/dart/dynamics/UniversalJoint.cpp
index 00bb1668c9a7a..7786bf0151ca6 100644
--- a/dart/dynamics/UniversalJoint.cpp
+++ b/dart/dynamics/UniversalJoint.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/UniversalJoint.h"
+#include "dart/dynamics/UniversalJoint.hpp"
 
 #include <string>
 
-#include "dart/math/Helpers.h"
-#include "dart/math/Geometry.h"
+#include "dart/math/Helpers.hpp"
+#include "dart/math/Geometry.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/UniversalJoint.h b/dart/dynamics/UniversalJoint.hpp
similarity index 95%
rename from dart/dynamics/UniversalJoint.h
rename to dart/dynamics/UniversalJoint.hpp
index efa84853f9b44..9351f035c2252 100644
--- a/dart/dynamics/UniversalJoint.h
+++ b/dart/dynamics/UniversalJoint.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_UNIVERSALJOINT_H_
-#define DART_DYNAMICS_UNIVERSALJOINT_H_
+#ifndef DART_DYNAMICS_UNIVERSALJOINT_HPP_
+#define DART_DYNAMICS_UNIVERSALJOINT_HPP_
 
-#include "dart/dynamics/detail/UniversalJointAspect.h"
+#include "dart/dynamics/detail/UniversalJointAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -135,4 +135,4 @@ class UniversalJoint : public detail::UniversalJointBase
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_UNIVERSALJOINT_H_
+#endif  // DART_DYNAMICS_UNIVERSALJOINT_HPP_
diff --git a/dart/dynamics/WeldJoint.cpp b/dart/dynamics/WeldJoint.cpp
index 3846bf1ff98f1..42b25a024f2c3 100644
--- a/dart/dynamics/WeldJoint.cpp
+++ b/dart/dynamics/WeldJoint.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/WeldJoint.h"
+#include "dart/dynamics/WeldJoint.hpp"
 
 #include <string>
 
-#include "dart/math/Helpers.h"
-#include "dart/math/Geometry.h"
+#include "dart/math/Helpers.hpp"
+#include "dart/math/Geometry.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/WeldJoint.h b/dart/dynamics/WeldJoint.hpp
similarity index 95%
rename from dart/dynamics/WeldJoint.h
rename to dart/dynamics/WeldJoint.hpp
index 9204b91aaf301..46bdaa14b366f 100644
--- a/dart/dynamics/WeldJoint.h
+++ b/dart/dynamics/WeldJoint.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_WELDJOINT_H_
-#define DART_DYNAMICS_WELDJOINT_H_
+#ifndef DART_DYNAMICS_WELDJOINT_HPP_
+#define DART_DYNAMICS_WELDJOINT_HPP_
 
 #include <string>
 
 #include <Eigen/Dense>
 
-#include "dart/dynamics/ZeroDofJoint.h"
+#include "dart/dynamics/ZeroDofJoint.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -120,5 +120,5 @@ class WeldJoint : public ZeroDofJoint
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_WELDJOINT_H_
+#endif  // DART_DYNAMICS_WELDJOINT_HPP_
 
diff --git a/dart/dynamics/ZeroDofJoint.cpp b/dart/dynamics/ZeroDofJoint.cpp
index 4c6c478847b2e..b237ff4f8d70e 100644
--- a/dart/dynamics/ZeroDofJoint.cpp
+++ b/dart/dynamics/ZeroDofJoint.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/ZeroDofJoint.h"
+#include "dart/dynamics/ZeroDofJoint.hpp"
 
-#include "dart/common/Console.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/ZeroDofJoint.h b/dart/dynamics/ZeroDofJoint.hpp
similarity index 99%
rename from dart/dynamics/ZeroDofJoint.h
rename to dart/dynamics/ZeroDofJoint.hpp
index 3b4adb3eaf3f0..fa209ae00732c 100644
--- a/dart/dynamics/ZeroDofJoint.h
+++ b/dart/dynamics/ZeroDofJoint.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_ZERODOFJOINT_H_
-#define DART_DYNAMICS_ZERODOFJOINT_H_
+#ifndef DART_DYNAMICS_ZERODOFJOINT_HPP_
+#define DART_DYNAMICS_ZERODOFJOINT_HPP_
 
 #include <string>
 
-#include "dart/dynamics/Joint.h"
+#include "dart/dynamics/Joint.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -515,4 +515,4 @@ class ZeroDofJoint : public Joint
 }  // namespace dynamics
 }  // namespace dart
 
-#endif  // DART_DYNAMICS_ZERODOFJOINT_H_
+#endif  // DART_DYNAMICS_ZERODOFJOINT_HPP_
diff --git a/dart/dynamics/detail/BasicNodeManager.h b/dart/dynamics/detail/BasicNodeManager.hpp
similarity index 98%
rename from dart/dynamics/detail/BasicNodeManager.h
rename to dart/dynamics/detail/BasicNodeManager.hpp
index e860445ec1013..788570494bd99 100644
--- a/dart/dynamics/detail/BasicNodeManager.h
+++ b/dart/dynamics/detail/BasicNodeManager.hpp
@@ -34,16 +34,16 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_BASICNODEMANAGER_H_
-#define DART_DYNAMICS_DETAIL_BASICNODEMANAGER_H_
+#ifndef DART_DYNAMICS_DETAIL_BASICNODEMANAGER_HPP_
+#define DART_DYNAMICS_DETAIL_BASICNODEMANAGER_HPP_
 
 #include <map>
 #include <typeindex>
 #include <unordered_set>
 
-#include "dart/common/NameManager.h"
-#include "dart/common/Empty.h"
-#include "dart/dynamics/Node.h"
+#include "dart/common/NameManager.hpp"
+#include "dart/common/Empty.hpp"
+#include "dart/dynamics/Node.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -360,4 +360,4 @@ const NodeType* BasicNodeManagerForSkeleton::getNode(
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_BASICNODEMANAGER_H_
+#endif // DART_DYNAMICS_DETAIL_BASICNODEMANAGER_HPP_
diff --git a/dart/dynamics/detail/BodyNode.h b/dart/dynamics/detail/BodyNode.hpp
similarity index 97%
rename from dart/dynamics/detail/BodyNode.h
rename to dart/dynamics/detail/BodyNode.hpp
index 37992a477f821..7c89ecb7c4d0d 100644
--- a/dart/dynamics/detail/BodyNode.h
+++ b/dart/dynamics/detail/BodyNode.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_BODYNODE_H_
-#define DART_DYNAMICS_DETAIL_BODYNODE_H_
+#ifndef DART_DYNAMICS_DETAIL_BODYNODE_HPP_
+#define DART_DYNAMICS_DETAIL_BODYNODE_HPP_
 
 #include <utility>
 
-#include "dart/dynamics/Skeleton.h"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -243,4 +243,4 @@ void BodyNode::removeAllShapeNodesWith()
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_BODYNODE_H_
+#endif // DART_DYNAMICS_DETAIL_BODYNODE_HPP_
diff --git a/dart/dynamics/detail/BodyNodeAspect.h b/dart/dynamics/detail/BodyNodeAspect.hpp
similarity index 94%
rename from dart/dynamics/detail/BodyNodeAspect.h
rename to dart/dynamics/detail/BodyNodeAspect.hpp
index 2f708a1756bf8..724ede5cd1693 100644
--- a/dart/dynamics/detail/BodyNodeAspect.h
+++ b/dart/dynamics/detail/BodyNodeAspect.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_BODYNODEASPECT_H_
-#define DART_DYNAMICS_DETAIL_BODYNODEASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_BODYNODEASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_BODYNODEASPECT_HPP_
 
-#include "dart/dynamics/Entity.h"
-#include "dart/dynamics/Inertia.h"
-#include "dart/dynamics/Node.h"
-#include "dart/common/ProxyAspect.h"
-#include "dart/common/EmbeddedAspect.h"
+#include "dart/dynamics/Entity.hpp"
+#include "dart/dynamics/Inertia.hpp"
+#include "dart/dynamics/Node.hpp"
+#include "dart/common/ProxyAspect.hpp"
+#include "dart/common/EmbeddedAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -149,4 +149,4 @@ using BodyNodeCompositeBase = common::EmbedStateAndPropertiesOnTopOf<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_BODYNODEASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_BODYNODEASPECT_HPP_
diff --git a/dart/dynamics/detail/BodyNodePtr.h b/dart/dynamics/detail/BodyNodePtr.hpp
similarity index 98%
rename from dart/dynamics/detail/BodyNodePtr.h
rename to dart/dynamics/detail/BodyNodePtr.hpp
index d18a706dec741..882466539de16 100644
--- a/dart/dynamics/detail/BodyNodePtr.h
+++ b/dart/dynamics/detail/BodyNodePtr.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_BODYNODEPTR_H_
-#define DART_DYNAMICS_DETAIL_BODYNODEPTR_H_
+#ifndef DART_DYNAMICS_DETAIL_BODYNODEPTR_HPP_
+#define DART_DYNAMICS_DETAIL_BODYNODEPTR_HPP_
 
 #include <memory>
 #include <mutex>
@@ -328,4 +328,4 @@ class TemplateWeakBodyNodePtr
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_BODYNODEPTR_H_
+#endif // DART_DYNAMICS_DETAIL_BODYNODEPTR_HPP_
diff --git a/dart/dynamics/detail/CompositeNode.h b/dart/dynamics/detail/CompositeNode.hpp
similarity index 94%
rename from dart/dynamics/detail/CompositeNode.h
rename to dart/dynamics/detail/CompositeNode.hpp
index 3b215d6d5831d..c05a2d31d7834 100644
--- a/dart/dynamics/detail/CompositeNode.h
+++ b/dart/dynamics/detail/CompositeNode.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_COMPOSITENODE_H_
-#define DART_DYNAMICS_DETAIL_COMPOSITENODE_H_
+#ifndef DART_DYNAMICS_DETAIL_COMPOSITENODE_HPP_
+#define DART_DYNAMICS_DETAIL_COMPOSITENODE_HPP_
 
-#include "dart/dynamics/CompositeNode.h"
+#include "dart/dynamics/CompositeNode.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -94,4 +94,4 @@ void CompositePropertiesNode<Base>::copyNodePropertiesTo(
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_COMPOSITENODE_H_
+#endif // DART_DYNAMICS_DETAIL_COMPOSITENODE_HPP_
diff --git a/dart/dynamics/detail/DegreeOfFreedomPtr.h b/dart/dynamics/detail/DegreeOfFreedomPtr.hpp
similarity index 97%
rename from dart/dynamics/detail/DegreeOfFreedomPtr.h
rename to dart/dynamics/detail/DegreeOfFreedomPtr.hpp
index b5518b7d48f51..d994283ce524e 100644
--- a/dart/dynamics/detail/DegreeOfFreedomPtr.h
+++ b/dart/dynamics/detail/DegreeOfFreedomPtr.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_H_
-#define DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_H_
+#ifndef DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_HPP_
+#define DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_HPP_
 
-#include "dart/dynamics/detail/BodyNodePtr.h"
-#include "dart/dynamics/InvalidIndex.h"
+#include "dart/dynamics/detail/BodyNodePtr.hpp"
+#include "dart/dynamics/InvalidIndex.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -327,4 +327,4 @@ class TemplateWeakDegreeOfFreedomPtr
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_H_
+#endif // DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_HPP_
diff --git a/dart/dynamics/detail/EndEffectorAspect.h b/dart/dynamics/detail/EndEffectorAspect.hpp
similarity index 93%
rename from dart/dynamics/detail/EndEffectorAspect.h
rename to dart/dynamics/detail/EndEffectorAspect.hpp
index 3c88ea7d4688e..c6df81cc2d626 100644
--- a/dart/dynamics/detail/EndEffectorAspect.h
+++ b/dart/dynamics/detail/EndEffectorAspect.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_H_
-#define DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
 
 #include <Eigen/Geometry>
-#include "dart/dynamics/CompositeNode.h"
-#include "dart/common/SpecializedForAspect.h"
+#include "dart/dynamics/CompositeNode.hpp"
+#include "dart/common/SpecializedForAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -106,4 +106,4 @@ using EndEffectorCompositeBase = CompositeNode<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
diff --git a/dart/dynamics/detail/EntityNode.h b/dart/dynamics/detail/EntityNode.hpp
similarity index 93%
rename from dart/dynamics/detail/EntityNode.h
rename to dart/dynamics/detail/EntityNode.hpp
index ca638dbf693fc..b74aa1cf8fda8 100644
--- a/dart/dynamics/detail/EntityNode.h
+++ b/dart/dynamics/detail/EntityNode.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_ENTITYNODE_H_
-#define DART_DYNAMICS_DETAIL_ENTITYNODE_H_
+#ifndef DART_DYNAMICS_DETAIL_ENTITYNODE_HPP_
+#define DART_DYNAMICS_DETAIL_ENTITYNODE_HPP_
 
-#include "dart/dynamics/EntityNode.h"
+#include "dart/dynamics/EntityNode.hpp"
 
-#include "dart/dynamics/Entity.h"
+#include "dart/dynamics/Entity.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -84,4 +84,4 @@ const std::string& EntityNode<Base>::getName() const
 } // namespace dart
 
 
-#endif // DART_DYNAMICS_DETAIL_ENTITYNODE_H_
+#endif // DART_DYNAMICS_DETAIL_ENTITYNODE_HPP_
diff --git a/dart/dynamics/detail/EntityNodeAspect.cpp b/dart/dynamics/detail/EntityNodeAspect.cpp
index 09de27d2c5571..28693699e04d6 100644
--- a/dart/dynamics/detail/EntityNodeAspect.cpp
+++ b/dart/dynamics/detail/EntityNodeAspect.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/detail/EntityNodeAspect.h"
+#include "dart/dynamics/detail/EntityNodeAspect.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/detail/EntityNodeAspect.h b/dart/dynamics/detail/EntityNodeAspect.hpp
similarity index 94%
rename from dart/dynamics/detail/EntityNodeAspect.h
rename to dart/dynamics/detail/EntityNodeAspect.hpp
index a8619672aff7e..15a77bf1ef687 100644
--- a/dart/dynamics/detail/EntityNodeAspect.h
+++ b/dart/dynamics/detail/EntityNodeAspect.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_ENTITYNODEASPECT_H_
-#define DART_DYNAMICS_DETAIL_ENTITYNODEASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_ENTITYNODEASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_ENTITYNODEASPECT_HPP_
 
-#include "dart/dynamics/Node.h"
+#include "dart/dynamics/Node.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -105,4 +105,4 @@ class EntityNodeBase<Base, true> : public common::CompositeJoiner<
 } // namespace dart
 } // namespace dynamics
 
-#endif // DART_DYNAMICS_DETAIL_ENTITYNODEASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_ENTITYNODEASPECT_HPP_
diff --git a/dart/dynamics/detail/EulerJointAspect.cpp b/dart/dynamics/detail/EulerJointAspect.cpp
index 4b50b0a1d8572..6b213a311d209 100644
--- a/dart/dynamics/detail/EulerJointAspect.cpp
+++ b/dart/dynamics/detail/EulerJointAspect.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/EulerJoint.h"
+#include "dart/dynamics/EulerJoint.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/detail/EulerJointAspect.h b/dart/dynamics/detail/EulerJointAspect.hpp
similarity index 93%
rename from dart/dynamics/detail/EulerJointAspect.h
rename to dart/dynamics/detail/EulerJointAspect.hpp
index 00043a5d98ecd..4c7f193f85217 100644
--- a/dart/dynamics/detail/EulerJointAspect.h
+++ b/dart/dynamics/detail/EulerJointAspect.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_EULERJOINTASPECT_H_
-#define DART_DYNAMICS_DETAIL_EULERJOINTASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_EULERJOINTASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_EULERJOINTASPECT_HPP_
 
 #include <string>
 
-#include "dart/dynamics/MultiDofJoint.h"
+#include "dart/dynamics/MultiDofJoint.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -92,4 +92,4 @@ using EulerJointBase = common::EmbedPropertiesOnTopOf<
 } // namespace dart
 
 
-#endif // DART_DYNAMICS_DETAIL_EULERJOINTASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_EULERJOINTASPECT_HPP_
diff --git a/dart/dynamics/detail/FixedFrameAspect.h b/dart/dynamics/detail/FixedFrameAspect.hpp
similarity index 93%
rename from dart/dynamics/detail/FixedFrameAspect.h
rename to dart/dynamics/detail/FixedFrameAspect.hpp
index 08ccd67bdf821..8fdc6b455a028 100644
--- a/dart/dynamics/detail/FixedFrameAspect.h
+++ b/dart/dynamics/detail/FixedFrameAspect.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_FIXEDFRAMEASPECT_H_
-#define DART_DYNAMICS_DETAIL_FIXEDFRAMEASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_FIXEDFRAMEASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_FIXEDFRAMEASPECT_HPP_
 
 #include <Eigen/Geometry>
 
@@ -59,4 +59,4 @@ struct FixedFrameProperties
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_FIXEDFRAMEASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_FIXEDFRAMEASPECT_HPP_
diff --git a/dart/dynamics/detail/FixedJacobianNode.h b/dart/dynamics/detail/FixedJacobianNode.hpp
similarity index 87%
rename from dart/dynamics/detail/FixedJacobianNode.h
rename to dart/dynamics/detail/FixedJacobianNode.hpp
index f693fa395c14c..7d98494232ff7 100644
--- a/dart/dynamics/detail/FixedJacobianNode.h
+++ b/dart/dynamics/detail/FixedJacobianNode.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_FIXEDJACOBIANNODE_H_
-#define DART_DYNAMICS_DETAIL_FIXEDJACOBIANNODE_H_
+#ifndef DART_DYNAMICS_DETAIL_FIXEDJACOBIANNODE_HPP_
+#define DART_DYNAMICS_DETAIL_FIXEDJACOBIANNODE_HPP_
 
-#include "dart/dynamics/TemplatedJacobianNode.h"
-#include "dart/dynamics/FixedFrame.h"
-#include "dart/dynamics/EntityNode.h"
+#include "dart/dynamics/TemplatedJacobianNode.hpp"
+#include "dart/dynamics/FixedFrame.hpp"
+#include "dart/dynamics/EntityNode.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -57,4 +57,4 @@ using FixedJacobianNodeCompositeBase = common::CompositeJoiner<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_FIXEDJACOBIANNODE_H_
+#endif // DART_DYNAMICS_DETAIL_FIXEDJACOBIANNODE_HPP_
diff --git a/dart/dynamics/detail/InverseKinematics.h b/dart/dynamics/detail/InverseKinematics.hpp
similarity index 93%
rename from dart/dynamics/detail/InverseKinematics.h
rename to dart/dynamics/detail/InverseKinematics.hpp
index 231206e31940b..6443004e40fae 100644
--- a/dart/dynamics/detail/InverseKinematics.h
+++ b/dart/dynamics/detail/InverseKinematics.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_INVERSEKINEMATICS_H_
-#define DART_DYNAMICS_DETAIL_INVERSEKINEMATICS_H_
+#ifndef DART_DYNAMICS_DETAIL_INVERSEKINEMATICS_HPP_
+#define DART_DYNAMICS_DETAIL_INVERSEKINEMATICS_HPP_
 
 #include <type_traits>
 
-#include "dart/dynamics/InverseKinematics.h"
+#include "dart/dynamics/InverseKinematics.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -84,4 +84,4 @@ void InverseKinematics::setDofs(const std::vector<DegreeOfFreedomT*>& _dofs)
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_INVERSEKINEMATICS_H_
+#endif // DART_DYNAMICS_DETAIL_INVERSEKINEMATICS_HPP_
diff --git a/dart/dynamics/detail/InverseKinematicsPtr.h b/dart/dynamics/detail/InverseKinematicsPtr.hpp
similarity index 97%
rename from dart/dynamics/detail/InverseKinematicsPtr.h
rename to dart/dynamics/detail/InverseKinematicsPtr.hpp
index 0509ec205d850..dd1844f7b4eac 100644
--- a/dart/dynamics/detail/InverseKinematicsPtr.h
+++ b/dart/dynamics/detail/InverseKinematicsPtr.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_INVERSEKINEMATICSPTR_H_
-#define DART_DYNAMICS_DETAIL_INVERSEKINEMATICSPTR_H_
+#ifndef DART_DYNAMICS_DETAIL_INVERSEKINEMATICSPTR_HPP_
+#define DART_DYNAMICS_DETAIL_INVERSEKINEMATICSPTR_HPP_
 
 #include <memory>
-#include "dart/dynamics/detail/NodePtr.h"
+#include "dart/dynamics/detail/NodePtr.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -335,4 +335,4 @@ class TemplateWeakInverseKinematicsPtr
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_INVERSEKINEMATICSPTR_H_
+#endif // DART_DYNAMICS_DETAIL_INVERSEKINEMATICSPTR_HPP_
diff --git a/dart/dynamics/detail/JointAspect.h b/dart/dynamics/detail/JointAspect.hpp
similarity index 97%
rename from dart/dynamics/detail/JointAspect.h
rename to dart/dynamics/detail/JointAspect.hpp
index ff00a266bdc74..6fe2404b095b8 100644
--- a/dart/dynamics/detail/JointAspect.h
+++ b/dart/dynamics/detail/JointAspect.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_JOINTASPECT_H_
-#define DART_DYNAMICS_DETAIL_JOINTASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_JOINTASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_JOINTASPECT_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -141,4 +141,4 @@ struct JointProperties
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_JOINTASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_JOINTASPECT_HPP_
diff --git a/dart/dynamics/detail/JointPtr.h b/dart/dynamics/detail/JointPtr.hpp
similarity index 97%
rename from dart/dynamics/detail/JointPtr.h
rename to dart/dynamics/detail/JointPtr.hpp
index 8870351f59477..505fa9a796315 100644
--- a/dart/dynamics/detail/JointPtr.h
+++ b/dart/dynamics/detail/JointPtr.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_JOINTPTR_H_
-#define DART_DYNAMICS_DETAIL_JOINTPTR_H_
+#ifndef DART_DYNAMICS_DETAIL_JOINTPTR_HPP_
+#define DART_DYNAMICS_DETAIL_JOINTPTR_HPP_
 
-#include "dart/dynamics/detail/BodyNodePtr.h"
+#include "dart/dynamics/detail/BodyNodePtr.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -282,4 +282,4 @@ class TemplateWeakJointPtr
 } // namespace dart
 } // namespace dynamics
 
-#endif // DART_DYNAMICS_DETAIL_JOINTPTR_H_
+#endif // DART_DYNAMICS_DETAIL_JOINTPTR_HPP_
diff --git a/dart/dynamics/detail/MarkerAspect.h b/dart/dynamics/detail/MarkerAspect.hpp
similarity index 92%
rename from dart/dynamics/detail/MarkerAspect.h
rename to dart/dynamics/detail/MarkerAspect.hpp
index f7d7e40f69e6d..036a739d9e113 100644
--- a/dart/dynamics/detail/MarkerAspect.h
+++ b/dart/dynamics/detail/MarkerAspect.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_MARKERASPECT_H_
-#define DART_DYNAMICS_DETAIL_MARKERASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_MARKERASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_MARKERASPECT_HPP_
 
 #include <Eigen/Core>
-#include "dart/math/Helpers.h"
+#include "dart/math/Helpers.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -68,4 +68,4 @@ struct MarkerProperties
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_MARKERASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_MARKERASPECT_HPP_
diff --git a/dart/dynamics/detail/MultiDofJoint.h b/dart/dynamics/detail/MultiDofJoint.hpp
similarity index 99%
rename from dart/dynamics/detail/MultiDofJoint.h
rename to dart/dynamics/detail/MultiDofJoint.hpp
index 3149ab94cdca8..23a73c442c2d5 100644
--- a/dart/dynamics/detail/MultiDofJoint.h
+++ b/dart/dynamics/detail/MultiDofJoint.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_MULTIDOFJOINT_H_
-#define DART_DYNAMICS_DETAIL_MULTIDOFJOINT_H_
+#ifndef DART_DYNAMICS_DETAIL_MULTIDOFJOINT_HPP_
+#define DART_DYNAMICS_DETAIL_MULTIDOFJOINT_HPP_
 
-#include "dart/dynamics/MultiDofJoint.h"
+#include "dart/dynamics/MultiDofJoint.hpp"
 
 #define MULTIDOFJOINT_REPORT_DIM_MISMATCH( func, arg )\
   dterr << "[MultiDofJoint::" #func "] Mismatch beteween size of "\
@@ -2352,4 +2352,4 @@ Eigen::VectorXd MultiDofJoint<DOF>::getSpatialToGeneralized(
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_MULTIDOFJOINT_H_
+#endif // DART_DYNAMICS_DETAIL_MULTIDOFJOINT_HPP_
diff --git a/dart/dynamics/detail/MultiDofJointAspect.h b/dart/dynamics/detail/MultiDofJointAspect.hpp
similarity index 97%
rename from dart/dynamics/detail/MultiDofJointAspect.h
rename to dart/dynamics/detail/MultiDofJointAspect.hpp
index c7429b5445788..092f490864db7 100644
--- a/dart/dynamics/detail/MultiDofJointAspect.h
+++ b/dart/dynamics/detail/MultiDofJointAspect.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_MULTIDOFJOINTASPECT_H_
-#define DART_DYNAMICS_DETAIL_MULTIDOFJOINTASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_MULTIDOFJOINTASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_MULTIDOFJOINTASPECT_HPP_
 
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/common/AspectWithVersion.h"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/common/AspectWithVersion.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -303,5 +303,5 @@ using MultiDofJointBase = common::EmbedStateAndPropertiesOnTopOf<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_MULTIDOFJOINTASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_MULTIDOFJOINTASPECT_HPP_
 
diff --git a/dart/dynamics/detail/Node.h b/dart/dynamics/detail/Node.hpp
similarity index 99%
rename from dart/dynamics/detail/Node.h
rename to dart/dynamics/detail/Node.hpp
index 3a17a17d7e1ed..33c00373ea3c5 100644
--- a/dart/dynamics/detail/Node.h
+++ b/dart/dynamics/detail/Node.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_NODE_H_
-#define DART_DYNAMICS_DETAIL_NODE_H_
+#ifndef DART_DYNAMICS_DETAIL_NODE_HPP_
+#define DART_DYNAMICS_DETAIL_NODE_HPP_
 
 #include <cassert>
 
-#include "dart/dynamics/Node.h"
+#include "dart/dynamics/Node.hpp"
 
-#include "dart/common/StlHelpers.h"
+#include "dart/common/StlHelpers.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -338,4 +338,4 @@ void AccessoryNode<NodeType>::reattach()
   DART_SKEL_SPECIALIZED_NODE_TEMPLATE_IRREGULAR( SkelType, NodeName, NodeName ## s );
 
 
-#endif // DART_DYNAMICS_DETAIL_NODE_H_
+#endif // DART_DYNAMICS_DETAIL_NODE_HPP_
diff --git a/dart/dynamics/detail/NodeManagerJoiner.h b/dart/dynamics/detail/NodeManagerJoiner.hpp
similarity index 95%
rename from dart/dynamics/detail/NodeManagerJoiner.h
rename to dart/dynamics/detail/NodeManagerJoiner.hpp
index c463247164c85..17e0178257ac3 100644
--- a/dart/dynamics/detail/NodeManagerJoiner.h
+++ b/dart/dynamics/detail/NodeManagerJoiner.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_NODEMANAGERJOINER_H_
-#define DART_DYNAMICS_DETAIL_NODEMANAGERJOINER_H_
+#ifndef DART_DYNAMICS_DETAIL_NODEMANAGERJOINER_HPP_
+#define DART_DYNAMICS_DETAIL_NODEMANAGERJOINER_HPP_
 
-#include "dart/dynamics/NodeManagerJoiner.h"
-#include "dart/common/detail/TemplateJoinerDispatchMacro.h"
+#include "dart/dynamics/NodeManagerJoiner.hpp"
+#include "dart/common/detail/TemplateJoinerDispatchMacro.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -132,4 +132,4 @@ NodeManagerJoinerForSkeleton<Base1, Base2, OtherBases...>::NodeManagerJoinerForS
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_NODEMANAGERJOINER_H_
+#endif // DART_DYNAMICS_DETAIL_NODEMANAGERJOINER_HPP_
diff --git a/dart/dynamics/detail/NodePtr.h b/dart/dynamics/detail/NodePtr.hpp
similarity index 97%
rename from dart/dynamics/detail/NodePtr.h
rename to dart/dynamics/detail/NodePtr.hpp
index e5c782b560ecb..55aef018e6e82 100644
--- a/dart/dynamics/detail/NodePtr.h
+++ b/dart/dynamics/detail/NodePtr.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_NODEPTR_H_
-#define DART_DYNAMICS_DETAIL_NODEPTR_H_
+#ifndef DART_DYNAMICS_DETAIL_NODEPTR_HPP_
+#define DART_DYNAMICS_DETAIL_NODEPTR_HPP_
 
-#include "dart/dynamics/detail/BodyNodePtr.h"
+#include "dart/dynamics/detail/BodyNodePtr.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -252,4 +252,4 @@ class TemplateWeakNodePtr
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_NODEPTR_H_
+#endif // DART_DYNAMICS_DETAIL_NODEPTR_HPP_
diff --git a/dart/dynamics/detail/PlanarJointAspect.cpp b/dart/dynamics/detail/PlanarJointAspect.cpp
index fe2d56615ab33..9c93c3d6bc740 100644
--- a/dart/dynamics/detail/PlanarJointAspect.cpp
+++ b/dart/dynamics/detail/PlanarJointAspect.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/PlanarJoint.h"
+#include "dart/dynamics/PlanarJoint.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/detail/PlanarJointAspect.h b/dart/dynamics/detail/PlanarJointAspect.hpp
similarity index 95%
rename from dart/dynamics/detail/PlanarJointAspect.h
rename to dart/dynamics/detail/PlanarJointAspect.hpp
index 7cb8c8c51ab4d..d7685fc77db56 100644
--- a/dart/dynamics/detail/PlanarJointAspect.h
+++ b/dart/dynamics/detail/PlanarJointAspect.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_H_
-#define DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_
 
 #include <string>
 
-#include "dart/dynamics/MultiDofJoint.h"
+#include "dart/dynamics/MultiDofJoint.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -130,4 +130,4 @@ using PlanarJointBase = common::EmbedPropertiesOnTopOf<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_
diff --git a/dart/dynamics/detail/PrismaticJointAspect.cpp b/dart/dynamics/detail/PrismaticJointAspect.cpp
index 99a3fd5de9d61..b41f0f13fb56d 100644
--- a/dart/dynamics/detail/PrismaticJointAspect.cpp
+++ b/dart/dynamics/detail/PrismaticJointAspect.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/PrismaticJoint.h"
+#include "dart/dynamics/PrismaticJoint.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/detail/PrismaticJointAspect.h b/dart/dynamics/detail/PrismaticJointAspect.hpp
similarity index 93%
rename from dart/dynamics/detail/PrismaticJointAspect.h
rename to dart/dynamics/detail/PrismaticJointAspect.hpp
index 0efcb7ab8e960..781d7d7e041a4 100644
--- a/dart/dynamics/detail/PrismaticJointAspect.h
+++ b/dart/dynamics/detail/PrismaticJointAspect.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_PRISMATICJOINTASPECT_H_
-#define DART_DYNAMICS_DETAIL_PRISMATICJOINTASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_PRISMATICJOINTASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_PRISMATICJOINTASPECT_HPP_
 
 #include <string>
 
 #include <Eigen/Dense>
 
-#include "dart/dynamics/SingleDofJoint.h"
+#include "dart/dynamics/SingleDofJoint.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -83,4 +83,4 @@ using PrismaticJointBase = common::EmbedPropertiesOnTopOf<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_PRISMATICJOINTASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_PRISMATICJOINTASPECT_HPP_
diff --git a/dart/dynamics/detail/RevoluteJointAspect.cpp b/dart/dynamics/detail/RevoluteJointAspect.cpp
index 6c52890c4a771..8d5109e4879f7 100644
--- a/dart/dynamics/detail/RevoluteJointAspect.cpp
+++ b/dart/dynamics/detail/RevoluteJointAspect.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/RevoluteJoint.h"
+#include "dart/dynamics/RevoluteJoint.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/detail/RevoluteJointAspect.h b/dart/dynamics/detail/RevoluteJointAspect.hpp
similarity index 93%
rename from dart/dynamics/detail/RevoluteJointAspect.h
rename to dart/dynamics/detail/RevoluteJointAspect.hpp
index dd6a9b3490c4e..a834543c659e6 100644
--- a/dart/dynamics/detail/RevoluteJointAspect.h
+++ b/dart/dynamics/detail/RevoluteJointAspect.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_H_
-#define DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_HPP_
 
 #include <string>
 
 #include <Eigen/Dense>
 
-#include "dart/dynamics/SingleDofJoint.h"
+#include "dart/dynamics/SingleDofJoint.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -85,4 +85,4 @@ using RevoluteJointBase = common::EmbedPropertiesOnTopOf<
 } // namespace dart
 
 
-#endif // DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_HPP_
diff --git a/dart/dynamics/detail/ScrewJointAspect.cpp b/dart/dynamics/detail/ScrewJointAspect.cpp
index 8381bc947898e..dc842f5745a6e 100644
--- a/dart/dynamics/detail/ScrewJointAspect.cpp
+++ b/dart/dynamics/detail/ScrewJointAspect.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/ScrewJoint.h"
+#include "dart/dynamics/ScrewJoint.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/detail/ScrewJointAspect.h b/dart/dynamics/detail/ScrewJointAspect.hpp
similarity index 93%
rename from dart/dynamics/detail/ScrewJointAspect.h
rename to dart/dynamics/detail/ScrewJointAspect.hpp
index 73456fd19859e..8ea25a10d8e2f 100644
--- a/dart/dynamics/detail/ScrewJointAspect.h
+++ b/dart/dynamics/detail/ScrewJointAspect.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_H_
-#define DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_HPP_
 
 #include <string>
 
 #include <Eigen/Dense>
 
-#include "dart/dynamics/SingleDofJoint.h"
+#include "dart/dynamics/SingleDofJoint.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -87,4 +87,4 @@ using ScrewJointBase = common::EmbedPropertiesOnTopOf<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_HPP_
diff --git a/dart/dynamics/detail/ShapeFrameAspect.h b/dart/dynamics/detail/ShapeFrameAspect.hpp
similarity index 93%
rename from dart/dynamics/detail/ShapeFrameAspect.h
rename to dart/dynamics/detail/ShapeFrameAspect.hpp
index 9cdd5e603107a..a0da4bb525a8f 100644
--- a/dart/dynamics/detail/ShapeFrameAspect.h
+++ b/dart/dynamics/detail/ShapeFrameAspect.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_H_
-#define DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
 
 #include <Eigen/Core>
 
-#include "dart/common/EmbeddedAspect.h"
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/common/EmbeddedAspect.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -123,4 +123,4 @@ using ShapeFrameCompositeBase = common::EmbedPropertiesOnTopOf<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
diff --git a/dart/dynamics/detail/ShapeNode.h b/dart/dynamics/detail/ShapeNode.hpp
similarity index 88%
rename from dart/dynamics/detail/ShapeNode.h
rename to dart/dynamics/detail/ShapeNode.hpp
index 359e774a05c5c..191dba77078b4 100644
--- a/dart/dynamics/detail/ShapeNode.h
+++ b/dart/dynamics/detail/ShapeNode.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_SHAPENODE_H_
-#define DART_DYNAMICS_DETAIL_SHAPENODE_H_
+#ifndef DART_DYNAMICS_DETAIL_SHAPENODE_HPP_
+#define DART_DYNAMICS_DETAIL_SHAPENODE_HPP_
 
-#include "dart/dynamics/ShapeFrame.h"
-#include "dart/dynamics/FixedJacobianNode.h"
-#include "dart/dynamics/CompositeNode.h"
+#include "dart/dynamics/ShapeFrame.hpp"
+#include "dart/dynamics/FixedJacobianNode.hpp"
+#include "dart/dynamics/CompositeNode.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -56,4 +56,4 @@ using ShapeNodeCompositeBase = CompositeNode<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_SHAPENODE_H_
+#endif // DART_DYNAMICS_DETAIL_SHAPENODE_HPP_
diff --git a/dart/dynamics/detail/SingleDofJointAspect.cpp b/dart/dynamics/detail/SingleDofJointAspect.cpp
index b0233ea8c5fa9..a16beb574ff51 100644
--- a/dart/dynamics/detail/SingleDofJointAspect.cpp
+++ b/dart/dynamics/detail/SingleDofJointAspect.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/SingleDofJoint.h"
+#include "dart/dynamics/SingleDofJoint.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/detail/SingleDofJointAspect.h b/dart/dynamics/detail/SingleDofJointAspect.hpp
similarity index 94%
rename from dart/dynamics/detail/SingleDofJointAspect.h
rename to dart/dynamics/detail/SingleDofJointAspect.hpp
index 3726eb1f1804b..82ed4aaa7a254 100644
--- a/dart/dynamics/detail/SingleDofJointAspect.h
+++ b/dart/dynamics/detail/SingleDofJointAspect.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_SINGLEDOFJOINTASPECT_H_
-#define DART_DYNAMICS_DETAIL_SINGLEDOFJOINTASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_SINGLEDOFJOINTASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_SINGLEDOFJOINTASPECT_HPP_
 
-#include "dart/common/RequiresAspect.h"
+#include "dart/common/RequiresAspect.hpp"
 
-#include "dart/common/AspectWithVersion.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/Joint.h"
+#include "dart/common/AspectWithVersion.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/Joint.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -170,4 +170,4 @@ using SingleDofJointBase = common::EmbedStateAndPropertiesOnTopOf<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_SINGLEDOFJOINTASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_SINGLEDOFJOINTASPECT_HPP_
diff --git a/dart/dynamics/detail/Skeleton.h b/dart/dynamics/detail/Skeleton.hpp
similarity index 95%
rename from dart/dynamics/detail/Skeleton.h
rename to dart/dynamics/detail/Skeleton.hpp
index e97a0784d29fa..1d494cb2d6555 100644
--- a/dart/dynamics/detail/Skeleton.h
+++ b/dart/dynamics/detail/Skeleton.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_SKELETON_H_
-#define DART_DYNAMICS_DETAIL_SKELETON_H_
+#ifndef DART_DYNAMICS_DETAIL_SKELETON_HPP_
+#define DART_DYNAMICS_DETAIL_SKELETON_HPP_
 
-#include "dart/dynamics/Skeleton.h"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -93,4 +93,4 @@ std::pair<JointType*, NodeType*> Skeleton::createJointAndBodyNodePair(
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_SKELETON_H_
+#endif // DART_DYNAMICS_DETAIL_SKELETON_HPP_
diff --git a/dart/dynamics/detail/SkeletonAspect.h b/dart/dynamics/detail/SkeletonAspect.hpp
similarity index 95%
rename from dart/dynamics/detail/SkeletonAspect.h
rename to dart/dynamics/detail/SkeletonAspect.hpp
index a0369420c3297..51b0836e1df8d 100644
--- a/dart/dynamics/detail/SkeletonAspect.h
+++ b/dart/dynamics/detail/SkeletonAspect.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_SKELETONASPECT_H_
-#define DART_DYNAMICS_DETAIL_SKELETONASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
 
-#include "dart/common/Composite.h"
-#include "dart/common/ProxyAspect.h"
-#include "dart/common/EmbeddedAspect.h"
-#include "dart/common/RequiresAspect.h"
+#include "dart/common/Composite.hpp"
+#include "dart/common/ProxyAspect.hpp"
+#include "dart/common/EmbeddedAspect.hpp"
+#include "dart/common/RequiresAspect.hpp"
 #include <Eigen/Core>
 
 namespace dart {
@@ -163,4 +163,4 @@ using SkeletonAspectBase = common::EmbedPropertiesOnTopOf<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_SKELETONASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
diff --git a/dart/dynamics/detail/SoftBodyNodeAspect.h b/dart/dynamics/detail/SoftBodyNodeAspect.hpp
similarity index 94%
rename from dart/dynamics/detail/SoftBodyNodeAspect.h
rename to dart/dynamics/detail/SoftBodyNodeAspect.hpp
index f8123acbfaabe..41cbac0129f7a 100644
--- a/dart/dynamics/detail/SoftBodyNodeAspect.h
+++ b/dart/dynamics/detail/SoftBodyNodeAspect.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_H_
-#define DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_
 
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/PointMass.h"
-#include "dart/common/RequiresAspect.h"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/PointMass.hpp"
+#include "dart/common/RequiresAspect.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -128,4 +128,4 @@ using SoftBodyNodeBase = common::EmbedStateAndPropertiesOnTopOf<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_
diff --git a/dart/dynamics/detail/SpecializedNodeManager.h b/dart/dynamics/detail/SpecializedNodeManager.hpp
similarity index 98%
rename from dart/dynamics/detail/SpecializedNodeManager.h
rename to dart/dynamics/detail/SpecializedNodeManager.hpp
index c87ece354b13f..66c8ce42485a0 100644
--- a/dart/dynamics/detail/SpecializedNodeManager.h
+++ b/dart/dynamics/detail/SpecializedNodeManager.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_SPECIALIZEDNODEMANAGER_H_
-#define DART_DYNAMICS_DETAIL_SPECIALIZEDNODEMANAGER_H_
+#ifndef DART_DYNAMICS_DETAIL_SPECIALIZEDNODEMANAGER_HPP_
+#define DART_DYNAMICS_DETAIL_SPECIALIZEDNODEMANAGER_HPP_
 
-#include "dart/dynamics/SpecializedNodeManager.h"
+#include "dart/dynamics/SpecializedNodeManager.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -324,4 +324,4 @@ constexpr bool SkeletonSpecializedFor<SpecNode>::_isSpecializedForNode(
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_SPECIALIZEDNODEMANAGER_H_
+#endif // DART_DYNAMICS_DETAIL_SPECIALIZEDNODEMANAGER_HPP_
diff --git a/dart/dynamics/detail/TemplatedJacobianNode.h b/dart/dynamics/detail/TemplatedJacobianNode.hpp
similarity index 98%
rename from dart/dynamics/detail/TemplatedJacobianNode.h
rename to dart/dynamics/detail/TemplatedJacobianNode.hpp
index e6903e01474fc..f6876fdd3a71c 100644
--- a/dart/dynamics/detail/TemplatedJacobianNode.h
+++ b/dart/dynamics/detail/TemplatedJacobianNode.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_TEMPLATEDJACOBIAN_H_
-#define DART_DYNAMICS_DETAIL_TEMPLATEDJACOBIAN_H_
+#ifndef DART_DYNAMICS_DETAIL_TEMPLATEDJACOBIAN_HPP_
+#define DART_DYNAMICS_DETAIL_TEMPLATEDJACOBIAN_HPP_
 
-#include "dart/dynamics/TemplatedJacobianNode.h"
+#include "dart/dynamics/TemplatedJacobianNode.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -324,4 +324,4 @@ TemplatedJacobianNode<NodeType>::TemplatedJacobianNode(BodyNode* bn)
 } // namespace dart
 
 
-#endif // DART_DYNAMICS_DETAIL_TEMPLATEDJACOBIAN_H_
+#endif // DART_DYNAMICS_DETAIL_TEMPLATEDJACOBIAN_HPP_
diff --git a/dart/dynamics/detail/UniversalJointAspect.cpp b/dart/dynamics/detail/UniversalJointAspect.cpp
index d2d55982ab645..13a1440af3782 100644
--- a/dart/dynamics/detail/UniversalJointAspect.cpp
+++ b/dart/dynamics/detail/UniversalJointAspect.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/UniversalJoint.h"
+#include "dart/dynamics/UniversalJoint.hpp"
 
 namespace dart {
 namespace dynamics {
diff --git a/dart/dynamics/detail/UniversalJointAspect.h b/dart/dynamics/detail/UniversalJointAspect.hpp
similarity index 93%
rename from dart/dynamics/detail/UniversalJointAspect.h
rename to dart/dynamics/detail/UniversalJointAspect.hpp
index 54f12a6e5034b..02a2244d5ee86 100644
--- a/dart/dynamics/detail/UniversalJointAspect.h
+++ b/dart/dynamics/detail/UniversalJointAspect.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_DYNAMICS_DETAIL_UNIVERSALJOINTASPECT_H_
-#define DART_DYNAMICS_DETAIL_UNIVERSALJOINTASPECT_H_
+#ifndef DART_DYNAMICS_DETAIL_UNIVERSALJOINTASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_UNIVERSALJOINTASPECT_HPP_
 
 #include <string>
 
 #include <Eigen/Dense>
 
-#include "dart/dynamics/MultiDofJoint.h"
+#include "dart/dynamics/MultiDofJoint.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -84,4 +84,4 @@ using UniversalJointBase = common::EmbedPropertiesOnTopOf<
 } // namespace dynamics
 } // namespace dart
 
-#endif // DART_DYNAMICS_DETAIL_UNIVERSALJOINTASPECT_H_
+#endif // DART_DYNAMICS_DETAIL_UNIVERSALJOINTASPECT_HPP_
diff --git a/dart/dynamics/dynamics.h.in b/dart/dynamics/dynamics.hpp.in
similarity index 100%
rename from dart/dynamics/dynamics.h.in
rename to dart/dynamics/dynamics.hpp.in
diff --git a/dart/gui/CMakeLists.txt b/dart/gui/CMakeLists.txt
index 754f735f79d79..66b9f63fdd7d5 100644
--- a/dart/gui/CMakeLists.txt
+++ b/dart/gui/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp" "*.h")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 include_directories(SYSTEM ${OPENGL_INCLUDE_DIR})
 include_directories(SYSTEM ${GLUT_INCLUDE_DIR})
@@ -20,7 +20,7 @@ target_link_libraries(dart-gui dart-utils ${GLUT_LIBRARY} ${OPENGL_LIBRARIES})
 # Generate header for this namespace
 dart_get_filename_components(header_names "gui headers" ${hdrs})
 if(HAVE_OPENSCENEGRAPH)
-  list(APPEND header_names "osg/osg.h")
+  list(APPEND header_names "osg/osg.hpp")
 endif(HAVE_OPENSCENEGRAPH)
 dart_generate_include_header_list(
   gui_headers
@@ -29,13 +29,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/gui.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/gui.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/gui.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/gui.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/gui.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/gui.hpp
   DESTINATION include/dart/gui
   COMPONENT headers
 )
diff --git a/dart/gui/GLFuncs.cpp b/dart/gui/GLFuncs.cpp
index 04f237110066b..9b663d9371825 100644
--- a/dart/gui/GLFuncs.cpp
+++ b/dart/gui/GLFuncs.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/GLFuncs.h"
+#include "dart/gui/GLFuncs.hpp"
 
 #include <cstdio>
 #include <iostream>
@@ -42,8 +42,8 @@
 
 #include <Eigen/Eigen>
 
-#include "dart/gui/LoadOpengl.h"
-#include "dart/gui/LoadGlut.h"
+#include "dart/gui/LoadOpengl.hpp"
+#include "dart/gui/LoadGlut.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/GLFuncs.h b/dart/gui/GLFuncs.hpp
similarity index 95%
rename from dart/gui/GLFuncs.h
rename to dart/gui/GLFuncs.hpp
index 7defaff944f68..7dd00e73cf30f 100644
--- a/dart/gui/GLFuncs.h
+++ b/dart/gui/GLFuncs.hpp
@@ -34,13 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_GLFUNCS_H_
-#define DART_GUI_GLFUNCS_H_
+#ifndef DART_GUI_GLFUNCS_HPP_
+#define DART_GUI_GLFUNCS_HPP_
 
 #include <string>
 
 #include <Eigen/Eigen>
-// #include "FreeImage.h"
 
 namespace dart {
 namespace gui {
@@ -72,4 +71,4 @@ void drawProgressBar(int _currFrame, int _totalFrame);
 }  // namespace gui
 }  // namespace dart
 
-#endif  // DART_GUI_GLFUNCS_H_
+#endif  // DART_GUI_GLFUNCS_HPP_
diff --git a/dart/gui/GlutWindow.cpp b/dart/gui/GlutWindow.cpp
index 13b58bfffdb5c..7ea79ab9d0009 100644
--- a/dart/gui/GlutWindow.cpp
+++ b/dart/gui/GlutWindow.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/GlutWindow.h"
+#include "dart/gui/GlutWindow.hpp"
 
 #ifdef _WIN32
   #include <sys/types.h>
@@ -50,10 +50,10 @@
 #include <iostream>
 #include <vector>
 
-#include "dart/common/Console.h"
-#include "dart/gui/LoadGlut.h"
-#include "dart/gui/GLFuncs.h"
-#include "dart/gui/OpenGLRenderInterface.h"
+#include "dart/common/Console.hpp"
+#include "dart/gui/LoadGlut.hpp"
+#include "dart/gui/GLFuncs.hpp"
+#include "dart/gui/OpenGLRenderInterface.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/GlutWindow.h b/dart/gui/GlutWindow.hpp
similarity index 94%
rename from dart/gui/GlutWindow.h
rename to dart/gui/GlutWindow.hpp
index e4e15bb06fd27..ec09c37811906 100644
--- a/dart/gui/GlutWindow.h
+++ b/dart/gui/GlutWindow.hpp
@@ -35,13 +35,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_GLUTWINDOW_H_
-#define DART_GUI_GLUTWINDOW_H_
+#ifndef DART_GUI_GLUTWINDOW_HPP_
+#define DART_GUI_GLUTWINDOW_HPP_
 
 #include <vector>
 
-#include "dart/gui/LoadOpengl.h"
-#include "dart/gui/RenderInterface.h"
+#include "dart/gui/LoadOpengl.hpp"
+#include "dart/gui/RenderInterface.hpp"
 #include "dart/gui/lodepng.h"
 
 namespace dart {
@@ -101,4 +101,4 @@ class GlutWindow {
 }  // namespace gui
 }  // namespace dart
 
-#endif  // DART_GUI_GLUTWINDOW_H_
+#endif  // DART_GUI_GLUTWINDOW_HPP_
diff --git a/dart/gui/GraphWindow.cpp b/dart/gui/GraphWindow.cpp
index d786856821c66..e8a2caedcf9fc 100644
--- a/dart/gui/GraphWindow.cpp
+++ b/dart/gui/GraphWindow.cpp
@@ -40,14 +40,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/GraphWindow.h"
+#include "dart/gui/GraphWindow.hpp"
 
 #include <cstdio>
 #include <iostream>
 #include <string>
 
-#include "dart/gui/GLFuncs.h"
-#include "dart/gui/LoadGlut.h"
+#include "dart/gui/GLFuncs.hpp"
+#include "dart/gui/LoadGlut.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/GraphWindow.h b/dart/gui/GraphWindow.hpp
similarity index 94%
rename from dart/gui/GraphWindow.h
rename to dart/gui/GraphWindow.hpp
index be7bb64afd7f6..a3272963fe980 100644
--- a/dart/gui/GraphWindow.h
+++ b/dart/gui/GraphWindow.hpp
@@ -40,14 +40,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_GRAPHWINDOW_H_
-#define DART_GUI_GRAPHWINDOW_H_
+#ifndef DART_GUI_GRAPHWINDOW_HPP_
+#define DART_GUI_GRAPHWINDOW_HPP_
 
 #include <vector>
 
 #include <Eigen/Dense>
 
-#include "dart/gui/Win2D.h"
+#include "dart/gui/Win2D.hpp"
 
 namespace dart {
 namespace gui {
@@ -76,4 +76,4 @@ class GraphWindow : public Win2D {
 }  // namespace gui
 }  // namespace dart
 
-#endif  // DART_GUI_GRAPHWINDOW_H_
+#endif  // DART_GUI_GRAPHWINDOW_HPP_
diff --git a/dart/gui/LoadGlut.h b/dart/gui/LoadGlut.hpp
similarity index 95%
rename from dart/gui/LoadGlut.h
rename to dart/gui/LoadGlut.hpp
index b8c8e0051011a..56a9200218f90 100644
--- a/dart/gui/LoadGlut.h
+++ b/dart/gui/LoadGlut.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_LOADGLUT_H_
-#define DART_GUI_LOADGLUT_H_
+#ifndef DART_GUI_LOADGLUT_HPP_
+#define DART_GUI_LOADGLUT_HPP_
 
 #if defined(_WIN32)
   #include <cstdlib> // To disable glut::exit() function
@@ -48,5 +48,5 @@
   #error "Load OpenGL Error: What's your operating system?"
 #endif
 
-#endif  // DART_GUI_LOADGLUT_H_
+#endif  // DART_GUI_LOADGLUT_HPP_
 
diff --git a/dart/gui/LoadOpengl.h b/dart/gui/LoadOpengl.hpp
similarity index 95%
rename from dart/gui/LoadOpengl.h
rename to dart/gui/LoadOpengl.hpp
index 09d68f47bee90..cf87594ac872d 100644
--- a/dart/gui/LoadOpengl.h
+++ b/dart/gui/LoadOpengl.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_LOADOPENGL_H_
-#define DART_GUI_LOADOPENGL_H_
+#ifndef DART_GUI_LOADOPENGL_HPP_
+#define DART_GUI_LOADOPENGL_HPP_
 
 #if defined(_WIN32)
   #ifdef NOMINMAX
@@ -57,4 +57,4 @@
   #error "Load OpenGL Error: What's your operating system?"
 #endif
 
-#endif  // DART_GUI_LOADOPENGL_H_
+#endif  // DART_GUI_LOADOPENGL_HPP_
diff --git a/dart/gui/OpenGLRenderInterface.cpp b/dart/gui/OpenGLRenderInterface.cpp
index 1266714032b2a..897315bb71912 100644
--- a/dart/gui/OpenGLRenderInterface.cpp
+++ b/dart/gui/OpenGLRenderInterface.cpp
@@ -37,18 +37,18 @@
 #include <iostream>
 #include <assimp/cimport.h>
 
-#include "dart/common/Console.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Shape.h"
-#include "dart/dynamics/ShapeNode.h"
-#include "dart/dynamics/BoxShape.h"
-#include "dart/dynamics/CylinderShape.h"
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/dynamics/MeshShape.h"
-#include "dart/dynamics/LineSegmentShape.h"
-#include "dart/gui/LoadOpengl.h"
-#include "dart/gui/OpenGLRenderInterface.h"
+#include "dart/common/Console.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Shape.hpp"
+#include "dart/dynamics/ShapeNode.hpp"
+#include "dart/dynamics/BoxShape.hpp"
+#include "dart/dynamics/CylinderShape.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/MeshShape.hpp"
+#include "dart/dynamics/LineSegmentShape.hpp"
+#include "dart/gui/LoadOpengl.hpp"
+#include "dart/gui/OpenGLRenderInterface.hpp"
 
 // Code taken from glut/lib/glut_shapes.c
 static GLUquadricObj *quadObj;
diff --git a/dart/gui/OpenGLRenderInterface.h b/dart/gui/OpenGLRenderInterface.hpp
similarity index 95%
rename from dart/gui/OpenGLRenderInterface.h
rename to dart/gui/OpenGLRenderInterface.hpp
index 14468a38fb01a..ba35ecd00a23b 100644
--- a/dart/gui/OpenGLRenderInterface.h
+++ b/dart/gui/OpenGLRenderInterface.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OPENGLRENDERINTERFACE_H_
-#define DART_GUI_OPENGLRENDERINTERFACE_H_
+#ifndef DART_GUI_OPENGLRENDERINTERFACE_HPP_
+#define DART_GUI_OPENGLRENDERINTERFACE_HPP_
 
 #include <list>
 #include <vector>
-#include "dart/gui/RenderInterface.h"
-#include "dart/gui/LoadOpengl.h"
+#include "dart/gui/RenderInterface.hpp"
+#include "dart/gui/LoadOpengl.hpp"
 
 namespace dart {
 
@@ -117,4 +117,4 @@ class OpenGLRenderInterface : public RenderInterface {
 } // namespace gui
 } // namespace dart
 
-#endif // #ifndef DART_GUI_OPENGLRENDERINTERFACE_H_
+#endif // #ifndef DART_GUI_OPENGLRENDERINTERFACE_HPP_
diff --git a/dart/gui/RenderInterface.cpp b/dart/gui/RenderInterface.cpp
index 5e415c00729b9..092d5f686147f 100644
--- a/dart/gui/RenderInterface.cpp
+++ b/dart/gui/RenderInterface.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "RenderInterface.h"
+#include "dart/gui/RenderInterface.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/RenderInterface.h b/dart/gui/RenderInterface.hpp
similarity index 96%
rename from dart/gui/RenderInterface.h
rename to dart/gui/RenderInterface.hpp
index c95acecdf018f..6b361404da533 100644
--- a/dart/gui/RenderInterface.h
+++ b/dart/gui/RenderInterface.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_RENDERINTERFACE_H_
-#define DART_GUI_RENDERINTERFACE_H_
+#ifndef DART_GUI_RENDERINTERFACE_HPP_
+#define DART_GUI_RENDERINTERFACE_HPP_
 
 #include <vector>
 #include <assimp/scene.h>
 #include <Eigen/Dense>
 
-#include "dart/math/MathTypes.h"
+#include "dart/math/MathTypes.hpp"
 
 namespace dart {
 namespace gui {
@@ -118,4 +118,4 @@ class RenderInterface {
 } // namespace gui
 } // namespace dart
 
-#endif // #ifndef DART_GUI_RENDERINTERFACE_H_
+#endif // #ifndef DART_GUI_RENDERINTERFACE_HPP_
diff --git a/dart/gui/SimWindow.cpp b/dart/gui/SimWindow.cpp
index b24df3771483b..63ba9c4534b55 100644
--- a/dart/gui/SimWindow.cpp
+++ b/dart/gui/SimWindow.cpp
@@ -39,29 +39,29 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/SimWindow.h"
+#include "dart/gui/SimWindow.hpp"
 
 #include <cstdio>
 #include <iostream>
 #include <string>
 
-#include "dart/simulation/World.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/SoftBodyNode.h"
-#include "dart/dynamics/BoxShape.h"
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/dynamics/CylinderShape.h"
-#include "dart/dynamics/PlaneShape.h"
-#include "dart/dynamics/MeshShape.h"
-#include "dart/dynamics/SoftMeshShape.h"
-#include "dart/dynamics/LineSegmentShape.h"
-#include "dart/dynamics/Marker.h"
-#include "dart/constraint/ConstraintSolver.h"
-#include "dart/collision/CollisionDetector.h"
-#include "dart/gui/LoadGlut.h"
-#include "dart/gui/GLFuncs.h"
-#include "dart/gui/GraphWindow.h"
-#include "dart/utils/FileInfoWorld.h"
+#include "dart/simulation/World.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/BoxShape.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/CylinderShape.hpp"
+#include "dart/dynamics/PlaneShape.hpp"
+#include "dart/dynamics/MeshShape.hpp"
+#include "dart/dynamics/SoftMeshShape.hpp"
+#include "dart/dynamics/LineSegmentShape.hpp"
+#include "dart/dynamics/Marker.hpp"
+#include "dart/constraint/ConstraintSolver.hpp"
+#include "dart/collision/CollisionDetector.hpp"
+#include "dart/gui/LoadGlut.hpp"
+#include "dart/gui/GLFuncs.hpp"
+#include "dart/gui/GraphWindow.hpp"
+#include "dart/utils/FileInfoWorld.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/SimWindow.h b/dart/gui/SimWindow.hpp
similarity index 95%
rename from dart/gui/SimWindow.h
rename to dart/gui/SimWindow.hpp
index 1cbe2289403f3..934b565e3759a 100644
--- a/dart/gui/SimWindow.h
+++ b/dart/gui/SimWindow.hpp
@@ -39,16 +39,16 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_SIMWINDOW_H_
-#define DART_GUI_SIMWINDOW_H_
+#ifndef DART_GUI_SIMWINDOW_HPP_
+#define DART_GUI_SIMWINDOW_HPP_
 
 #include <vector>
 
 #include <Eigen/Dense>
 
-#include "dart/common/Deprecated.h"
-#include "dart/gui/Win3D.h"
-#include "dart/simulation/World.h"
+#include "dart/common/Deprecated.hpp"
+#include "dart/gui/Win3D.hpp"
+#include "dart/simulation/World.hpp"
 
 namespace dart {
 namespace gui {
@@ -160,4 +160,4 @@ class SimWindow : public Win3D {
 }  // namespace gui
 }  // namespace dart
 
-#endif  // DART_GUI_SIMWINDOW_H_
+#endif  // DART_GUI_SIMWINDOW_HPP_
diff --git a/dart/gui/SoftSimWindow.cpp b/dart/gui/SoftSimWindow.cpp
index 554030768b4f1..5609a2e67406d 100644
--- a/dart/gui/SoftSimWindow.cpp
+++ b/dart/gui/SoftSimWindow.cpp
@@ -40,9 +40,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/SoftSimWindow.h"
+#include "dart/gui/SoftSimWindow.hpp"
 
-#include "dart/gui/LoadGlut.h"
+#include "dart/gui/LoadGlut.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/SoftSimWindow.h b/dart/gui/SoftSimWindow.hpp
similarity index 94%
rename from dart/gui/SoftSimWindow.h
rename to dart/gui/SoftSimWindow.hpp
index 99902ef0d6a76..e9e7c00663e6d 100644
--- a/dart/gui/SoftSimWindow.h
+++ b/dart/gui/SoftSimWindow.hpp
@@ -40,10 +40,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_SOFTSIMWINDOW_H_
-#define DART_GUI_SOFTSIMWINDOW_H_
+#ifndef DART_GUI_SOFTSIMWINDOW_HPP_
+#define DART_GUI_SOFTSIMWINDOW_HPP_
 
-#include "dart/gui/SimWindow.h"
+#include "dart/gui/SimWindow.hpp"
 
 namespace dart {
 namespace gui {
@@ -72,4 +72,4 @@ class SoftSimWindow : public SimWindow
 }  // namespace gui
 }  // namespace dart
 
-#endif  // DART_GUI_SOFTSIMWINDOW_H_
+#endif  // DART_GUI_SOFTSIMWINDOW_HPP_
diff --git a/dart/gui/Trackball.cpp b/dart/gui/Trackball.cpp
index 3178b9c9df7d9..9efaa08cdd016 100644
--- a/dart/gui/Trackball.cpp
+++ b/dart/gui/Trackball.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/Trackball.h"
+#include "dart/gui/Trackball.hpp"
 
-#include "dart/gui/LoadOpengl.h"
+#include "dart/gui/LoadOpengl.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/Trackball.h b/dart/gui/Trackball.hpp
similarity index 97%
rename from dart/gui/Trackball.h
rename to dart/gui/Trackball.hpp
index 06e038db0b274..b3445b12adf34 100644
--- a/dart/gui/Trackball.h
+++ b/dart/gui/Trackball.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_TRACKBALL_H_
-#define DART_GUI_TRACKBALL_H_
+#ifndef DART_GUI_TRACKBALL_HPP_
+#define DART_GUI_TRACKBALL_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -117,4 +117,4 @@ class Trackball {
 }  // namespace gui
 }  // namespace dart
 
-#endif  // DART_GUI_TRACKBALL_H_
+#endif  // DART_GUI_TRACKBALL_HPP_
diff --git a/dart/gui/Win2D.cpp b/dart/gui/Win2D.cpp
index 5dfa7a5d54947..895c60ce837e2 100644
--- a/dart/gui/Win2D.cpp
+++ b/dart/gui/Win2D.cpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/Win2D.h"
+#include "dart/gui/Win2D.hpp"
 
 #include <iostream>
 
-#include "dart/gui/LoadGlut.h"
+#include "dart/gui/LoadGlut.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/Win2D.h b/dart/gui/Win2D.hpp
similarity index 95%
rename from dart/gui/Win2D.h
rename to dart/gui/Win2D.hpp
index c210d19658639..eb4be989959a1 100644
--- a/dart/gui/Win2D.h
+++ b/dart/gui/Win2D.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_WIN2D_H_
-#define DART_GUI_WIN2D_H_
+#ifndef DART_GUI_WIN2D_HPP_
+#define DART_GUI_WIN2D_HPP_
 
-#include "dart/gui/GlutWindow.h"
+#include "dart/gui/GlutWindow.hpp"
 
 namespace dart {
 namespace gui {
@@ -83,4 +83,4 @@ class Win2D : public GlutWindow {
 }  // namespace gui
 }  // namespace dart
 
-#endif  // DART_GUI_WIN2D_H_
+#endif  // DART_GUI_WIN2D_HPP_
diff --git a/dart/gui/Win3D.cpp b/dart/gui/Win3D.cpp
index bbe1a3983c83d..f6cb4540ba822 100644
--- a/dart/gui/Win3D.cpp
+++ b/dart/gui/Win3D.cpp
@@ -35,11 +35,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/Win3D.h"
+#include "dart/gui/Win3D.hpp"
 
 #include <algorithm>
 
-#include "dart/gui/LoadGlut.h"
+#include "dart/gui/LoadGlut.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/Win3D.h b/dart/gui/Win3D.hpp
similarity index 94%
rename from dart/gui/Win3D.h
rename to dart/gui/Win3D.hpp
index 19976ff1490a6..2f1ec7f35a426 100644
--- a/dart/gui/Win3D.h
+++ b/dart/gui/Win3D.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_WIN3D_H_
-#define DART_GUI_WIN3D_H_
+#ifndef DART_GUI_WIN3D_HPP_
+#define DART_GUI_WIN3D_HPP_
 
 #include <Eigen/Eigen>
 
-#include "dart/gui/GlutWindow.h"
-#include "dart/gui/Trackball.h"
+#include "dart/gui/GlutWindow.hpp"
+#include "dart/gui/Trackball.hpp"
 
 namespace dart {
 namespace gui {
@@ -78,4 +78,4 @@ class Win3D : public GlutWindow {
 }  // namespace gui
 }  // namespace dart
 
-#endif  // DART_GUI_WIN3D_H_
+#endif  // DART_GUI_WIN3D_HPP_
diff --git a/dart/gui/gui.h.in b/dart/gui/gui.hpp.in
similarity index 64%
rename from dart/gui/gui.h.in
rename to dart/gui/gui.hpp.in
index 475eb5d51b177..d453ff9d15339 100644
--- a/dart/gui/gui.h.in
+++ b/dart/gui/gui.hpp.in
@@ -1,4 +1,4 @@
 // Automatically generated file by cmake
 
-#include "dart/utils/utils.h"
+#include "dart/utils/utils.hpp"
 ${gui_headers}
diff --git a/dart/gui/osg/CMakeLists.txt b/dart/gui/osg/CMakeLists.txt
index 8d7334ad2b70b..bb674b685e7dc 100644
--- a/dart/gui/osg/CMakeLists.txt
+++ b/dart/gui/osg/CMakeLists.txt
@@ -1,7 +1,7 @@
 include_directories(SYSTEM ${OPENSCENEGRAPH_INCLUDE_DIRS})
 
 # Search all header and source files
-file(GLOB hdrs "*.h")
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
 
 set(dart_gui_osg_hdrs ${hdrs})
@@ -15,7 +15,7 @@ target_link_libraries(dart-gui-osg dart-gui ${OPENSCENEGRAPH_LIBRARIES})
 
 # Generate header for this namespace
 dart_get_filename_components(header_names "gui osg headers" ${hdrs})
-list(APPEND header_names "render/render.h")
+list(APPEND header_names "render/render.hpp")
 dart_generate_include_header_list(
   gui_osg_headers
   "dart/gui/osg/"
@@ -23,14 +23,14 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/osg.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/osg.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/osg.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/osg.hpp
 )
 
 add_subdirectory(examples EXCLUDE_FROM_ALL)
 
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/osg.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/osg.hpp
   DESTINATION include/dart/gui/osg
   COMPONENT headers
 )
diff --git a/dart/gui/osg/DefaultEventHandler.cpp b/dart/gui/osg/DefaultEventHandler.cpp
index 5801f731647e0..0f722b531a339 100644
--- a/dart/gui/osg/DefaultEventHandler.cpp
+++ b/dart/gui/osg/DefaultEventHandler.cpp
@@ -36,15 +36,15 @@
 
 #include <osgGA/GUIEventAdapter>
 
-#include "dart/gui/osg/DefaultEventHandler.h"
-#include "dart/gui/osg/MouseEventHandler.h"
-#include "dart/gui/osg/Viewer.h"
-#include "dart/gui/osg/render/ShapeNode.h"
-#include "dart/gui/osg/ShapeFrameNode.h"
-#include "dart/gui/osg/Utils.h"
-
-#include "dart/dynamics/Entity.h"
-#include "dart/dynamics/ShapeFrame.h"
+#include "dart/gui/osg/DefaultEventHandler.hpp"
+#include "dart/gui/osg/MouseEventHandler.hpp"
+#include "dart/gui/osg/Viewer.hpp"
+#include "dart/gui/osg/render/ShapeNode.hpp"
+#include "dart/gui/osg/ShapeFrameNode.hpp"
+#include "dart/gui/osg/Utils.hpp"
+
+#include "dart/dynamics/Entity.hpp"
+#include "dart/dynamics/ShapeFrame.hpp"
 
 
 #include <iostream>
diff --git a/dart/gui/osg/DefaultEventHandler.h b/dart/gui/osg/DefaultEventHandler.hpp
similarity index 97%
rename from dart/gui/osg/DefaultEventHandler.h
rename to dart/gui/osg/DefaultEventHandler.hpp
index 9f5f0a762aa26..161a845e1251b 100644
--- a/dart/gui/osg/DefaultEventHandler.h
+++ b/dart/gui/osg/DefaultEventHandler.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_DEFAULTEVENTHANDLER_H
-#define DART_GUI_OSG_DEFAULTEVENTHANDLER_H
+#ifndef DART_GUI_OSG_DEFAULTEVENTHANDLER_HPP_
+#define DART_GUI_OSG_DEFAULTEVENTHANDLER_HPP_
 
 #include <vector>
 #include <array>
@@ -45,8 +45,8 @@
 
 #include <osgGA/GUIEventHandler>
 
-#include "dart/common/Subject.h"
-#include "dart/common/Observer.h"
+#include "dart/common/Subject.hpp"
+#include "dart/common/Observer.hpp"
 
 namespace dart {
 
@@ -236,4 +236,4 @@ class DefaultEventHandler : public ::osgGA::GUIEventHandler,
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_DEFAULTEVENTHANDLER_H
+#endif // DART_GUI_OSG_DEFAULTEVENTHANDLER_HPP_
diff --git a/dart/gui/osg/DragAndDrop.cpp b/dart/gui/osg/DragAndDrop.cpp
index 89383f9c46906..4610c722e2055 100644
--- a/dart/gui/osg/DragAndDrop.cpp
+++ b/dart/gui/osg/DragAndDrop.cpp
@@ -34,20 +34,20 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/osg/DragAndDrop.h"
-#include "dart/gui/osg/DefaultEventHandler.h"
-#include "dart/gui/osg/Viewer.h"
-#include "dart/gui/osg/InteractiveFrame.h"
-#include "dart/gui/osg/MouseEventHandler.h"
-
-#include "dart/dynamics/SimpleFrame.h"
-#include "dart/dynamics/MeshShape.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/DegreeOfFreedom.h"
-#include "dart/dynamics/MeshShape.h"
-
-#include "dart/math/Helpers.h"
+#include "dart/gui/osg/DragAndDrop.hpp"
+#include "dart/gui/osg/DefaultEventHandler.hpp"
+#include "dart/gui/osg/Viewer.hpp"
+#include "dart/gui/osg/InteractiveFrame.hpp"
+#include "dart/gui/osg/MouseEventHandler.hpp"
+
+#include "dart/dynamics/SimpleFrame.hpp"
+#include "dart/dynamics/MeshShape.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
+#include "dart/dynamics/MeshShape.hpp"
+
+#include "dart/math/Helpers.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/DragAndDrop.h b/dart/gui/osg/DragAndDrop.hpp
similarity index 97%
rename from dart/gui/osg/DragAndDrop.h
rename to dart/gui/osg/DragAndDrop.hpp
index 1692b8404a10f..0bcf49a1c54b8 100644
--- a/dart/gui/osg/DragAndDrop.h
+++ b/dart/gui/osg/DragAndDrop.hpp
@@ -34,17 +34,17 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_DRAGANDDROP_H
-#define DART_GUI_OSG_DRAGANDDROP_H
+#ifndef DART_GUI_OSG_DRAGANDDROP_HPP_
+#define DART_GUI_OSG_DRAGANDDROP_HPP_
 
 #include <functional>
 
 #include <Eigen/Geometry>
 
-#include "dart/common/sub_ptr.h"
-#include "dart/dynamics/Entity.h"
-#include "dart/dynamics/Shape.h"
-#include "DefaultEventHandler.h"
+#include "dart/common/sub_ptr.hpp"
+#include "dart/dynamics/Entity.hpp"
+#include "dart/dynamics/Shape.hpp"
+#include "DefaultEventHandler.hpp"
 
 namespace dart {
 
@@ -364,4 +364,4 @@ class BodyNodeDnD : public DragAndDrop
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_DRAGANDDROP_H
+#endif // DART_GUI_OSG_DRAGANDDROP_HPP_
diff --git a/dart/gui/osg/InteractiveFrame.cpp b/dart/gui/osg/InteractiveFrame.cpp
index a26b551353f9d..861965213343d 100644
--- a/dart/gui/osg/InteractiveFrame.cpp
+++ b/dart/gui/osg/InteractiveFrame.cpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/osg/InteractiveFrame.h"
-#include "dart/dynamics/MeshShape.h"
-#include "dart/dynamics/ArrowShape.h"
-#include "dart/dynamics/LineSegmentShape.h"
-#include "dart/common/Console.h"
+#include "dart/gui/osg/InteractiveFrame.hpp"
+#include "dart/dynamics/MeshShape.hpp"
+#include "dart/dynamics/ArrowShape.hpp"
+#include "dart/dynamics/LineSegmentShape.hpp"
+#include "dart/common/Console.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/InteractiveFrame.h b/dart/gui/osg/InteractiveFrame.hpp
similarity index 96%
rename from dart/gui/osg/InteractiveFrame.h
rename to dart/gui/osg/InteractiveFrame.hpp
index e8edee680d26a..198045e356103 100644
--- a/dart/gui/osg/InteractiveFrame.h
+++ b/dart/gui/osg/InteractiveFrame.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_INTERACTIVEFRAME_H
-#define DART_GUI_OSG_INTERACTIVEFRAME_H
+#ifndef DART_GUI_OSG_INTERACTIVEFRAME_HPP_
+#define DART_GUI_OSG_INTERACTIVEFRAME_HPP_
 
-#include "dart/dynamics/SimpleFrame.h"
+#include "dart/dynamics/SimpleFrame.hpp"
 
 namespace dart {
 
@@ -171,4 +171,4 @@ typedef std::shared_ptr<InteractiveFrame> InteractiveFramePtr;
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_INTERACTIVEFRAME_H
+#endif // DART_GUI_OSG_INTERACTIVEFRAME_HPP_
diff --git a/dart/gui/osg/MouseEventHandler.h b/dart/gui/osg/MouseEventHandler.hpp
similarity index 90%
rename from dart/gui/osg/MouseEventHandler.h
rename to dart/gui/osg/MouseEventHandler.hpp
index 8e12de9bd3041..786b2e771fed5 100644
--- a/dart/gui/osg/MouseEventHandler.h
+++ b/dart/gui/osg/MouseEventHandler.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_MOUSEEVENTHANDLER_H
-#define DART_GUI_OSG_MOUSEEVENTHANDLER_H
+#ifndef DART_GUI_OSG_MOUSEEVENTHANDLER_HPP_
+#define DART_GUI_OSG_MOUSEEVENTHANDLER_HPP_
 
-#include "dart/common/Subject.h"
-#include "dart/common/Observer.h"
+#include "dart/common/Subject.hpp"
+#include "dart/common/Observer.hpp"
 
-#include "dart/gui/osg/DefaultEventHandler.h"
+#include "dart/gui/osg/DefaultEventHandler.hpp"
 
 namespace dart {
 namespace gui {
@@ -77,4 +77,4 @@ class MouseEventHandler : public virtual dart::common::Subject,
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_MOUSEEVENTHANDLER_H
+#endif // DART_GUI_OSG_MOUSEEVENTHANDLER_HPP_
diff --git a/dart/gui/osg/ShapeFrameNode.cpp b/dart/gui/osg/ShapeFrameNode.cpp
index 4c133f953f810..a83c27c587869 100644
--- a/dart/gui/osg/ShapeFrameNode.cpp
+++ b/dart/gui/osg/ShapeFrameNode.cpp
@@ -38,29 +38,29 @@
 #include "osg/Node"
 #include "osg/Group"
 
-#include "dart/gui/osg/ShapeFrameNode.h"
-#include "dart/gui/osg/Utils.h"
-#include "dart/gui/osg/render/ShapeNode.h"
-#include "dart/gui/osg/render/BoxShapeNode.h"
-#include "dart/gui/osg/render/EllipsoidShapeNode.h"
-#include "dart/gui/osg/render/CylinderShapeNode.h"
-#include "dart/gui/osg/render/PlaneShapeNode.h"
-#include "dart/gui/osg/render/MeshShapeNode.h"
-#include "dart/gui/osg/render/SoftMeshShapeNode.h"
-#include "dart/gui/osg/render/LineSegmentShapeNode.h"
-#include "dart/gui/osg/render/WarningShapeNode.h"
-
-#include "dart/dynamics/Frame.h"
-#include "dart/dynamics/ShapeFrame.h"
-#include "dart/dynamics/Entity.h"
-#include "dart/dynamics/BoxShape.h"
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/dynamics/CylinderShape.h"
-#include "dart/dynamics/PlaneShape.h"
-#include "dart/dynamics/MeshShape.h"
-#include "dart/dynamics/SoftMeshShape.h"
-#include "dart/dynamics/LineSegmentShape.h"
-#include "dart/dynamics/SimpleFrame.h"
+#include "dart/gui/osg/ShapeFrameNode.hpp"
+#include "dart/gui/osg/Utils.hpp"
+#include "dart/gui/osg/render/ShapeNode.hpp"
+#include "dart/gui/osg/render/BoxShapeNode.hpp"
+#include "dart/gui/osg/render/EllipsoidShapeNode.hpp"
+#include "dart/gui/osg/render/CylinderShapeNode.hpp"
+#include "dart/gui/osg/render/PlaneShapeNode.hpp"
+#include "dart/gui/osg/render/MeshShapeNode.hpp"
+#include "dart/gui/osg/render/SoftMeshShapeNode.hpp"
+#include "dart/gui/osg/render/LineSegmentShapeNode.hpp"
+#include "dart/gui/osg/render/WarningShapeNode.hpp"
+
+#include "dart/dynamics/Frame.hpp"
+#include "dart/dynamics/ShapeFrame.hpp"
+#include "dart/dynamics/Entity.hpp"
+#include "dart/dynamics/BoxShape.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/CylinderShape.hpp"
+#include "dart/dynamics/PlaneShape.hpp"
+#include "dart/dynamics/MeshShape.hpp"
+#include "dart/dynamics/SoftMeshShape.hpp"
+#include "dart/dynamics/LineSegmentShape.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/ShapeFrameNode.h b/dart/gui/osg/ShapeFrameNode.hpp
similarity index 95%
rename from dart/gui/osg/ShapeFrameNode.h
rename to dart/gui/osg/ShapeFrameNode.hpp
index 2cec89e1e26fc..b2482871bb1ab 100644
--- a/dart/gui/osg/ShapeFrameNode.h
+++ b/dart/gui/osg/ShapeFrameNode.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_SHAPEFRAMENODE_H
-#define DART_GUI_OSG_SHAPEFRAMENODE_H
+#ifndef DART_GUI_OSG_SHAPEFRAMENODE_HPP_
+#define DART_GUI_OSG_SHAPEFRAMENODE_HPP_
 
 #include <map>
 #include <memory>
 #include <osg/MatrixTransform>
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/dynamics/SmartPointer.hpp"
 
 namespace dart {
 namespace dynamics {
@@ -117,4 +117,4 @@ class ShapeFrameNode : public ::osg::MatrixTransform
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_SHAPEFRAMENODE_H
+#endif // DART_GUI_OSG_SHAPEFRAMENODE_HPP_
diff --git a/dart/gui/osg/SupportPolygonVisual.cpp b/dart/gui/osg/SupportPolygonVisual.cpp
index 4859616b4f9ac..576e7404c842a 100644
--- a/dart/gui/osg/SupportPolygonVisual.cpp
+++ b/dart/gui/osg/SupportPolygonVisual.cpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/SimpleFrame.h"
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/math/Helpers.h"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/math/Helpers.hpp"
 
-#include "SupportPolygonVisual.h"
+#include "dart/gui/osg/SupportPolygonVisual.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/SupportPolygonVisual.h b/dart/gui/osg/SupportPolygonVisual.hpp
similarity index 95%
rename from dart/gui/osg/SupportPolygonVisual.h
rename to dart/gui/osg/SupportPolygonVisual.hpp
index 0612a5432901e..65cfc081f9070 100644
--- a/dart/gui/osg/SupportPolygonVisual.h
+++ b/dart/gui/osg/SupportPolygonVisual.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_SUPPORTPOLYGONVISUAL_H
-#define DART_GUI_OSG_SUPPORTPOLYGONVISUAL_H
+#ifndef DART_GUI_OSG_SUPPORTPOLYGONVISUAL_HPP_
+#define DART_GUI_OSG_SUPPORTPOLYGONVISUAL_HPP_
 
 #include <osg/Geode>
 
-#include "dart/dynamics/SmartPointer.h"
+#include "dart/dynamics/SmartPointer.hpp"
 
-#include "dart/gui/osg/Viewer.h"
-#include "ShapeFrameNode.h"
+#include "dart/gui/osg/Viewer.hpp"
+#include "dart/gui/osg/ShapeFrameNode.hpp"
 
 namespace dart {
 namespace gui {
@@ -202,4 +202,4 @@ class SupportPolygonVisual : public ViewerAttachment
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_SUPPORTPOLYGONVISUAL_H
+#endif // DART_GUI_OSG_SUPPORTPOLYGONVISUAL_HPP_
diff --git a/dart/gui/osg/TrackballManipulator.cpp b/dart/gui/osg/TrackballManipulator.cpp
index 2da12d385e399..b94ebe50aa888 100644
--- a/dart/gui/osg/TrackballManipulator.cpp
+++ b/dart/gui/osg/TrackballManipulator.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/osg/TrackballManipulator.h"
+#include "dart/gui/osg/TrackballManipulator.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/TrackballManipulator.h b/dart/gui/osg/TrackballManipulator.hpp
similarity index 96%
rename from dart/gui/osg/TrackballManipulator.h
rename to dart/gui/osg/TrackballManipulator.hpp
index 8eddbf8d8db85..ee45f3c2a0967 100644
--- a/dart/gui/osg/TrackballManipulator.h
+++ b/dart/gui/osg/TrackballManipulator.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_TRACKBALLMANIPULATOR_H
-#define DART_GUI_OSG_TRACKBALLMANIPULATOR_H
+#ifndef DART_GUI_OSG_TRACKBALLMANIPULATOR_HPP_
+#define DART_GUI_OSG_TRACKBALLMANIPULATOR_HPP_
 
 #include <osgGA/OrbitManipulator>
 
@@ -84,4 +84,4 @@ class OSGGA_EXPORT TrackballManipulator : public ::osgGA::OrbitManipulator
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_TRACKBALLMANIPULATOR_H
+#endif // DART_GUI_OSG_TRACKBALLMANIPULATOR_HPP_
diff --git a/dart/gui/osg/Utils.h b/dart/gui/osg/Utils.hpp
similarity index 97%
rename from dart/gui/osg/Utils.h
rename to dart/gui/osg/Utils.hpp
index e281c0d475b45..9c6bd044d7dc0 100644
--- a/dart/gui/osg/Utils.h
+++ b/dart/gui/osg/Utils.hpp
@@ -35,8 +35,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_UTILS_H
-#define DART_GUI_OSG_UTILS_H
+#ifndef DART_GUI_OSG_UTILS_HPP_
+#define DART_GUI_OSG_UTILS_HPP_
 
 #include <Eigen/Geometry>
 
@@ -90,4 +90,4 @@ inline Eigen::Vector4d osgToEigVec4(const ::osg::Vec4d& vec)
   return Eigen::Vector4d(vec[0], vec[1], vec[2], vec[3]);
 }
 
-#endif // DART_GUI_OSG_UTILS_H
+#endif // DART_GUI_OSG_UTILS_HPP_
diff --git a/dart/gui/osg/Viewer.cpp b/dart/gui/osg/Viewer.cpp
index cb2670b708b1a..c9981afb4bc95 100644
--- a/dart/gui/osg/Viewer.cpp
+++ b/dart/gui/osg/Viewer.cpp
@@ -39,18 +39,18 @@
 #include <osg/OperationThread>
 #include <osgDB/WriteFile>
 
-#include "dart/gui/osg/Viewer.h"
-#include "dart/gui/osg/TrackballManipulator.h"
-#include "dart/gui/osg/DefaultEventHandler.h"
-#include "dart/gui/osg/DragAndDrop.h"
-#include "dart/gui/osg/WorldNode.h"
-#include "dart/gui/osg/Utils.h"
-
-#include "dart/simulation/World.h"
-
-#include "dart/dynamics/SimpleFrame.h"
-#include "dart/dynamics/Shape.h"
-#include "dart/dynamics/BodyNode.h"
+#include "dart/gui/osg/Viewer.hpp"
+#include "dart/gui/osg/TrackballManipulator.hpp"
+#include "dart/gui/osg/DefaultEventHandler.hpp"
+#include "dart/gui/osg/DragAndDrop.hpp"
+#include "dart/gui/osg/WorldNode.hpp"
+#include "dart/gui/osg/Utils.hpp"
+
+#include "dart/simulation/World.hpp"
+
+#include "dart/dynamics/SimpleFrame.hpp"
+#include "dart/dynamics/Shape.hpp"
+#include "dart/dynamics/BodyNode.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/Viewer.h b/dart/gui/osg/Viewer.hpp
similarity index 98%
rename from dart/gui/osg/Viewer.h
rename to dart/gui/osg/Viewer.hpp
index 60bb2e29ac377..369a23e94b553 100644
--- a/dart/gui/osg/Viewer.h
+++ b/dart/gui/osg/Viewer.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_VIEWER_H
-#define DART_GUI_OSG_VIEWER_H
+#ifndef DART_GUI_OSG_VIEWER_HPP_
+#define DART_GUI_OSG_VIEWER_HPP_
 
 #include <map>
 #include <unordered_set>
@@ -45,7 +45,7 @@
 
 #include <Eigen/Core>
 
-#include "dart/common/Subject.h"
+#include "dart/common/Subject.hpp"
 
 namespace dart {
 
@@ -384,4 +384,4 @@ class Viewer : public osgViewer::Viewer, public dart::common::Subject
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_VIEWER_H
+#endif // DART_GUI_OSG_VIEWER_HPP_
diff --git a/dart/gui/osg/WorldNode.cpp b/dart/gui/osg/WorldNode.cpp
index 33bc44212726c..9cfef42de73e7 100644
--- a/dart/gui/osg/WorldNode.cpp
+++ b/dart/gui/osg/WorldNode.cpp
@@ -38,12 +38,12 @@
 
 #include <osg/NodeCallback>
 
-#include "dart/gui/osg/WorldNode.h"
-#include "dart/gui/osg/ShapeFrameNode.h"
+#include "dart/gui/osg/WorldNode.hpp"
+#include "dart/gui/osg/ShapeFrameNode.hpp"
 
-#include "dart/simulation/World.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/BodyNode.h"
+#include "dart/simulation/World.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/BodyNode.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/WorldNode.h b/dart/gui/osg/WorldNode.hpp
similarity index 97%
rename from dart/gui/osg/WorldNode.h
rename to dart/gui/osg/WorldNode.hpp
index b1b79412afa6e..838bd42bda8ba 100644
--- a/dart/gui/osg/WorldNode.h
+++ b/dart/gui/osg/WorldNode.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_WORLDNODE_H
-#define DART_GUI_OSG_WORLDNODE_H
+#ifndef DART_GUI_OSG_WORLDNODE_HPP_
+#define DART_GUI_OSG_WORLDNODE_HPP_
 
 #include <osg/Group>
 #include <unordered_map>
 #include <memory>
 
-#include "dart/gui/osg/Viewer.h"
+#include "dart/gui/osg/Viewer.hpp"
 
 namespace dart {
 
@@ -183,4 +183,4 @@ class WorldNode : public ::osg::Group
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_WORLDNODE_H
+#endif // DART_GUI_OSG_WORLDNODE_HPP_
diff --git a/dart/gui/osg/examples/osgAtlasPuppet.cpp b/dart/gui/osg/examples/osgAtlasPuppet.cpp
index 64cf71892ed0a..b6b0c1fdff6b4 100644
--- a/dart/gui/osg/examples/osgAtlasPuppet.cpp
+++ b/dart/gui/osg/examples/osgAtlasPuppet.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <dart/dart.h>
-#include <dart/gui/osg/osg.h>
-#include <dart/utils/utils.h>
+#include <dart/dart.hpp>
+#include <dart/gui/osg/osg.hpp>
+#include <dart/utils/utils.hpp>
 
 using namespace dart::common;
 using namespace dart::dynamics;
diff --git a/dart/gui/osg/examples/osgDragAndDrop.cpp b/dart/gui/osg/examples/osgDragAndDrop.cpp
index 6c82b7771648b..8211366f872a5 100644
--- a/dart/gui/osg/examples/osgDragAndDrop.cpp
+++ b/dart/gui/osg/examples/osgDragAndDrop.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <dart/dart.h>
-#include <dart/gui/osg/osg.h>
+#include <dart/dart.hpp>
+#include <dart/gui/osg/osg.hpp>
 
 using namespace dart::dynamics;
 
diff --git a/dart/gui/osg/examples/osgHuboPuppet.cpp b/dart/gui/osg/examples/osgHuboPuppet.cpp
index 8562b3e53c496..762580eb485d5 100644
--- a/dart/gui/osg/examples/osgHuboPuppet.cpp
+++ b/dart/gui/osg/examples/osgHuboPuppet.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <dart/dart.h>
-#include <dart/gui/osg/osg.h>
-#include <dart/utils/utils.h>
+#include <dart/dart.hpp>
+#include <dart/gui/osg/osg.hpp>
+#include <dart/utils/utils.hpp>
 
 using namespace dart::dynamics;
 using namespace dart::simulation;
diff --git a/dart/gui/osg/examples/osgOperationalSpaceControl.cpp b/dart/gui/osg/examples/osgOperationalSpaceControl.cpp
index d8a6b242cbf9b..4b6b87a2dc3ae 100644
--- a/dart/gui/osg/examples/osgOperationalSpaceControl.cpp
+++ b/dart/gui/osg/examples/osgOperationalSpaceControl.cpp
@@ -35,9 +35,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include <dart/dart.h>
-#include <dart/gui/osg/osg.h>
-#include <dart/utils/utils.h>
+#include <dart/dart.hpp>
+#include <dart/gui/osg/osg.hpp>
+#include <dart/utils/utils.hpp>
 
 using namespace dart::common;
 using namespace dart::dynamics;
diff --git a/dart/gui/osg/examples/osgSoftBodies.cpp b/dart/gui/osg/examples/osgSoftBodies.cpp
index 3e61e6fe113e3..70f301a8bc557 100644
--- a/dart/gui/osg/examples/osgSoftBodies.cpp
+++ b/dart/gui/osg/examples/osgSoftBodies.cpp
@@ -37,9 +37,9 @@
 
 #include <osgViewer/Viewer>
 
-#include <dart/dart.h>
-#include <dart/gui/osg/osg.h>
-#include <dart/utils/utils.h>
+#include <dart/dart.hpp>
+#include <dart/gui/osg/osg.hpp>
+#include <dart/utils/utils.hpp>
 
 using namespace dart::dynamics;
 
diff --git a/dart/gui/osg/osg.h.in b/dart/gui/osg/osg.hpp.in
similarity index 100%
rename from dart/gui/osg/osg.h.in
rename to dart/gui/osg/osg.hpp.in
diff --git a/dart/gui/osg/render/BoxShapeNode.cpp b/dart/gui/osg/render/BoxShapeNode.cpp
index b4988f1145342..7489749f11d92 100644
--- a/dart/gui/osg/render/BoxShapeNode.cpp
+++ b/dart/gui/osg/render/BoxShapeNode.cpp
@@ -37,11 +37,11 @@
 #include <osg/Geode>
 #include <osg/ShapeDrawable>
 
-#include "dart/gui/osg/render/BoxShapeNode.h"
-#include "dart/gui/osg/Utils.h"
+#include "dart/gui/osg/render/BoxShapeNode.hpp"
+#include "dart/gui/osg/Utils.hpp"
 
-#include "dart/dynamics/BoxShape.h"
-#include "dart/dynamics/SimpleFrame.h"
+#include "dart/dynamics/BoxShape.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/render/BoxShapeNode.h b/dart/gui/osg/render/BoxShapeNode.hpp
similarity index 92%
rename from dart/gui/osg/render/BoxShapeNode.h
rename to dart/gui/osg/render/BoxShapeNode.hpp
index 7b5f0208581ab..12e037371dfa8 100644
--- a/dart/gui/osg/render/BoxShapeNode.h
+++ b/dart/gui/osg/render/BoxShapeNode.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_RENDER_BOXSHAPENODE_H
-#define DART_GUI_OSG_RENDER_BOXSHAPENODE_H
+#ifndef DART_GUI_OSG_RENDER_BOXSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_BOXSHAPENODE_HPP_
 
 #include <osg/MatrixTransform>
 
-#include "dart/gui/osg/render/ShapeNode.h"
+#include "dart/gui/osg/render/ShapeNode.hpp"
 
 namespace dart {
 
@@ -78,4 +78,4 @@ class BoxShapeNode : public ShapeNode, public ::osg::Group
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_RENDER_BOXSHAPENODE_H
+#endif // DART_GUI_OSG_RENDER_BOXSHAPENODE_HPP_
diff --git a/dart/gui/osg/render/CMakeLists.txt b/dart/gui/osg/render/CMakeLists.txt
index 929ec13cc1d1d..31ea5c69712a9 100644
--- a/dart/gui/osg/render/CMakeLists.txt
+++ b/dart/gui/osg/render/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Search all header and source files
-file(GLOB hdrs "*.h")
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
 
 set(dart_gui_osg_srcs ${dart_gui_osg_srcs} ${srcs} PARENT_SCOPE)
@@ -13,12 +13,12 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/render.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/render.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/render.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/render.hpp
 )
 
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/render.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/render.hpp
   DESTINATION include/dart/gui/osg/render
   COMPONENT headers
 )
diff --git a/dart/gui/osg/render/CylinderShapeNode.cpp b/dart/gui/osg/render/CylinderShapeNode.cpp
index 8e9010a6a5f40..255a1cb695b83 100644
--- a/dart/gui/osg/render/CylinderShapeNode.cpp
+++ b/dart/gui/osg/render/CylinderShapeNode.cpp
@@ -37,11 +37,11 @@
 #include <osg/Geode>
 #include <osg/ShapeDrawable>
 
-#include "dart/gui/osg/render/CylinderShapeNode.h"
-#include "dart/gui/osg/Utils.h"
+#include "dart/gui/osg/render/CylinderShapeNode.hpp"
+#include "dart/gui/osg/Utils.hpp"
 
-#include "dart/dynamics/CylinderShape.h"
-#include "dart/dynamics/SimpleFrame.h"
+#include "dart/dynamics/CylinderShape.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/render/CylinderShapeNode.h b/dart/gui/osg/render/CylinderShapeNode.hpp
similarity index 92%
rename from dart/gui/osg/render/CylinderShapeNode.h
rename to dart/gui/osg/render/CylinderShapeNode.hpp
index 304d849b699ab..58f875478d0ff 100644
--- a/dart/gui/osg/render/CylinderShapeNode.h
+++ b/dart/gui/osg/render/CylinderShapeNode.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_RENDER_CYLINDERSHAPENODE_H
-#define DART_GUI_OSG_RENDER_CYLINDERSHAPENODE_H
+#ifndef DART_GUI_OSG_RENDER_CYLINDERSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_CYLINDERSHAPENODE_HPP_
 
 #include <osg/MatrixTransform>
 
-#include "dart/gui/osg/render/ShapeNode.h"
+#include "dart/gui/osg/render/ShapeNode.hpp"
 
 namespace dart {
 
@@ -78,4 +78,4 @@ class CylinderShapeNode : public ShapeNode, public ::osg::Group
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_RENDER_CYLINDERSHAPENODE_H
+#endif // DART_GUI_OSG_RENDER_CYLINDERSHAPENODE_HPP_
diff --git a/dart/gui/osg/render/EllipsoidShapeNode.cpp b/dart/gui/osg/render/EllipsoidShapeNode.cpp
index a251126b2c2af..8f1cf945f3bd8 100644
--- a/dart/gui/osg/render/EllipsoidShapeNode.cpp
+++ b/dart/gui/osg/render/EllipsoidShapeNode.cpp
@@ -39,11 +39,11 @@
 #include <osg/Light>
 #include <osg/Material>
 
-#include "dart/gui/osg/render/EllipsoidShapeNode.h"
-#include "dart/gui/osg/Utils.h"
+#include "dart/gui/osg/render/EllipsoidShapeNode.hpp"
+#include "dart/gui/osg/Utils.hpp"
 
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/dynamics/SimpleFrame.h"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/render/EllipsoidShapeNode.h b/dart/gui/osg/render/EllipsoidShapeNode.hpp
similarity index 92%
rename from dart/gui/osg/render/EllipsoidShapeNode.h
rename to dart/gui/osg/render/EllipsoidShapeNode.hpp
index 3b47b75a9be26..268531773efd3 100644
--- a/dart/gui/osg/render/EllipsoidShapeNode.h
+++ b/dart/gui/osg/render/EllipsoidShapeNode.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_RENDER_ELLIPSOIDSHAPENODE_H
-#define DART_GUI_OSG_RENDER_ELLIPSOIDSHAPENODE_H
+#ifndef DART_GUI_OSG_RENDER_ELLIPSOIDSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_ELLIPSOIDSHAPENODE_HPP_
 
 #include <osg/ShapeDrawable>
 #include <osg/MatrixTransform>
 
-#include "dart/gui/osg/render/ShapeNode.h"
+#include "dart/gui/osg/render/ShapeNode.hpp"
 
 namespace dart {
 
@@ -80,4 +80,4 @@ class EllipsoidShapeNode : public ShapeNode, public ::osg::MatrixTransform
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_RENDER_ELLIPSOIDSHAPENODE_H
+#endif // DART_GUI_OSG_RENDER_ELLIPSOIDSHAPENODE_HPP_
diff --git a/dart/gui/osg/render/LineSegmentShapeNode.cpp b/dart/gui/osg/render/LineSegmentShapeNode.cpp
index bdd2218c4d480..729e0c4ccdf79 100644
--- a/dart/gui/osg/render/LineSegmentShapeNode.cpp
+++ b/dart/gui/osg/render/LineSegmentShapeNode.cpp
@@ -39,12 +39,12 @@
 #include <osg/LineWidth>
 #include <osg/ShapeDrawable>
 
-#include "dart/gui/osg/render/LineSegmentShapeNode.h"
-#include "dart/gui/osg/ShapeFrameNode.h"
-#include "dart/gui/osg/Utils.h"
+#include "dart/gui/osg/render/LineSegmentShapeNode.hpp"
+#include "dart/gui/osg/ShapeFrameNode.hpp"
+#include "dart/gui/osg/Utils.hpp"
 
-#include "dart/dynamics/LineSegmentShape.h"
-#include "dart/dynamics/SimpleFrame.h"
+#include "dart/dynamics/LineSegmentShape.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/render/LineSegmentShapeNode.h b/dart/gui/osg/render/LineSegmentShapeNode.hpp
similarity index 92%
rename from dart/gui/osg/render/LineSegmentShapeNode.h
rename to dart/gui/osg/render/LineSegmentShapeNode.hpp
index e469345342ff2..44b3e24a21330 100644
--- a/dart/gui/osg/render/LineSegmentShapeNode.h
+++ b/dart/gui/osg/render/LineSegmentShapeNode.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_RENDER_LINESEGMENTSHAPENODE_H
-#define DART_GUI_OSG_RENDER_LINESEGMENTSHAPENODE_H
+#ifndef DART_GUI_OSG_RENDER_LINESEGMENTSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_LINESEGMENTSHAPENODE_HPP_
 
 #include <osg/MatrixTransform>
 
-#include "dart/gui/osg/render/ShapeNode.h"
+#include "dart/gui/osg/render/ShapeNode.hpp"
 
 namespace dart {
 
@@ -78,4 +78,4 @@ class LineSegmentShapeNode : public ShapeNode, public ::osg::Group
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_RENDER_LINESEGMENTSHAPENODE_H
+#endif // DART_GUI_OSG_RENDER_LINESEGMENTSHAPENODE_HPP_
diff --git a/dart/gui/osg/render/MeshShapeNode.cpp b/dart/gui/osg/render/MeshShapeNode.cpp
index 37ade6a06c52f..95df5bed8c908 100644
--- a/dart/gui/osg/render/MeshShapeNode.cpp
+++ b/dart/gui/osg/render/MeshShapeNode.cpp
@@ -41,12 +41,12 @@
 #include <osg/Geometry>
 #include <osg/CullFace>
 
-#include "dart/gui/osg/render/MeshShapeNode.h"
-#include "dart/gui/osg/Utils.h"
+#include "dart/gui/osg/render/MeshShapeNode.hpp"
+#include "dart/gui/osg/Utils.hpp"
 
-#include "dart/dynamics/MeshShape.h"
-#include "dart/dynamics/SimpleFrame.h"
-#include "dart/common/Console.h"
+#include "dart/dynamics/MeshShape.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
+#include "dart/common/Console.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/render/MeshShapeNode.h b/dart/gui/osg/render/MeshShapeNode.hpp
similarity index 93%
rename from dart/gui/osg/render/MeshShapeNode.h
rename to dart/gui/osg/render/MeshShapeNode.hpp
index 436de463758c7..ca87635417a3c 100644
--- a/dart/gui/osg/render/MeshShapeNode.h
+++ b/dart/gui/osg/render/MeshShapeNode.hpp
@@ -35,15 +35,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_RENDER_MESHSHAPENODE_H
-#define DART_GUI_OSG_RENDER_MESHSHAPENODE_H
+#ifndef DART_GUI_OSG_RENDER_MESHSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_MESHSHAPENODE_HPP_
 
 #include <map>
 
 #include <osg/MatrixTransform>
 #include <osg/Material>
 
-#include "dart/gui/osg/render/ShapeNode.h"
+#include "dart/gui/osg/render/ShapeNode.hpp"
 
 struct aiNode;
 
@@ -88,4 +88,4 @@ class MeshShapeNode : public ShapeNode, public ::osg::MatrixTransform
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_RENDER_MESHSHAPENODE_H
+#endif // DART_GUI_OSG_RENDER_MESHSHAPENODE_HPP_
diff --git a/dart/gui/osg/render/PlaneShapeNode.cpp b/dart/gui/osg/render/PlaneShapeNode.cpp
index 61785b613cdc9..edd683e7e7023 100644
--- a/dart/gui/osg/render/PlaneShapeNode.cpp
+++ b/dart/gui/osg/render/PlaneShapeNode.cpp
@@ -37,11 +37,11 @@
 #include <osg/Geode>
 #include <osg/ShapeDrawable>
 
-#include "dart/gui/osg/render/PlaneShapeNode.h"
-#include "dart/gui/osg/Utils.h"
+#include "dart/gui/osg/render/PlaneShapeNode.hpp"
+#include "dart/gui/osg/Utils.hpp"
 
-#include "dart/dynamics/PlaneShape.h"
-#include "dart/dynamics/SimpleFrame.h"
+#include "dart/dynamics/PlaneShape.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/render/PlaneShapeNode.h b/dart/gui/osg/render/PlaneShapeNode.hpp
similarity index 92%
rename from dart/gui/osg/render/PlaneShapeNode.h
rename to dart/gui/osg/render/PlaneShapeNode.hpp
index 12fd8a2ab7938..054764bc6de5e 100644
--- a/dart/gui/osg/render/PlaneShapeNode.h
+++ b/dart/gui/osg/render/PlaneShapeNode.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_RENDER_PLANESHAPENODE_H
-#define DART_GUI_OSG_RENDER_PLANESHAPENODE_H
+#ifndef DART_GUI_OSG_RENDER_PLANESHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_PLANESHAPENODE_HPP_
 
 #include <osg/MatrixTransform>
 
-#include "dart/gui/osg/render/ShapeNode.h"
+#include "dart/gui/osg/render/ShapeNode.hpp"
 
 namespace dart {
 
@@ -78,4 +78,4 @@ class PlaneShapeNode : public ShapeNode, public ::osg::Group
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_RENDER_PLANESHAPENODE_H
+#endif // DART_GUI_OSG_RENDER_PLANESHAPENODE_HPP_
diff --git a/dart/gui/osg/render/ShapeNode.cpp b/dart/gui/osg/render/ShapeNode.cpp
index 06fb4d0491f00..dafa0bb791dfa 100644
--- a/dart/gui/osg/render/ShapeNode.cpp
+++ b/dart/gui/osg/render/ShapeNode.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/osg/render/ShapeNode.h"
-#include "dart/gui/osg/ShapeFrameNode.h"
-#include "dart/dynamics/SimpleFrame.h"
+#include "dart/gui/osg/render/ShapeNode.hpp"
+#include "dart/gui/osg/ShapeFrameNode.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/render/ShapeNode.h b/dart/gui/osg/render/ShapeNode.hpp
similarity index 96%
rename from dart/gui/osg/render/ShapeNode.h
rename to dart/gui/osg/render/ShapeNode.hpp
index 17fe635f9fad0..70f6f0cf3220c 100644
--- a/dart/gui/osg/render/ShapeNode.h
+++ b/dart/gui/osg/render/ShapeNode.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_RENDER_SHAPEGEODE_H
-#define DART_GUI_OSG_RENDER_SHAPEGEODE_H
+#ifndef DART_GUI_OSG_RENDER_SHAPEGEODE_HPP_
+#define DART_GUI_OSG_RENDER_SHAPEGEODE_HPP_
 
 #include <memory>
 #include <osg/Node>
@@ -127,4 +127,4 @@ class ShapeNode
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_RENDER_SHAPEGEODE_H
+#endif // DART_GUI_OSG_RENDER_SHAPEGEODE_HPP_
diff --git a/dart/gui/osg/render/SoftMeshShapeNode.cpp b/dart/gui/osg/render/SoftMeshShapeNode.cpp
index d3d31434e1a79..2889fe9cfff40 100644
--- a/dart/gui/osg/render/SoftMeshShapeNode.cpp
+++ b/dart/gui/osg/render/SoftMeshShapeNode.cpp
@@ -37,13 +37,13 @@
 #include <osg/Geode>
 #include <osg/Geometry>
 
-#include "dart/gui/osg/render/SoftMeshShapeNode.h"
-#include "dart/gui/osg/Utils.h"
+#include "dart/gui/osg/render/SoftMeshShapeNode.hpp"
+#include "dart/gui/osg/Utils.hpp"
 
-#include "dart/dynamics/SoftMeshShape.h"
-#include "dart/dynamics/SoftBodyNode.h"
-#include "dart/dynamics/PointMass.h"
-#include "dart/dynamics/SimpleFrame.h"
+#include "dart/dynamics/SoftMeshShape.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/PointMass.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/render/SoftMeshShapeNode.h b/dart/gui/osg/render/SoftMeshShapeNode.hpp
similarity index 92%
rename from dart/gui/osg/render/SoftMeshShapeNode.h
rename to dart/gui/osg/render/SoftMeshShapeNode.hpp
index 4273ac62d5aff..54bb8f0b4242b 100644
--- a/dart/gui/osg/render/SoftMeshShapeNode.h
+++ b/dart/gui/osg/render/SoftMeshShapeNode.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_RENDER_SOFTMESHSHAPENODE_H
-#define DART_GUI_OSG_RENDER_SOFTMESHSHAPENODE_H
+#ifndef DART_GUI_OSG_RENDER_SOFTMESHSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_SOFTMESHSHAPENODE_HPP_
 
 #include <osg/MatrixTransform>
 
-#include "dart/gui/osg/render/ShapeNode.h"
+#include "dart/gui/osg/render/ShapeNode.hpp"
 
 namespace dart {
 
@@ -79,4 +79,4 @@ class SoftMeshShapeNode : public ShapeNode, public ::osg::MatrixTransform
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_RENDER_SOFTMESHSHAPENODE_H
+#endif // DART_GUI_OSG_RENDER_SOFTMESHSHAPENODE_HPP_
diff --git a/dart/gui/osg/render/WarningShapeNode.cpp b/dart/gui/osg/render/WarningShapeNode.cpp
index 29f7828f685fc..e85fe8e86d189 100644
--- a/dart/gui/osg/render/WarningShapeNode.cpp
+++ b/dart/gui/osg/render/WarningShapeNode.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/osg/render/WarningShapeNode.h"
-#include "dart/gui/osg/ShapeFrameNode.h"
+#include "dart/gui/osg/render/WarningShapeNode.hpp"
+#include "dart/gui/osg/ShapeFrameNode.hpp"
 
-#include "dart/dynamics/Shape.h"
-#include "dart/dynamics/Entity.h"
-#include "dart/common/Console.h"
+#include "dart/dynamics/Shape.hpp"
+#include "dart/dynamics/Entity.hpp"
+#include "dart/common/Console.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/render/WarningShapeNode.h b/dart/gui/osg/render/WarningShapeNode.hpp
similarity index 91%
rename from dart/gui/osg/render/WarningShapeNode.h
rename to dart/gui/osg/render/WarningShapeNode.hpp
index a39e7de2495cb..a9078428bc08f 100644
--- a/dart/gui/osg/render/WarningShapeNode.h
+++ b/dart/gui/osg/render/WarningShapeNode.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_GUI_OSG_RENDER_WARNINGSHAPENODE_H
-#define DART_GUI_OSG_RENDER_WARNINGSHAPENODE_H
+#ifndef DART_GUI_OSG_RENDER_WARNINGSHAPENODE_HPP_
+#define DART_GUI_OSG_RENDER_WARNINGSHAPENODE_HPP_
 
 #include <osg/Node>
 #include <memory>
 
-#include "dart/gui/osg/render/ShapeNode.h"
+#include "dart/gui/osg/render/ShapeNode.hpp"
 
 namespace dart {
 namespace gui {
@@ -67,4 +67,4 @@ class WarningShapeNode : public ShapeNode, public ::osg::Node
 } // namespace gui
 } // namespace dart
 
-#endif // DART_GUI_OSG_RENDER_WARNINGSHAPENODE_H
+#endif // DART_GUI_OSG_RENDER_WARNINGSHAPENODE_HPP_
diff --git a/dart/gui/osg/render/render.h.in b/dart/gui/osg/render/render.hpp.in
similarity index 100%
rename from dart/gui/osg/render/render.h.in
rename to dart/gui/osg/render/render.hpp.in
diff --git a/dart/integration/CMakeLists.txt b/dart/integration/CMakeLists.txt
index 0344f49f0a22d..d41bbda8b45d1 100644
--- a/dart/integration/CMakeLists.txt
+++ b/dart/integration/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 set(dart_integration_hdrs ${hdrs} PARENT_SCOPE)
 set(dart_integration_srcs ${srcs} PARENT_SCOPE)
@@ -14,13 +14,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/integration.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/integration.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/integration.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/integration.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/integration.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/integration.hpp
   DESTINATION include/dart/integration
   COMPONENT headers
 )
diff --git a/dart/integration/EulerIntegrator.cpp b/dart/integration/EulerIntegrator.cpp
index 6cc84231e8cd9..e58f94c478b79 100644
--- a/dart/integration/EulerIntegrator.cpp
+++ b/dart/integration/EulerIntegrator.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/integration/EulerIntegrator.h"
+#include "dart/integration/EulerIntegrator.hpp"
 
 namespace dart {
 namespace integration {
diff --git a/dart/integration/EulerIntegrator.h b/dart/integration/EulerIntegrator.hpp
similarity index 92%
rename from dart/integration/EulerIntegrator.h
rename to dart/integration/EulerIntegrator.hpp
index 8c4104b9623d7..31b75d8c3169b 100644
--- a/dart/integration/EulerIntegrator.h
+++ b/dart/integration/EulerIntegrator.hpp
@@ -35,10 +35,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_INTEGRATION_EULERINTEGRATOR_H_
-#define DART_INTEGRATION_EULERINTEGRATOR_H_
+#ifndef DART_INTEGRATION_EULERINTEGRATOR_HPP_
+#define DART_INTEGRATION_EULERINTEGRATOR_HPP_
 
-#include "dart/integration/Integrator.h"
+#include "dart/integration/Integrator.hpp"
 
 namespace dart {
 namespace integration {
@@ -66,4 +66,4 @@ class EulerIntegrator : public Integrator
 }  // namespace integration
 }  // namespace dart
 
-#endif  // DART_INTEGRATION_EULERINTEGRATOR_H_
+#endif  // DART_INTEGRATION_EULERINTEGRATOR_HPP_
diff --git a/dart/integration/Integrator.cpp b/dart/integration/Integrator.cpp
index 259ff099122e8..a9d818ba1fb3e 100644
--- a/dart/integration/Integrator.cpp
+++ b/dart/integration/Integrator.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/integration/Integrator.h"
+#include "dart/integration/Integrator.hpp"
 
 namespace dart {
 namespace integration {
diff --git a/dart/integration/Integrator.h b/dart/integration/Integrator.hpp
similarity index 96%
rename from dart/integration/Integrator.h
rename to dart/integration/Integrator.hpp
index 940dd5a10174d..61b9700185f9d 100644
--- a/dart/integration/Integrator.h
+++ b/dart/integration/Integrator.hpp
@@ -35,8 +35,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_INTEGRATION_INTEGRATOR_H_
-#define DART_INTEGRATION_INTEGRATOR_H_
+#ifndef DART_INTEGRATION_INTEGRATOR_HPP_
+#define DART_INTEGRATION_INTEGRATOR_HPP_
 
 #include <vector>
 
@@ -106,4 +106,4 @@ class Integrator
 }  // namespace integration
 }  // namespace dart
 
-#endif  // DART_INTEGRATION_INTEGRATOR_H_
+#endif  // DART_INTEGRATION_INTEGRATOR_HPP_
diff --git a/dart/integration/RK4Integrator.cpp b/dart/integration/RK4Integrator.cpp
index 89b2c0ef00890..b59954e29eaa8 100644
--- a/dart/integration/RK4Integrator.cpp
+++ b/dart/integration/RK4Integrator.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/integration/RK4Integrator.h"
+#include "dart/integration/RK4Integrator.hpp"
 
 namespace dart {
 namespace integration {
diff --git a/dart/integration/RK4Integrator.h b/dart/integration/RK4Integrator.hpp
similarity index 93%
rename from dart/integration/RK4Integrator.h
rename to dart/integration/RK4Integrator.hpp
index 94bb9e0613cda..6fcb57550b3e1 100644
--- a/dart/integration/RK4Integrator.h
+++ b/dart/integration/RK4Integrator.hpp
@@ -35,10 +35,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_INTEGRATION_RK4INTEGRATOR_H_
-#define DART_INTEGRATION_RK4INTEGRATOR_H_
+#ifndef DART_INTEGRATION_RK4INTEGRATOR_HPP_
+#define DART_INTEGRATION_RK4INTEGRATOR_HPP_
 
-#include "dart/integration/Integrator.h"
+#include "dart/integration/Integrator.hpp"
 
 namespace dart {
 namespace integration {
@@ -70,4 +70,4 @@ class RK4Integrator : public Integrator
 }  // namespace integration
 }  // namespace dart
 
-#endif  // DART_INTEGRATION_RK4INTEGRATOR_H_
+#endif  // DART_INTEGRATION_RK4INTEGRATOR_HPP_
diff --git a/dart/integration/SemiImplicitEulerIntegrator.cpp b/dart/integration/SemiImplicitEulerIntegrator.cpp
index 8931f5ba03ad5..607e10d120eaa 100644
--- a/dart/integration/SemiImplicitEulerIntegrator.cpp
+++ b/dart/integration/SemiImplicitEulerIntegrator.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/integration/SemiImplicitEulerIntegrator.h"
+#include "dart/integration/SemiImplicitEulerIntegrator.hpp"
 
 namespace dart {
 namespace integration {
diff --git a/dart/integration/SemiImplicitEulerIntegrator.h b/dart/integration/SemiImplicitEulerIntegrator.hpp
similarity index 91%
rename from dart/integration/SemiImplicitEulerIntegrator.h
rename to dart/integration/SemiImplicitEulerIntegrator.hpp
index 493f49db47d99..236280b0256b5 100644
--- a/dart/integration/SemiImplicitEulerIntegrator.h
+++ b/dart/integration/SemiImplicitEulerIntegrator.hpp
@@ -34,10 +34,10 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_INTEGRATION_SEMIIMPLICITEULERINTEGRATOR_H_
-#define DART_INTEGRATION_SEMIIMPLICITEULERINTEGRATOR_H_
+#ifndef DART_INTEGRATION_SEMIIMPLICITEULERINTEGRATOR_HPP_
+#define DART_INTEGRATION_SEMIIMPLICITEULERINTEGRATOR_HPP_
 
-#include "dart/integration/Integrator.h"
+#include "dart/integration/Integrator.hpp"
 
 namespace dart {
 namespace integration {
@@ -65,4 +65,4 @@ class SemiImplicitEulerIntegrator : public Integrator
 }  // namespace integration
 }  // namespace dart
 
-#endif  // DART_INTEGRATION_SEMIIMPLICITEULERINTEGRATOR_H_
+#endif  // DART_INTEGRATION_SEMIIMPLICITEULERINTEGRATOR_HPP_
diff --git a/dart/integration/integration.h.in b/dart/integration/integration.hpp.in
similarity index 100%
rename from dart/integration/integration.h.in
rename to dart/integration/integration.hpp.in
diff --git a/dart/lcpsolver/CMakeLists.txt b/dart/lcpsolver/CMakeLists.txt
index 14d889ffe40e3..891eedeefb2b6 100644
--- a/dart/lcpsolver/CMakeLists.txt
+++ b/dart/lcpsolver/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp" "*.h")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 set(dart_lcpsolver_hdrs ${hdrs} PARENT_SCOPE)
 set(dart_lcpsolver_srcs ${srcs} PARENT_SCOPE)
@@ -14,13 +14,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/lcpsolver.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/lcpsolver.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/lcpsolver.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/lcpsolver.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/lcpsolver.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/lcpsolver.hpp
   DESTINATION include/dart/lcpsolver
   COMPONENT headers
 )
diff --git a/dart/lcpsolver/Lemke.cpp b/dart/lcpsolver/Lemke.cpp
index 2410e183a839a..57ece64e2575b 100644
--- a/dart/lcpsolver/Lemke.cpp
+++ b/dart/lcpsolver/Lemke.cpp
@@ -39,8 +39,8 @@
 #include <iostream>
 #include <vector>
 
-#include "dart/math/Helpers.h"
-#include "dart/lcpsolver/Lemke.h"
+#include "dart/math/Helpers.hpp"
+#include "dart/lcpsolver/Lemke.hpp"
 
 #ifndef isnan
 # define isnan(x) \
diff --git a/dart/lcpsolver/Lemke.h b/dart/lcpsolver/Lemke.hpp
similarity index 95%
rename from dart/lcpsolver/Lemke.h
rename to dart/lcpsolver/Lemke.hpp
index ca6fb097bbb44..553060278888f 100644
--- a/dart/lcpsolver/Lemke.h
+++ b/dart/lcpsolver/Lemke.hpp
@@ -35,8 +35,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_LCPSOLVER_LEMKE_H_
-#define DART_LCPSOLVER_LEMKE_H_
+#ifndef DART_LCPSOLVER_LEMKE_HPP_
+#define DART_LCPSOLVER_LEMKE_HPP_
 
 #include <Eigen/Dense>
 
@@ -54,4 +54,4 @@ bool validate(const Eigen::MatrixXd& _M, const Eigen::VectorXd& _z,
 }  // namespace lcpsolver
 }  // namespace dart
 
-#endif  // DART_LCPSOLVER_LEMKE_H_
+#endif  // DART_LCPSOLVER_LEMKE_HPP_
diff --git a/dart/lcpsolver/ODELCPSolver.cpp b/dart/lcpsolver/ODELCPSolver.cpp
index 1b99829efee12..af202218a8ef5 100644
--- a/dart/lcpsolver/ODELCPSolver.cpp
+++ b/dart/lcpsolver/ODELCPSolver.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/lcpsolver/ODELCPSolver.h"
+#include "dart/lcpsolver/ODELCPSolver.hpp"
 
 #include <cstdio>
 
-#include "dart/common/StlHelpers.h"
-#include "dart/lcpsolver/Lemke.h"
+#include "dart/common/StlHelpers.hpp"
+#include "dart/lcpsolver/Lemke.hpp"
 #include "dart/lcpsolver/lcp.h"
 #include "dart/lcpsolver/misc.h"
 
diff --git a/dart/lcpsolver/ODELCPSolver.h b/dart/lcpsolver/ODELCPSolver.hpp
similarity index 95%
rename from dart/lcpsolver/ODELCPSolver.h
rename to dart/lcpsolver/ODELCPSolver.hpp
index 841f60dc826cd..de5d4b4ca2fb0 100644
--- a/dart/lcpsolver/ODELCPSolver.h
+++ b/dart/lcpsolver/ODELCPSolver.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_LCPSOLVER_ODELCPSOLVER_H_
-#define DART_LCPSOLVER_ODELCPSOLVER_H_
+#ifndef DART_LCPSOLVER_ODELCPSOLVER_HPP_
+#define DART_LCPSOLVER_ODELCPSOLVER_HPP_
 
 #include <Eigen/Dense>
 
@@ -84,4 +84,4 @@ class ODELCPSolver {
 }  // namespace lcpsolver
 }  // namespace dart
 
-#endif  // DART_LCPSOLVER_ODELCPSOLVER_H_
+#endif  // DART_LCPSOLVER_ODELCPSOLVER_HPP_
diff --git a/dart/lcpsolver/lcpsolver.h.in b/dart/lcpsolver/lcpsolver.hpp.in
similarity index 100%
rename from dart/lcpsolver/lcpsolver.h.in
rename to dart/lcpsolver/lcpsolver.hpp.in
diff --git a/dart/math/CMakeLists.txt b/dart/math/CMakeLists.txt
index 4f3f268d489e6..04f1db3160695 100644
--- a/dart/math/CMakeLists.txt
+++ b/dart/math/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 set(dart_math_hdrs ${hdrs} PARENT_SCOPE)
 set(dart_math_srcs ${srcs} PARENT_SCOPE)
@@ -14,13 +14,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/math.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/math.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/math.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/math.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/math.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/math.hpp
   DESTINATION include/dart/math
   COMPONENT headers
 )
diff --git a/dart/math/Constants.h b/dart/math/Constants.hpp
similarity index 95%
rename from dart/math/Constants.h
rename to dart/math/Constants.hpp
index d95056a661dc3..5e1217a3b2c9a 100644
--- a/dart/math/Constants.h
+++ b/dart/math/Constants.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_MATH_CONSTANTS_H_
-#define DART_MATH_CONSTANTS_H_
+#ifndef DART_MATH_CONSTANTS_HPP_
+#define DART_MATH_CONSTANTS_HPP_
 
 #include <limits>
 
@@ -65,4 +65,4 @@ using constantsd = constants<double>;
 }  // namespace math
 }  // namespace dart
 
-#endif  // DART_MATH_CONSTANTS_H_
+#endif  // DART_MATH_CONSTANTS_HPP_
diff --git a/dart/math/Geometry.cpp b/dart/math/Geometry.cpp
index f17ce90fbf8a1..a1600b6aa0a3c 100644
--- a/dart/math/Geometry.cpp
+++ b/dart/math/Geometry.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/math/Geometry.h"
+#include "dart/math/Geometry.hpp"
 
 #include <algorithm>
 #include <cassert>
@@ -44,8 +44,8 @@
 #include <iostream>
 #include <vector>
 
-#include "dart/common/Console.h"
-#include "dart/math/Helpers.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Helpers.hpp"
 
 #define DART_EPSILON 1e-6
 
diff --git a/dart/math/Geometry.h b/dart/math/Geometry.hpp
similarity index 99%
rename from dart/math/Geometry.h
rename to dart/math/Geometry.hpp
index c99e528d9ea8d..c3920cbb565b2 100644
--- a/dart/math/Geometry.h
+++ b/dart/math/Geometry.hpp
@@ -35,13 +35,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_MATH_GEOMETRY_H_
-#define DART_MATH_GEOMETRY_H_
+#ifndef DART_MATH_GEOMETRY_HPP_
+#define DART_MATH_GEOMETRY_HPP_
 
 #include <Eigen/Dense>
 
-#include "dart/common/Deprecated.h"
-#include "dart/math/MathTypes.h"
+#include "dart/common/Deprecated.hpp"
+#include "dart/math/MathTypes.hpp"
 
 namespace dart {
 namespace math {
@@ -595,4 +595,4 @@ class BoundingBox {
 }  // namespace math
 }  // namespace dart
 
-#endif  // DART_MATH_GEOMETRY_H_
+#endif  // DART_MATH_GEOMETRY_HPP_
diff --git a/dart/math/Helpers.h b/dart/math/Helpers.hpp
similarity index 98%
rename from dart/math/Helpers.h
rename to dart/math/Helpers.hpp
index f2ab86b361eab..e69a1371beed2 100644
--- a/dart/math/Helpers.h
+++ b/dart/math/Helpers.hpp
@@ -35,8 +35,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_MATH_HELPERS_H_
-#define DART_MATH_HELPERS_H_
+#ifndef DART_MATH_HELPERS_HPP_
+#define DART_MATH_HELPERS_HPP_
 
 // Standard Libraries
 #include <cfloat>
@@ -50,8 +50,8 @@
 // External Libraries
 #include <Eigen/Dense>
 // Local Headers
-#include "dart/math/Constants.h"
-#include "dart/math/MathTypes.h"
+#include "dart/math/Constants.hpp"
+#include "dart/math/MathTypes.hpp"
 
 namespace dart {
 namespace math {
@@ -435,4 +435,4 @@ inline Eigen::Vector3d Random()
 
 }  // namespace dart
 
-#endif  // DART_MATH_HELPERS_H_
+#endif  // DART_MATH_HELPERS_HPP_
diff --git a/dart/math/MathTypes.h b/dart/math/MathTypes.hpp
similarity index 97%
rename from dart/math/MathTypes.h
rename to dart/math/MathTypes.hpp
index 1d2ce95ada24b..99b23e34427fa 100644
--- a/dart/math/MathTypes.h
+++ b/dart/math/MathTypes.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_MATH_MATHTYPES_H_
-#define DART_MATH_MATHTYPES_H_
+#ifndef DART_MATH_MATHTYPES_HPP_
+#define DART_MATH_MATHTYPES_HPP_
 
 #include <map>
 #include <memory>
@@ -151,4 +151,4 @@ typedef Eigen::Matrix<double, 6, Eigen::Dynamic> Jacobian;
 }  // namespace math
 }  // namespace dart
 
-#endif  // DART_MATH_MATHTYPES_H_
+#endif  // DART_MATH_MATHTYPES_HPP_
diff --git a/dart/math/math.h.in b/dart/math/math.hpp.in
similarity index 100%
rename from dart/math/math.h.in
rename to dart/math/math.hpp.in
diff --git a/dart/optimizer/CMakeLists.txt b/dart/optimizer/CMakeLists.txt
index b5145c8d0f173..7f462587d9bfc 100644
--- a/dart/optimizer/CMakeLists.txt
+++ b/dart/optimizer/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 # Add subdirectories
 if(HAVE_IPOPT)
@@ -19,13 +19,13 @@ set(dart_optimizer_srcs ${srcs} ${dart_optimizer_srcs} PARENT_SCOPE)
 # Generate header for this namespace
 dart_get_filename_components(header_names "optimizer headers" ${hdrs})
 if(HAVE_IPOPT)
-  set(header_names ${header_names} ipopt/ipopt.h)
+  set(header_names ${header_names} ipopt/ipopt.hpp)
 endif()
 if(HAVE_NLOPT)
-  set(header_names ${header_names} nlopt/nlopt.h)
+  set(header_names ${header_names} nlopt/nlopt.hpp)
 endif()
 if(HAVE_SNOPT)
-  set(header_names ${header_names} snopt/snopt.h)
+  set(header_names ${header_names} snopt/snopt.hpp)
 endif()
 dart_generate_include_header_list(
   optimizer_headers
@@ -34,13 +34,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/optimizer.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/optimizer.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/optimizer.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/optimizer.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/optimizer.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/optimizer.hpp
   DESTINATION include/dart/optimizer
   COMPONENT headers
 )
diff --git a/dart/optimizer/Function.cpp b/dart/optimizer/Function.cpp
index e858c212db78b..8e83f27671c6b 100644
--- a/dart/optimizer/Function.cpp
+++ b/dart/optimizer/Function.cpp
@@ -35,9 +35,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/optimizer/Function.h"
+#include "dart/optimizer/Function.hpp"
 
-#include "dart/common/Console.h"
+#include "dart/common/Console.hpp"
 
 namespace dart {
 namespace optimizer {
diff --git a/dart/optimizer/Function.h b/dart/optimizer/Function.hpp
similarity index 98%
rename from dart/optimizer/Function.h
rename to dart/optimizer/Function.hpp
index e8c2c37d7aea5..3944bc01c79fc 100644
--- a/dart/optimizer/Function.h
+++ b/dart/optimizer/Function.hpp
@@ -35,8 +35,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_OPTIMIZER_FUNCTION_H_
-#define DART_OPTIMIZER_FUNCTION_H_
+#ifndef DART_OPTIMIZER_FUNCTION_HPP_
+#define DART_OPTIMIZER_FUNCTION_HPP_
 
 #include <vector>
 #include <memory>
@@ -204,5 +204,5 @@ class MultiFunction
 }  // namespace optimizer
 }  // namespace dart
 
-#endif  // DART_OPTIMIZER_FUNCTION_H_
+#endif  // DART_OPTIMIZER_FUNCTION_HPP_
 
diff --git a/dart/optimizer/GradientDescentSolver.cpp b/dart/optimizer/GradientDescentSolver.cpp
index 01fe731aba5a0..408e7c8422465 100644
--- a/dart/optimizer/GradientDescentSolver.cpp
+++ b/dart/optimizer/GradientDescentSolver.cpp
@@ -36,10 +36,10 @@
 
 #include <iostream>
 
-#include "dart/common/Console.h"
-#include "dart/math/Helpers.h"
-#include "dart/optimizer/GradientDescentSolver.h"
-#include "dart/optimizer/Problem.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/optimizer/GradientDescentSolver.hpp"
+#include "dart/optimizer/Problem.hpp"
 
 namespace dart {
 namespace optimizer {
diff --git a/dart/optimizer/GradientDescentSolver.h b/dart/optimizer/GradientDescentSolver.hpp
similarity index 97%
rename from dart/optimizer/GradientDescentSolver.h
rename to dart/optimizer/GradientDescentSolver.hpp
index 0affad6c93be0..cb7d5166cccfb 100644
--- a/dart/optimizer/GradientDescentSolver.h
+++ b/dart/optimizer/GradientDescentSolver.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_OPTIMIZER_GRADIENTDESCENTSOLVER_H_
-#define DART_OPTIMIZER_GRADIENTDESCENTSOLVER_H_
+#ifndef DART_OPTIMIZER_GRADIENTDESCENTSOLVER_HPP_
+#define DART_OPTIMIZER_GRADIENTDESCENTSOLVER_HPP_
 
 #include <random>
 
-#include "dart/optimizer/Solver.h"
+#include "dart/optimizer/Solver.hpp"
 
 namespace dart {
 namespace optimizer {
@@ -243,4 +243,4 @@ class GradientDescentSolver : public Solver
 } // namespace optimizer
 } // namespace dart
 
-#endif // DART_OPTIMIZER_GRADIENTDESCENTSOLVER_H_
+#endif // DART_OPTIMIZER_GRADIENTDESCENTSOLVER_HPP_
diff --git a/dart/optimizer/Problem.cpp b/dart/optimizer/Problem.cpp
index 4538bfe50daad..7dcacbc1dae07 100644
--- a/dart/optimizer/Problem.cpp
+++ b/dart/optimizer/Problem.cpp
@@ -35,14 +35,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/optimizer/Problem.h"
+#include "dart/optimizer/Problem.hpp"
 
 #include <algorithm>
 #include <limits>
 
-#include "dart/common/Console.h"
-#include "dart/math/Helpers.h"
-#include "dart/optimizer/Function.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/optimizer/Function.hpp"
 
 namespace dart {
 namespace optimizer {
diff --git a/dart/optimizer/Problem.h b/dart/optimizer/Problem.hpp
similarity index 97%
rename from dart/optimizer/Problem.h
rename to dart/optimizer/Problem.hpp
index 21247b747acff..1bf6e050bb281 100644
--- a/dart/optimizer/Problem.h
+++ b/dart/optimizer/Problem.hpp
@@ -35,15 +35,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_OPTIMIZER_PROBLEM_H
-#define DART_OPTIMIZER_PROBLEM_H
+#ifndef DART_OPTIMIZER_PROBLEM_HPP_
+#define DART_OPTIMIZER_PROBLEM_HPP_
 
 #include <cstddef>
 #include <vector>
 
 #include <Eigen/Dense>
 
-#include <dart/optimizer/Function.h>
+#include "dart/optimizer/Function.hpp"
 
 namespace dart {
 namespace optimizer {
@@ -193,5 +193,5 @@ class Problem
 } // namespace optimizer
 } // namespace dart
 
-#endif // #ifndef DART_OPTIMIZER_PROBLEM_H
+#endif // #ifndef DART_OPTIMIZER_PROBLEM_HPP_
 
diff --git a/dart/optimizer/Solver.cpp b/dart/optimizer/Solver.cpp
index de87fdd170397..0df098a183d10 100644
--- a/dart/optimizer/Solver.cpp
+++ b/dart/optimizer/Solver.cpp
@@ -35,8 +35,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/optimizer/Solver.h"
-#include "dart/optimizer/Problem.h"
+#include "dart/optimizer/Solver.hpp"
+#include "dart/optimizer/Problem.hpp"
 
 namespace dart {
 namespace optimizer {
diff --git a/dart/optimizer/Solver.h b/dart/optimizer/Solver.hpp
similarity index 98%
rename from dart/optimizer/Solver.h
rename to dart/optimizer/Solver.hpp
index b8cd230213de6..4a22f00b711b3 100644
--- a/dart/optimizer/Solver.h
+++ b/dart/optimizer/Solver.hpp
@@ -36,8 +36,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_OPTIMIZER_SOLVER_H_
-#define DART_OPTIMIZER_SOLVER_H_
+#ifndef DART_OPTIMIZER_SOLVER_HPP_
+#define DART_OPTIMIZER_SOLVER_HPP_
 
 #include <iostream>
 #include <memory>
@@ -185,4 +185,4 @@ class Solver
 }  // namespace optimizer
 }  // namespace dart
 
-#endif  // DART_OPTIMIZER_SOLVER_H_
+#endif  // DART_OPTIMIZER_SOLVER_HPP_
diff --git a/dart/optimizer/ipopt/CMakeLists.txt b/dart/optimizer/ipopt/CMakeLists.txt
index 3881412605082..c6fd4aecff655 100644
--- a/dart/optimizer/ipopt/CMakeLists.txt
+++ b/dart/optimizer/ipopt/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 include_directories(SYSTEM ${NLOPT_INCLUDE_DIRS})
 
@@ -17,13 +17,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/ipopt.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/ipopt.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/ipopt.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/ipopt.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/ipopt.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/ipopt.hpp
   DESTINATION include/dart/optimizer/ipopt
   COMPONENT headers
 )
diff --git a/dart/optimizer/ipopt/IpoptSolver.cpp b/dart/optimizer/ipopt/IpoptSolver.cpp
index 20c5d411533ec..8dfb2b7662701 100644
--- a/dart/optimizer/ipopt/IpoptSolver.cpp
+++ b/dart/optimizer/ipopt/IpoptSolver.cpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/optimizer/ipopt/IpoptSolver.h"
+#include "dart/optimizer/ipopt/IpoptSolver.hpp"
 
-#include "dart/common/Console.h"
-#include "dart/common/StlHelpers.h"
-#include "dart/math/Helpers.h"
-#include "dart/optimizer/Function.h"
-#include "dart/optimizer/Problem.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/StlHelpers.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/optimizer/Function.hpp"
+#include "dart/optimizer/Problem.hpp"
 
 namespace dart {
 namespace optimizer {
diff --git a/dart/optimizer/ipopt/IpoptSolver.h b/dart/optimizer/ipopt/IpoptSolver.hpp
similarity index 97%
rename from dart/optimizer/ipopt/IpoptSolver.h
rename to dart/optimizer/ipopt/IpoptSolver.hpp
index 65bf08cabb5b4..cf868b96dbe50 100644
--- a/dart/optimizer/ipopt/IpoptSolver.h
+++ b/dart/optimizer/ipopt/IpoptSolver.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_OPTIMIZER_IPOPT_IPOPTSOLVER_H_
-#define DART_OPTIMIZER_IPOPT_IPOPTSOLVER_H_
+#ifndef DART_OPTIMIZER_IPOPT_IPOPTSOLVER_HPP_
+#define DART_OPTIMIZER_IPOPT_IPOPTSOLVER_HPP_
 
 //------------------------------------------------------------------------------
 // Workaround for bug:
@@ -49,7 +49,7 @@
 
 #include <memory>
 
-#include "dart/optimizer/Solver.h"
+#include "dart/optimizer/Solver.hpp"
 
 namespace dart {
 namespace optimizer {
@@ -220,4 +220,4 @@ class DartTNLP : public Ipopt::TNLP
 }  // namespace optimizer
 }  // namespace dart
 
-#endif  // DART_OPTIMIZER_IPOPT_IPOPTSOLVER_H_
+#endif  // DART_OPTIMIZER_IPOPT_IPOPTSOLVER_HPP_
diff --git a/dart/optimizer/ipopt/ipopt.h.in b/dart/optimizer/ipopt/ipopt.hpp.in
similarity index 100%
rename from dart/optimizer/ipopt/ipopt.h.in
rename to dart/optimizer/ipopt/ipopt.hpp.in
diff --git a/dart/optimizer/nlopt/CMakeLists.txt b/dart/optimizer/nlopt/CMakeLists.txt
index 366e0cc66bded..fb79d6cabb365 100644
--- a/dart/optimizer/nlopt/CMakeLists.txt
+++ b/dart/optimizer/nlopt/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 include_directories(SYSTEM ${NLOPT_INCLUDE_DIRS})
 
@@ -17,13 +17,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/nlopt.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/nlopt.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/nlopt.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/nlopt.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/nlopt.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/nlopt.hpp
   DESTINATION include/dart/optimizer/nlopt
   COMPONENT headers
 )
diff --git a/dart/optimizer/nlopt/NloptSolver.cpp b/dart/optimizer/nlopt/NloptSolver.cpp
index 029757d3a0620..847577120431a 100644
--- a/dart/optimizer/nlopt/NloptSolver.cpp
+++ b/dart/optimizer/nlopt/NloptSolver.cpp
@@ -36,14 +36,14 @@
 
 #include <memory>
 
-#include "dart/optimizer/nlopt/NloptSolver.h"
+#include "dart/optimizer/nlopt/NloptSolver.hpp"
 
 #include <Eigen/Dense>
 
-#include "dart/common/Console.h"
-#include "dart/common/StlHelpers.h"
-#include "dart/optimizer/Problem.h"
-#include "dart/optimizer/Function.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/StlHelpers.hpp"
+#include "dart/optimizer/Problem.hpp"
+#include "dart/optimizer/Function.hpp"
 
 namespace dart {
 namespace optimizer {
diff --git a/dart/optimizer/nlopt/NloptSolver.h b/dart/optimizer/nlopt/NloptSolver.hpp
similarity index 95%
rename from dart/optimizer/nlopt/NloptSolver.h
rename to dart/optimizer/nlopt/NloptSolver.hpp
index c227c27efddfa..ad666a7fd9631 100644
--- a/dart/optimizer/nlopt/NloptSolver.h
+++ b/dart/optimizer/nlopt/NloptSolver.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_OPTIMIZER_NLOPT_NLOPTSOLVER_H_
-#define DART_OPTIMIZER_NLOPT_NLOPTSOLVER_H_
+#ifndef DART_OPTIMIZER_NLOPT_NLOPTSOLVER_HPP_
+#define DART_OPTIMIZER_NLOPT_NLOPTSOLVER_HPP_
 
 #include <nlopt.hpp>
 
-#include "dart/optimizer/Solver.h"
+#include "dart/optimizer/Solver.hpp"
 
 namespace dart {
 namespace optimizer {
@@ -117,5 +117,5 @@ class NloptSolver : public Solver
 }  // namespace optimizer
 }  // namespace dart
 
-#endif  // DART_OPTIMIZER_NLOPT_NLOPTSOLVER_H_
+#endif  // DART_OPTIMIZER_NLOPT_NLOPTSOLVER_HPP_
 
diff --git a/dart/optimizer/nlopt/nlopt.h.in b/dart/optimizer/nlopt/nlopt.hpp.in
similarity index 100%
rename from dart/optimizer/nlopt/nlopt.h.in
rename to dart/optimizer/nlopt/nlopt.hpp.in
diff --git a/dart/optimizer/optimizer.h.in b/dart/optimizer/optimizer.hpp.in
similarity index 100%
rename from dart/optimizer/optimizer.h.in
rename to dart/optimizer/optimizer.hpp.in
diff --git a/dart/optimizer/snopt/SnoptInterface.h b/dart/optimizer/snopt/SnoptInterface.hpp
similarity index 100%
rename from dart/optimizer/snopt/SnoptInterface.h
rename to dart/optimizer/snopt/SnoptInterface.hpp
diff --git a/dart/optimizer/snopt/SnoptSolver.h b/dart/optimizer/snopt/SnoptSolver.hpp
similarity index 100%
rename from dart/optimizer/snopt/SnoptSolver.h
rename to dart/optimizer/snopt/SnoptSolver.hpp
diff --git a/dart/optimizer/snopt/snopt.h.in b/dart/optimizer/snopt/snopt.hpp.in
similarity index 100%
rename from dart/optimizer/snopt/snopt.h.in
rename to dart/optimizer/snopt/snopt.hpp.in
diff --git a/dart/planning/CMakeLists.txt b/dart/planning/CMakeLists.txt
index a8a7705cfe001..a9c16dd9b620d 100644
--- a/dart/planning/CMakeLists.txt
+++ b/dart/planning/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 include_directories(SYSTEM ${FLANN_INCLUDE_DIRS})
 
@@ -17,13 +17,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/planning.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/planning.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/planning.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/planning.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/planning.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/planning.hpp
   DESTINATION include/dart/planning
   COMPONENT headers
 )
diff --git a/dart/planning/Path.cpp b/dart/planning/Path.cpp
index 084ad9b5da1fa..ccae93cb54ed7 100644
--- a/dart/planning/Path.cpp
+++ b/dart/planning/Path.cpp
@@ -36,7 +36,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "Path.h"
+#include "dart/planning/Path.hpp"
+
 #include <iostream>
 #include <vector>
 #include <algorithm>
diff --git a/dart/planning/Path.h b/dart/planning/Path.hpp
similarity index 96%
rename from dart/planning/Path.h
rename to dart/planning/Path.hpp
index 033e2357f3c23..1102ece7ce1d7 100644
--- a/dart/planning/Path.h
+++ b/dart/planning/Path.hpp
@@ -36,7 +36,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#pragma once
+#ifndef DART_PLANNING_PATH_HPP_
+#define DART_PLANNING_PATH_HPP_
 
 #include <list>
 #include <Eigen/Core>
@@ -91,3 +92,5 @@ class Path
 
 } // namespace planning
 } // namespace dart
+
+#endif // DART_PLANNING_PATH_HPP_
diff --git a/dart/planning/PathFollowingTrajectory.cpp b/dart/planning/PathFollowingTrajectory.cpp
index 78bed3ea57c3a..33d370b2d94db 100644
--- a/dart/planning/PathFollowingTrajectory.cpp
+++ b/dart/planning/PathFollowingTrajectory.cpp
@@ -36,7 +36,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "PathFollowingTrajectory.h"
+#include "dart/planning/PathFollowingTrajectory.hpp"
+
 #include <limits>
 #include <iostream>
 #include <fstream>
diff --git a/dart/planning/PathFollowingTrajectory.h b/dart/planning/PathFollowingTrajectory.hpp
similarity index 94%
rename from dart/planning/PathFollowingTrajectory.h
rename to dart/planning/PathFollowingTrajectory.hpp
index 9b76e82cc7201..8dccf3501dbdb 100644
--- a/dart/planning/PathFollowingTrajectory.h
+++ b/dart/planning/PathFollowingTrajectory.hpp
@@ -36,11 +36,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#pragma once
+#ifndef DART_PLANNING_PATHFOLLOWINGTRAJECTORY_HPP_
+#define DART_PLANNING_PATHFOLLOWINGTRAJECTORY_HPP_
 
 #include <Eigen/Core>
-#include "Path.h"
-#include "Trajectory.h"
+#include "dart/planning/Path.hpp"
+#include "dart/planning/Trajectory.hpp"
 
 namespace dart {
 namespace planning {
@@ -104,3 +105,5 @@ class PathFollowingTrajectory : public Trajectory
 
 } // namespace planning
 } // namespace dart
+
+#endif // DART_PLANNING_PATHFOLLOWINGTRAJECTORY_HPP_
diff --git a/dart/planning/PathPlanner.h b/dart/planning/PathPlanner.hpp
similarity index 98%
rename from dart/planning/PathPlanner.h
rename to dart/planning/PathPlanner.hpp
index 9ecdf31972df0..655933664a0d6 100644
--- a/dart/planning/PathPlanner.h
+++ b/dart/planning/PathPlanner.hpp
@@ -44,17 +44,17 @@
  * bidirectional, connect and etc.
  */
 
-#ifndef DART_PLANNING_PATHPLANNER_H_
-#define DART_PLANNING_PATHPLANNER_H_
+#ifndef DART_PLANNING_PATHPLANNER_HPP_
+#define DART_PLANNING_PATHPLANNER_HPP_
 
 #include <Eigen/Core>
 #include <iostream>
 #include <limits>
 #include <list>
 #include <vector>
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
-#include "RRT.h"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/planning/RRT.hpp"
 #include <cstdio>
 
 namespace dart {
@@ -296,4 +296,4 @@ bool PathPlanner<R>::planBidirectionalRrt(dynamics::Skeleton* robot, const std::
 } // namespace planning
 } // namespace dart
 
-#endif  // DART_PLANNING_PATHPLANNER_H_
+#endif  // DART_PLANNING_PATHPLANNER_HPP_
diff --git a/dart/planning/PathShortener.cpp b/dart/planning/PathShortener.cpp
index e5e39e9f039a0..9bd41a3613c52 100644
--- a/dart/planning/PathShortener.cpp
+++ b/dart/planning/PathShortener.cpp
@@ -34,14 +34,16 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "PathShortener.h"
-#include "dart/simulation/World.h"
-#include "RRT.h"
-#include "dart/collision/CollisionDetector.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/planning/PathShortener.hpp"
+
 #include <ctime>
 #include <cstdio>
 
+#include "dart/simulation/World.hpp"
+#include "dart/planning/RRT.hpp"
+#include "dart/collision/CollisionDetector.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+
 using namespace std;
 using namespace Eigen;
 using namespace dart;
diff --git a/dart/planning/PathShortener.h b/dart/planning/PathShortener.hpp
similarity index 94%
rename from dart/planning/PathShortener.h
rename to dart/planning/PathShortener.hpp
index 0c3424b8dd99e..e43c90f12703b 100644
--- a/dart/planning/PathShortener.h
+++ b/dart/planning/PathShortener.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_PLANNING_PATHSHORTENER_H_
-#define DART_PLANNING_PATHSHORTENER_H_
+#ifndef DART_PLANNING_PATHSHORTENER_HPP_
+#define DART_PLANNING_PATHSHORTENER_HPP_
 
 #include <list>
 #include <vector>
 #include <Eigen/Core>
 
-#include "dart/simulation/World.h"
+#include "dart/simulation/World.hpp"
 
 namespace dart {
 namespace planning {
@@ -65,4 +65,4 @@ class PathShortener
 } // namespace planning
 } // namespace dart
 
-#endif // DART_PLANNING_PATHSHORTENER_H_
+#endif // DART_PLANNING_PATHSHORTENER_HPP_
diff --git a/dart/planning/RRT.cpp b/dart/planning/RRT.cpp
index 1f2eded46a947..bbe0b2f8b4c01 100644
--- a/dart/planning/RRT.cpp
+++ b/dart/planning/RRT.cpp
@@ -41,11 +41,13 @@
  * checking, sampling and etc.
  */
 
-#include "RRT.h"
-#include "dart/simulation/World.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/planning/RRT.hpp"
+
 #include <flann/flann.hpp>
 
+#include "dart/simulation/World.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+
 using namespace std;
 using namespace Eigen;
 using namespace dart;
diff --git a/dart/planning/RRT.h b/dart/planning/RRT.hpp
similarity index 97%
rename from dart/planning/RRT.h
rename to dart/planning/RRT.hpp
index a13167c95ac61..a973d01a49976 100644
--- a/dart/planning/RRT.h
+++ b/dart/planning/RRT.hpp
@@ -41,14 +41,15 @@
  * checking, sampling and etc.
  */
 
-#pragma once
+#ifndef DART_PLANNING_RRT_HPP_
+#define DART_PLANNING_RRT_HPP_
 
 #include <vector>
 #include <list>
 #include <Eigen/Core>
 
-#include "dart/dynamics/SmartPointer.h"
-#include "dart/simulation/World.h"
+#include "dart/dynamics/SmartPointer.hpp"
+#include "dart/simulation/World.hpp"
 
 namespace flann {
 	template <class A> class L2;
@@ -165,3 +166,5 @@ class RRT {
 
 } // namespace planning
 } // namespace dart
+
+#endif // DART_PLANNING_RRT_HPP_
diff --git a/dart/planning/Trajectory.h b/dart/planning/Trajectory.hpp
similarity index 94%
rename from dart/planning/Trajectory.h
rename to dart/planning/Trajectory.hpp
index f5695da664af8..fae0edbf5b5b2 100644
--- a/dart/planning/Trajectory.h
+++ b/dart/planning/Trajectory.hpp
@@ -36,7 +36,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#pragma once
+#ifndef DART_PLANNING_TRAJECTORY_HPP_
+#define DART_PLANNING_TRAJECTORY_HPP_
 
 #include <Eigen/Core>
 
@@ -53,3 +54,5 @@ class Trajectory
 
 } // namespace planning
 } // namespace dart
+
+#endif // DART_PLANNING_TRAJECTORY_HPP_
diff --git a/dart/planning/planning.h.in b/dart/planning/planning.hpp.in
similarity index 100%
rename from dart/planning/planning.h.in
rename to dart/planning/planning.hpp.in
diff --git a/dart/simulation/CMakeLists.txt b/dart/simulation/CMakeLists.txt
index 8d7403e3d7ad0..226241a35fa32 100644
--- a/dart/simulation/CMakeLists.txt
+++ b/dart/simulation/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Search all header and source files
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
-file(GLOB hdrs "*.h")
 
 set(dart_simulation_hdrs ${hdrs} PARENT_SCOPE)
 set(dart_simulation_srcs ${srcs} PARENT_SCOPE)
@@ -14,13 +14,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/simulation.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/simulation.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/simulation.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/simulation.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/simulation.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/simulation.hpp
   DESTINATION include/dart/simulation
   COMPONENT headers
 )
diff --git a/dart/simulation/Recording.cpp b/dart/simulation/Recording.cpp
index 95995ba846186..c6615a5ba6baa 100644
--- a/dart/simulation/Recording.cpp
+++ b/dart/simulation/Recording.cpp
@@ -40,11 +40,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/simulation/Recording.h"
+#include "dart/simulation/Recording.hpp"
 
 #include <iostream>
 
-#include "dart/dynamics/Skeleton.h"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 namespace simulation {
diff --git a/dart/simulation/Recording.h b/dart/simulation/Recording.hpp
similarity index 96%
rename from dart/simulation/Recording.h
rename to dart/simulation/Recording.hpp
index 7df0f24984fd7..5f697321635c2 100644
--- a/dart/simulation/Recording.h
+++ b/dart/simulation/Recording.hpp
@@ -40,14 +40,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_SIMULATION_RECORDING_H_
-#define DART_SIMULATION_RECORDING_H_
+#ifndef DART_SIMULATION_RECORDING_HPP_
+#define DART_SIMULATION_RECORDING_HPP_
 
 #include <vector>
 
 #include <Eigen/Dense>
 
-#include "dart/dynamics/Skeleton.h"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 
@@ -119,4 +119,4 @@ class Recording
 }  // namespace simulation
 }  // namespace dart
 
-#endif  // DART_SIMULATION_RECORDING_H_
+#endif  // DART_SIMULATION_RECORDING_HPP_
diff --git a/dart/simulation/World.cpp b/dart/simulation/World.cpp
index b7feeff1ce126..77857f3ffa288 100644
--- a/dart/simulation/World.cpp
+++ b/dart/simulation/World.cpp
@@ -40,17 +40,17 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/simulation/World.h"
+#include "dart/simulation/World.hpp"
 
 #include <iostream>
 #include <string>
 #include <vector>
 
-#include "dart/common/Console.h"
-#include "dart/integration/SemiImplicitEulerIntegrator.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/constraint/ConstraintSolver.h"
-#include "dart/collision/CollisionGroup.h"
+#include "dart/common/Console.hpp"
+#include "dart/integration/SemiImplicitEulerIntegrator.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/constraint/ConstraintSolver.hpp"
+#include "dart/collision/CollisionGroup.hpp"
 
 namespace dart {
 namespace simulation {
diff --git a/dart/simulation/World.h b/dart/simulation/World.hpp
similarity index 96%
rename from dart/simulation/World.h
rename to dart/simulation/World.hpp
index d5a86a4892525..ae4c2f6cea312 100644
--- a/dart/simulation/World.h
+++ b/dart/simulation/World.hpp
@@ -40,8 +40,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_SIMULATION_WORLD_H_
-#define DART_SIMULATION_WORLD_H_
+#ifndef DART_SIMULATION_WORLD_HPP_
+#define DART_SIMULATION_WORLD_HPP_
 
 #include <string>
 #include <vector>
@@ -49,12 +49,12 @@
 
 #include <Eigen/Dense>
 
-#include "dart/common/Timer.h"
-#include "dart/common/NameManager.h"
-#include "dart/common/Subject.h"
-#include "dart/simulation/Recording.h"
-#include "dart/dynamics/SimpleFrame.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/common/Timer.hpp"
+#include "dart/common/NameManager.hpp"
+#include "dart/common/Subject.hpp"
+#include "dart/simulation/Recording.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 
@@ -297,4 +297,4 @@ typedef std::shared_ptr<World> WorldPtr;
 }  // namespace simulation
 }  // namespace dart
 
-#endif  // DART_SIMULATION_WORLD_H_
+#endif  // DART_SIMULATION_WORLD_HPP_
diff --git a/dart/simulation/simulation.h.in b/dart/simulation/simulation.hpp.in
similarity index 100%
rename from dart/simulation/simulation.h.in
rename to dart/simulation/simulation.hpp.in
diff --git a/dart/utils/C3D.cpp b/dart/utils/C3D.cpp
index 38fcfa386eccb..90efadc53ea91 100644
--- a/dart/utils/C3D.cpp
+++ b/dart/utils/C3D.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "C3D.h"
+#include "dart/utils/C3D.hpp"
 
 #include <cstring>
 #include <cstdio>
diff --git a/dart/utils/C3D.h b/dart/utils/C3D.hpp
similarity index 95%
rename from dart/utils/C3D.h
rename to dart/utils/C3D.hpp
index 0e8d79ab136ac..a9de983bbdf4d 100644
--- a/dart/utils/C3D.h
+++ b/dart/utils/C3D.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_C3D_H
-#define DART_UTILS_C3D_H
+#ifndef DART_UTILS_C3D_HPP_
+#define DART_UTILS_C3D_HPP_
 
 #include <vector>
 #include <ctime>
 #include <Eigen/Dense>
-#include "dart/math/MathTypes.h"
+#include "dart/math/MathTypes.hpp"
 
 ////////////////////////////////////////////////////////////////////////////////
 //  C3D file reader and writer
@@ -93,6 +93,6 @@ bool saveC3DFile( const char* _fileName, Eigen::EIGEN_VV_VEC3D& _pointData,
 } // namespace utils
 } // namespace dart
 
-#endif // #ifndef DART_UTILS_C3D_H
+#endif // #ifndef DART_UTILS_C3D_HPP_
 
 
diff --git a/dart/utils/CMakeLists.txt b/dart/utils/CMakeLists.txt
index 31844599c64e2..3be10a660bd27 100644
--- a/dart/utils/CMakeLists.txt
+++ b/dart/utils/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Search all header and source files
-file(GLOB hdrs "*.h")
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
 
 set(dart_utils_hdrs ${hdrs})
@@ -26,12 +26,12 @@ target_link_libraries(
 # Generate header for this namespace
 dart_get_filename_components(header_names "utils headers" ${hdrs})
 if(urdfdom_FOUND)
-  list(APPEND header_names "urdf/urdf.h")
+  list(APPEND header_names "urdf/urdf.hpp")
 endif()
 set(
   header_names
   ${header_names}
-  sdf/sdf.h
+  sdf/sdf.hpp
 )
 dart_generate_include_header_list(
   utils_headers
@@ -40,13 +40,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/utils.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/utils.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/utils.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/utils.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/utils.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/utils.hpp
   DESTINATION include/dart/utils
   COMPONENT headers
 )
diff --git a/dart/utils/CompositeResourceRetriever.cpp b/dart/utils/CompositeResourceRetriever.cpp
index e7d7253d9a56b..ab114792f11f0 100644
--- a/dart/utils/CompositeResourceRetriever.cpp
+++ b/dart/utils/CompositeResourceRetriever.cpp
@@ -35,9 +35,9 @@
  */
 
 #include <iostream>
-#include "dart/common/Console.h"
-#include "dart/common/Uri.h"
-#include "dart/utils/CompositeResourceRetriever.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/Uri.hpp"
+#include "dart/utils/CompositeResourceRetriever.hpp"
 
 namespace dart {
 namespace utils {
diff --git a/dart/utils/CompositeResourceRetriever.h b/dart/utils/CompositeResourceRetriever.hpp
similarity index 94%
rename from dart/utils/CompositeResourceRetriever.h
rename to dart/utils/CompositeResourceRetriever.hpp
index ed71078953d15..7709686eb6759 100644
--- a/dart/utils/CompositeResourceRetriever.h
+++ b/dart/utils/CompositeResourceRetriever.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_COMPOSITERESOURCERETRIEVER_H_
-#define DART_UTILS_COMPOSITERESOURCERETRIEVER_H_
+#ifndef DART_UTILS_COMPOSITERESOURCERETRIEVER_HPP_
+#define DART_UTILS_COMPOSITERESOURCERETRIEVER_HPP_
 
 #include <unordered_map>
 #include <vector>
-#include "dart/common/ResourceRetriever.h"
+#include "dart/common/ResourceRetriever.hpp"
 
 namespace dart {
 namespace utils {
@@ -91,4 +91,4 @@ using CompositeResourceRetrieverPtr
 } // namespace utils
 } // namespace dart
 
-#endif // ifndef DART_UTILS_COMPOSITERESOURCERETRIEVER_H_
+#endif // ifndef DART_UTILS_COMPOSITERESOURCERETRIEVER_HPP_
diff --git a/dart/utils/FileInfoC3D.cpp b/dart/utils/FileInfoC3D.cpp
index 1863453e9688d..adcf5a9a54e6d 100644
--- a/dart/utils/FileInfoC3D.cpp
+++ b/dart/utils/FileInfoC3D.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/utils/FileInfoC3D.h"
-#include "dart/utils/C3D.h"
+#include "dart/utils/FileInfoC3D.hpp"
+#include "dart/utils/C3D.hpp"
 
 #include <cassert>
 
diff --git a/dart/utils/FileInfoC3D.h b/dart/utils/FileInfoC3D.hpp
similarity index 94%
rename from dart/utils/FileInfoC3D.h
rename to dart/utils/FileInfoC3D.hpp
index 61bbdd895f6f0..7cded2f2bc100 100644
--- a/dart/utils/FileInfoC3D.h
+++ b/dart/utils/FileInfoC3D.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_FILEINFO_C3D_H
-#define DART_UTILS_FILEINFO_C3D_H
+#ifndef DART_UTILS_FILEINFOC3D_HPP_
+#define DART_UTILS_FILEINFOC3D_HPP_
 
 #include <vector>
 #include <Eigen/Dense>
 
-#include "dart/math/MathTypes.h"
+#include "dart/math/MathTypes.hpp"
 
 namespace dart {
 namespace utils {
@@ -72,5 +72,5 @@ class FileInfoC3D {
 } // namespace utils
 } // namespace dart
 
-#endif // #ifndef DART_UTILS_FILEINFO_C3D_H
+#endif // #ifndef DART_UTILS_FILEINFOC3D_HPP_
 
diff --git a/dart/utils/FileInfoDof.cpp b/dart/utils/FileInfoDof.cpp
index 84899930bbeab..177053988119f 100644
--- a/dart/utils/FileInfoDof.cpp
+++ b/dart/utils/FileInfoDof.cpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/utils/FileInfoDof.h"
+#include "dart/utils/FileInfoDof.hpp"
 
 #include <fstream>
 #include <string>
 
-#include "dart/dynamics/DegreeOfFreedom.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/simulation/Recording.h"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/simulation/Recording.hpp"
 
 namespace dart {
 namespace utils {
diff --git a/dart/utils/FileInfoDof.h b/dart/utils/FileInfoDof.hpp
similarity index 96%
rename from dart/utils/FileInfoDof.h
rename to dart/utils/FileInfoDof.hpp
index 737184812abec..8fecdbf9cda11 100644
--- a/dart/utils/FileInfoDof.h
+++ b/dart/utils/FileInfoDof.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_FILEINFODOF_H_
-#define DART_UTILS_FILEINFODOF_H_
+#ifndef DART_UTILS_FILEINFODOF_HPP_
+#define DART_UTILS_FILEINFODOF_HPP_
 
 #include <vector>
 
@@ -107,4 +107,4 @@ class FileInfoDof
 
 }  // namespace utils
 }  // namespace dart
-#endif  // DART_UTILS_FILEINFODOF_H_
+#endif  // DART_UTILS_FILEINFODOF_HPP_
diff --git a/dart/utils/FileInfoWorld.cpp b/dart/utils/FileInfoWorld.cpp
index 7aa02ba45f10d..d55c3987fbf01 100644
--- a/dart/utils/FileInfoWorld.cpp
+++ b/dart/utils/FileInfoWorld.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/utils/FileInfoWorld.h"
+#include "dart/utils/FileInfoWorld.hpp"
 
 #include <fstream>
 #include <string>
 
-#include "dart/simulation/Recording.h"
+#include "dart/simulation/Recording.hpp"
 
 namespace dart {
 namespace utils {
diff --git a/dart/utils/FileInfoWorld.h b/dart/utils/FileInfoWorld.hpp
similarity index 95%
rename from dart/utils/FileInfoWorld.h
rename to dart/utils/FileInfoWorld.hpp
index e7ba9bad7516c..37322fe868ba8 100644
--- a/dart/utils/FileInfoWorld.h
+++ b/dart/utils/FileInfoWorld.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_FILEINFOWORLD_H_
-#define DART_UTILS_FILEINFOWORLD_H_
+#ifndef DART_UTILS_FILEINFOWORLD_HPP_
+#define DART_UTILS_FILEINFOWORLD_HPP_
 
 namespace dart {
 
@@ -76,4 +76,4 @@ class FileInfoWorld
 }  // namespace utils
 }  // namespace dart
 
-#endif  // DART_UTILS_FILEINFOWORLD_H_
+#endif  // DART_UTILS_FILEINFOWORLD_HPP_
diff --git a/dart/utils/PackageResourceRetriever.cpp b/dart/utils/PackageResourceRetriever.cpp
index 9011a8c166f82..31d3e8240a4e7 100644
--- a/dart/utils/PackageResourceRetriever.cpp
+++ b/dart/utils/PackageResourceRetriever.cpp
@@ -37,10 +37,10 @@
 #include <cassert>
 #include <sstream>
 #include <iostream>
-#include "dart/common/Console.h"
-#include "dart/common/LocalResourceRetriever.h"
-#include "dart/common/Uri.h"
-#include "dart/utils/PackageResourceRetriever.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/LocalResourceRetriever.hpp"
+#include "dart/common/Uri.hpp"
+#include "dart/utils/PackageResourceRetriever.hpp"
 
 namespace dart {
 namespace utils {
diff --git a/dart/utils/PackageResourceRetriever.h b/dart/utils/PackageResourceRetriever.hpp
similarity index 95%
rename from dart/utils/PackageResourceRetriever.h
rename to dart/utils/PackageResourceRetriever.hpp
index fa73ab84e5224..0acc0a607eac7 100644
--- a/dart/utils/PackageResourceRetriever.h
+++ b/dart/utils/PackageResourceRetriever.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_PACKAGERESOURCERETRIEVER_H_
-#define DART_UTILS_PACKAGERESOURCERETRIEVER_H_
+#ifndef DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
+#define DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
 
 #include <unordered_map>
 #include <vector>
-#include "dart/common/ResourceRetriever.h"
+#include "dart/common/ResourceRetriever.hpp"
 
 namespace dart {
 namespace utils {
@@ -110,4 +110,4 @@ using PackageResourceRetrieverPtr = std::shared_ptr<PackageResourceRetriever>;
 } // namespace utils
 } // namespace dart
 
-#endif // ifndef DART_UTILS_PACKAGERESOURCERETRIEVER_H_
+#endif // ifndef DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
diff --git a/dart/utils/SkelParser.cpp b/dart/utils/SkelParser.cpp
index 6df6800b8b3f5..8feac46876dea 100644
--- a/dart/utils/SkelParser.cpp
+++ b/dart/utils/SkelParser.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/utils/SkelParser.h"
+#include "dart/utils/SkelParser.hpp"
 
 #include <algorithm>
 #include <cstddef>
@@ -43,40 +43,40 @@
 #include <Eigen/Dense>
 #include <Eigen/StdVector>
 
-#include "dart/config.h"
-#include "dart/common/Console.h"
-#include "dart/collision/CollisionObject.h"
+#include "dart/config.hpp"
+#include "dart/common/Console.hpp"
+#include "dart/collision/CollisionObject.hpp"
 #if HAVE_BULLET_COLLISION
-  #include "dart/collision/bullet/BulletCollisionDetector.h"
+  #include "dart/collision/bullet/BulletCollisionDetector.hpp"
 #endif
-#include "dart/collision/dart/DARTCollisionDetector.h"
-#include "dart/collision/fcl/FCLCollisionDetector.h"
-#include "dart/constraint/ConstraintSolver.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/SoftBodyNode.h"
-#include "dart/dynamics/ShapeNode.h"
-#include "dart/dynamics/BoxShape.h"
-#include "dart/dynamics/CylinderShape.h"
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/dynamics/PlaneShape.h"
-#include "dart/dynamics/MeshShape.h"
-#include "dart/dynamics/SoftMeshShape.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/SingleDofJoint.h"
-#include "dart/dynamics/MultiDofJoint.h"
-#include "dart/dynamics/WeldJoint.h"
-#include "dart/dynamics/PrismaticJoint.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/ScrewJoint.h"
-#include "dart/dynamics/TranslationalJoint.h"
-#include "dart/dynamics/BallJoint.h"
-#include "dart/dynamics/FreeJoint.h"
-#include "dart/dynamics/EulerJoint.h"
-#include "dart/dynamics/UniversalJoint.h"
-#include "dart/dynamics/PlanarJoint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/Marker.h"
-#include "dart/utils/XmlHelpers.h"
+#include "dart/collision/dart/DARTCollisionDetector.hpp"
+#include "dart/collision/fcl/FCLCollisionDetector.hpp"
+#include "dart/constraint/ConstraintSolver.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/ShapeNode.hpp"
+#include "dart/dynamics/BoxShape.hpp"
+#include "dart/dynamics/CylinderShape.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/PlaneShape.hpp"
+#include "dart/dynamics/MeshShape.hpp"
+#include "dart/dynamics/SoftMeshShape.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/SingleDofJoint.hpp"
+#include "dart/dynamics/MultiDofJoint.hpp"
+#include "dart/dynamics/WeldJoint.hpp"
+#include "dart/dynamics/PrismaticJoint.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/ScrewJoint.hpp"
+#include "dart/dynamics/TranslationalJoint.hpp"
+#include "dart/dynamics/BallJoint.hpp"
+#include "dart/dynamics/FreeJoint.hpp"
+#include "dart/dynamics/EulerJoint.hpp"
+#include "dart/dynamics/UniversalJoint.hpp"
+#include "dart/dynamics/PlanarJoint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/Marker.hpp"
+#include "dart/utils/XmlHelpers.hpp"
 
 namespace dart {
 
diff --git a/dart/utils/SkelParser.h b/dart/utils/SkelParser.hpp
similarity index 91%
rename from dart/utils/SkelParser.h
rename to dart/utils/SkelParser.hpp
index 1280e87bfc0e7..f0ffc5b2c4fda 100644
--- a/dart/utils/SkelParser.h
+++ b/dart/utils/SkelParser.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_SKEL_PARSER_H
-#define DART_UTILS_SKEL_PARSER_H
+#ifndef DART_UTILS_SKELPARSER_HPP_
+#define DART_UTILS_SKELPARSER_HPP_
 
 #include <string>
-#include "dart/common/Uri.h"
-#include "dart/common/LocalResourceRetriever.h"
-#include "dart/simulation/World.h"
+#include "dart/common/Uri.hpp"
+#include "dart/common/LocalResourceRetriever.hpp"
+#include "dart/simulation/World.hpp"
 
 namespace dart {
 namespace utils {
@@ -69,4 +69,4 @@ namespace SkelParser {
 } // namespace utils
 } // namespace dart
 
-#endif // #ifndef DART_UTILS_SKEL_PARSER_H
+#endif // #ifndef DART_UTILS_SKELPARSER_HPP_
diff --git a/dart/utils/VskParser.cpp b/dart/utils/VskParser.cpp
index d0ee6dfbea890..791d4bd9d340d 100644
--- a/dart/utils/VskParser.cpp
+++ b/dart/utils/VskParser.cpp
@@ -36,7 +36,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/utils/VskParser.h"
+#include "dart/utils/VskParser.hpp"
 
 // Standard Library
 #include <map>
@@ -46,10 +46,10 @@
 #include <Eigen/Dense>
 
 // Local Files
-#include "dart/common/LocalResourceRetriever.h"
-#include "dart/common/Uri.h"
-#include "dart/dynamics/dynamics.h"
-#include "dart/utils/XmlHelpers.h"
+#include "dart/common/LocalResourceRetriever.hpp"
+#include "dart/common/Uri.hpp"
+#include "dart/dynamics/dynamics.hpp"
+#include "dart/utils/XmlHelpers.hpp"
 
 #define SCALE_VSK 1.0e-3
 
diff --git a/dart/utils/VskParser.h b/dart/utils/VskParser.hpp
similarity index 93%
rename from dart/utils/VskParser.h
rename to dart/utils/VskParser.hpp
index f585bbf2f5bbc..3bc28a19e2480 100644
--- a/dart/utils/VskParser.h
+++ b/dart/utils/VskParser.hpp
@@ -35,13 +35,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_VSKPARSER_H_
-#define DART_UTILS_VSKPARSER_H_
+#ifndef DART_UTILS_VSKPARSER_HPP_
+#define DART_UTILS_VSKPARSER_HPP_
 
-#include "dart/common/ResourceRetriever.h"
-#include "dart/common/Uri.h"
-#include "dart/math/Constants.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/common/ResourceRetriever.hpp"
+#include "dart/common/Uri.hpp"
+#include "dart/math/Constants.hpp"
+#include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {
 namespace utils {
@@ -108,5 +108,5 @@ namespace VskParser
 } // namespace utils
 } // namespace dart
 
-#endif // #ifndef DART_UTILS_VSKPARSER_H_
+#endif // #ifndef DART_UTILS_VSKPARSER_HPP_
 
diff --git a/dart/utils/XmlHelpers.cpp b/dart/utils/XmlHelpers.cpp
index 8b492c220ac11..a09882e8b7aa0 100644
--- a/dart/utils/XmlHelpers.cpp
+++ b/dart/utils/XmlHelpers.cpp
@@ -34,16 +34,16 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/utils/XmlHelpers.h"
+#include "dart/utils/XmlHelpers.hpp"
 
 #include <iostream>
 #include <vector>
 #include <boost/algorithm/string.hpp>
 #include <boost/lexical_cast.hpp>
 
-#include "dart/common/Console.h"
-#include "dart/math/Geometry.h"
-#include "dart/common/LocalResourceRetriever.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/common/LocalResourceRetriever.hpp"
 
 namespace dart {
 namespace utils {
diff --git a/dart/utils/XmlHelpers.h b/dart/utils/XmlHelpers.hpp
similarity index 97%
rename from dart/utils/XmlHelpers.h
rename to dart/utils/XmlHelpers.hpp
index df09379a71c45..e6ed6a22f591a 100644
--- a/dart/utils/XmlHelpers.h
+++ b/dart/utils/XmlHelpers.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_XMLHELPERS_H_
-#define DART_UTILS_XMLHELPERS_H_
+#ifndef DART_UTILS_XMLHELPERS_HPP_
+#define DART_UTILS_XMLHELPERS_HPP_
 
 #include <string>
 #include <Eigen/Dense>
@@ -43,9 +43,9 @@
 // http://www.grinninglizard.com/tinyxml2/index.html
 #include <tinyxml2.h>
 
-#include "dart/common/Deprecated.h"
-#include "dart/common/ResourceRetriever.h"
-#include "dart/math/MathTypes.h"
+#include "dart/common/Deprecated.hpp"
+#include "dart/common/ResourceRetriever.hpp"
+#include "dart/math/MathTypes.hpp"
 
 namespace dart {
 namespace utils {
@@ -238,4 +238,4 @@ using ConstElementEnumerator
 } // namespace utils
 } // namespace dart
 
-#endif // #ifndef DART_UTILS_XMLHELPERS_H_
+#endif // #ifndef DART_UTILS_XMLHELPERS_HPP_
diff --git a/dart/utils/sdf/CMakeLists.txt b/dart/utils/sdf/CMakeLists.txt
index 0d730a8533532..2be3d78b76529 100644
--- a/dart/utils/sdf/CMakeLists.txt
+++ b/dart/utils/sdf/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Search all header and source files
-file(GLOB hdrs "*.h")
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
 
 set(dart_utils_hdrs ${dart_utils_hdrs} ${hdrs} PARENT_SCOPE)
@@ -14,13 +14,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/sdf.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/sdf.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/sdf.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/sdf.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/sdf.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/sdf.hpp
   DESTINATION include/dart/utils/sdf
   COMPONENT headers
 )
diff --git a/dart/utils/sdf/SdfParser.cpp b/dart/utils/sdf/SdfParser.cpp
index b7a637c339ecb..cf2af85173434 100644
--- a/dart/utils/sdf/SdfParser.cpp
+++ b/dart/utils/sdf/SdfParser.cpp
@@ -44,28 +44,28 @@
 #include <Eigen/StdVector>
 #include <tinyxml2.h>
 
-#include "dart/common/Console.h"
-#include "dart/common/LocalResourceRetriever.h"
-#include "dart/common/ResourceRetriever.h"
-#include "dart/common/Uri.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/SoftBodyNode.h"
-#include "dart/dynamics/BoxShape.h"
-#include "dart/dynamics/CylinderShape.h"
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/dynamics/MeshShape.h"
-#include "dart/dynamics/WeldJoint.h"
-#include "dart/dynamics/PrismaticJoint.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/ScrewJoint.h"
-#include "dart/dynamics/BallJoint.h"
-#include "dart/dynamics/FreeJoint.h"
-#include "dart/dynamics/UniversalJoint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
-#include "dart/utils/SkelParser.h"
-#include "dart/utils/XmlHelpers.h"
-#include "dart/utils/sdf/SdfParser.h"
+#include "dart/common/Console.hpp"
+#include "dart/common/LocalResourceRetriever.hpp"
+#include "dart/common/ResourceRetriever.hpp"
+#include "dart/common/Uri.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/BoxShape.hpp"
+#include "dart/dynamics/CylinderShape.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/MeshShape.hpp"
+#include "dart/dynamics/WeldJoint.hpp"
+#include "dart/dynamics/PrismaticJoint.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/ScrewJoint.hpp"
+#include "dart/dynamics/BallJoint.hpp"
+#include "dart/dynamics/FreeJoint.hpp"
+#include "dart/dynamics/UniversalJoint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/utils/SkelParser.hpp"
+#include "dart/utils/XmlHelpers.hpp"
+#include "dart/utils/sdf/SdfParser.hpp"
 
 namespace dart {
 namespace utils {
diff --git a/dart/utils/sdf/SdfParser.h b/dart/utils/sdf/SdfParser.hpp
similarity index 89%
rename from dart/utils/sdf/SdfParser.h
rename to dart/utils/sdf/SdfParser.hpp
index 933efd137164c..4a557f8e664ef 100644
--- a/dart/utils/sdf/SdfParser.h
+++ b/dart/utils/sdf/SdfParser.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_SDFPARSER_H
-#define DART_UTILS_SDFPARSER_H
+#ifndef DART_UTILS_SDFPARSER_HPP_
+#define DART_UTILS_SDFPARSER_HPP_
 
-#include "dart/common/Deprecated.h"
-#include "dart/common/ResourceRetriever.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
+#include "dart/common/Deprecated.hpp"
+#include "dart/common/ResourceRetriever.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
 
 namespace dart {
 namespace utils {
@@ -65,4 +65,4 @@ dynamics::SkeletonPtr readSkeleton(
 } // namespace utils
 } // namespace dart
 
-#endif // #ifndef DART_UTILS_SDFPARSER_H
+#endif // #ifndef DART_UTILS_SDFPARSER_HPP_
diff --git a/dart/utils/sdf/sdf.h.in b/dart/utils/sdf/sdf.hpp.in
similarity index 100%
rename from dart/utils/sdf/sdf.h.in
rename to dart/utils/sdf/sdf.hpp.in
diff --git a/dart/utils/urdf/CMakeLists.txt b/dart/utils/urdf/CMakeLists.txt
index 4c2e4be29c44a..eb4aafd8b02c9 100644
--- a/dart/utils/urdf/CMakeLists.txt
+++ b/dart/utils/urdf/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Search all header and source files
-file(GLOB hdrs "*.h")
+file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
 
 include_directories(SYSTEM ${urdfdom_INCLUDE_DIRS})
@@ -17,13 +17,13 @@ dart_generate_include_header_list(
   ${header_names}
 )
 configure_file(
-  ${CMAKE_CURRENT_SOURCE_DIR}/urdf.h.in
-  ${CMAKE_CURRENT_BINARY_DIR}/urdf.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/urdf.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/urdf.hpp
 )
 
 # Install
 install(
-  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/urdf.h
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/urdf.hpp
   DESTINATION include/dart/utils/urdf
   COMPONENT headers
 )
diff --git a/dart/utils/urdf/DartLoader.cpp b/dart/utils/urdf/DartLoader.cpp
index 1e81647acaa7f..0e869f92f679d 100644
--- a/dart/utils/urdf/DartLoader.cpp
+++ b/dart/utils/urdf/DartLoader.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "DartLoader.h"
+#include "dart/utils/urdf/DartLoader.hpp"
 
 #include <map>
 #include <iostream>
@@ -43,21 +43,21 @@
 #include <urdf_parser/urdf_parser.h>
 #include <urdf_world/world.h>
 
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/PrismaticJoint.h"
-#include "dart/dynamics/WeldJoint.h"
-#include "dart/dynamics/FreeJoint.h"
-#include "dart/dynamics/PlanarJoint.h"
-#include "dart/dynamics/Shape.h"
-#include "dart/dynamics/BoxShape.h"
-#include "dart/dynamics/EllipsoidShape.h"
-#include "dart/dynamics/CylinderShape.h"
-#include "dart/dynamics/MeshShape.h"
-#include "dart/simulation/World.h"
-#include "dart/utils/urdf/urdf_world_parser.h"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/PrismaticJoint.hpp"
+#include "dart/dynamics/WeldJoint.hpp"
+#include "dart/dynamics/FreeJoint.hpp"
+#include "dart/dynamics/PlanarJoint.hpp"
+#include "dart/dynamics/Shape.hpp"
+#include "dart/dynamics/BoxShape.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/CylinderShape.hpp"
+#include "dart/dynamics/MeshShape.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/utils/urdf/urdf_world_parser.hpp"
 
 using ModelInterfacePtr = boost::shared_ptr<urdf::ModelInterface>;
 
diff --git a/dart/utils/urdf/DartLoader.h b/dart/utils/urdf/DartLoader.hpp
similarity index 92%
rename from dart/utils/urdf/DartLoader.h
rename to dart/utils/urdf/DartLoader.hpp
index 263eec1e3ed48..cd6debbaf631f 100644
--- a/dart/utils/urdf/DartLoader.h
+++ b/dart/utils/urdf/DartLoader.hpp
@@ -34,23 +34,23 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_URDF_LOADER_H
-#define DART_UTILS_URDF_LOADER_H
+#ifndef DART_UTILS_URDF_DARTLOADER_HPP_
+#define DART_UTILS_URDF_DARTLOADER_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include <map>
 #include <string>
 
-#include "dart/common/LocalResourceRetriever.h"
-#include "dart/common/ResourceRetriever.h"
-#include "dart/common/Uri.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
-#include "dart/utils/CompositeResourceRetriever.h"
-#include "dart/utils/PackageResourceRetriever.h"
+#include "dart/common/LocalResourceRetriever.hpp"
+#include "dart/common/ResourceRetriever.hpp"
+#include "dart/common/Uri.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/utils/CompositeResourceRetriever.hpp"
+#include "dart/utils/PackageResourceRetriever.hpp"
 
 namespace urdf
 {
@@ -186,4 +186,4 @@ class DartLoader {
 }
 }
 
-#endif /** DART_UTILS_URDF_LOADER_H */
+#endif // DART_UTILS_URDF_DARTLOADER_HPP_
diff --git a/dart/utils/urdf/urdf.h.in b/dart/utils/urdf/urdf.hpp.in
similarity index 100%
rename from dart/utils/urdf/urdf.h.in
rename to dart/utils/urdf/urdf.hpp.in
diff --git a/dart/utils/urdf/urdf_world_parser.cpp b/dart/utils/urdf/urdf_world_parser.cpp
index 2fd7d67053e01..5a156499352e7 100644
--- a/dart/utils/urdf/urdf_world_parser.cpp
+++ b/dart/utils/urdf/urdf_world_parser.cpp
@@ -34,7 +34,7 @@
 
 /* Author: A. Huaman */
 
-#include "urdf_world_parser.h"
+#include "dart/utils/urdf/urdf_world_parser.hpp"
 
 #include <fstream>
 #include <sstream>
@@ -48,7 +48,7 @@
 #include <urdf_world/world.h>
 #include <urdf_model/pose.h>
 
-#include "dart/common/Console.h"
+#include "dart/common/Console.hpp"
 
 const bool debug = false;
 
diff --git a/dart/utils/urdf/urdf_world_parser.h b/dart/utils/urdf/urdf_world_parser.hpp
similarity index 97%
rename from dart/utils/urdf/urdf_world_parser.h
rename to dart/utils/urdf/urdf_world_parser.hpp
index d16c100e5f170..e98971cee113f 100644
--- a/dart/utils/urdf/urdf_world_parser.h
+++ b/dart/utils/urdf/urdf_world_parser.hpp
@@ -39,14 +39,13 @@
 
 #include <string>
 
-#include <urdf_world/world.h>
-
-#include <dart/common/Uri.h>
-#include <dart/common/ResourceRetriever.h>
-
 #include <urdf_model/model.h>
 #include <urdf_model/pose.h>
 #include <urdf_model/twist.h>
+#include <urdf_world/world.h>
+
+#include "dart/common/Uri.hpp"
+#include "dart/common/ResourceRetriever.hpp"
 
 namespace dart {
 namespace utils {
diff --git a/dart/utils/utils.h.in b/dart/utils/utils.hpp.in
similarity index 100%
rename from dart/utils/utils.h.in
rename to dart/utils/utils.hpp.in
diff --git a/examples/addDeleteSkels/CMakeLists.txt b/examples/addDeleteSkels/CMakeLists.txt
index 4c79c3b22d1f5..3b45740b7cc4c 100644
--- a/examples/addDeleteSkels/CMakeLists.txt
+++ b/examples/addDeleteSkels/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/addDeleteSkels/Main.cpp b/examples/addDeleteSkels/Main.cpp
index 803fe7749543e..c64f3be58b02c 100644
--- a/examples/addDeleteSkels/Main.cpp
+++ b/examples/addDeleteSkels/Main.cpp
@@ -37,9 +37,9 @@
 
 #include <iostream>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
-#include "MyWindow.h"
+#include "MyWindow.hpp"
 
 int main(int argc, char* argv[]) {
   // create and initialize the world
diff --git a/examples/addDeleteSkels/MyWindow.cpp b/examples/addDeleteSkels/MyWindow.cpp
index f00d96eda1445..3ce868e112dff 100644
--- a/examples/addDeleteSkels/MyWindow.cpp
+++ b/examples/addDeleteSkels/MyWindow.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "MyWindow.h"
+#include "MyWindow.hpp"
 
 MyWindow::MyWindow()
   : SimWindow() {
diff --git a/examples/addDeleteSkels/MyWindow.h b/examples/addDeleteSkels/MyWindow.hpp
similarity index 92%
rename from examples/addDeleteSkels/MyWindow.h
rename to examples/addDeleteSkels/MyWindow.hpp
index be0c7bf1b9289..7a490870ebd1b 100644
--- a/examples/addDeleteSkels/MyWindow.h
+++ b/examples/addDeleteSkels/MyWindow.hpp
@@ -35,11 +35,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_ADDDELETESKELS_MYWINDOW_H_
-#define EXAMPLES_ADDDELETESKELS_MYWINDOW_H_
+#ifndef EXAMPLES_ADDDELETESKELS_MYWINDOW_HPP_
+#define EXAMPLES_ADDDELETESKELS_MYWINDOW_HPP_
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 /// \brief
 class MyWindow : public dart::gui::SimWindow {
@@ -63,4 +63,4 @@ class MyWindow : public dart::gui::SimWindow {
       double _mass = 0.1);
 };
 
-#endif  // EXAMPLES_ADDDELETESKELS_MYWINDOW_H_
+#endif  // EXAMPLES_ADDDELETESKELS_MYWINDOW_HPP_
diff --git a/examples/atlasSimbicon/CMakeLists.txt b/examples/atlasSimbicon/CMakeLists.txt
index 8e3d7081cab4f..141ee9196343a 100644
--- a/examples/atlasSimbicon/CMakeLists.txt
+++ b/examples/atlasSimbicon/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui dart-utils-urdf)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/atlasSimbicon/Controller.cpp b/examples/atlasSimbicon/Controller.cpp
index 386b2008ca213..3e285e3e58533 100644
--- a/examples/atlasSimbicon/Controller.cpp
+++ b/examples/atlasSimbicon/Controller.cpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/atlasSimbicon/Controller.h"
+#include "examples/atlasSimbicon/Controller.hpp"
 
-#include "examples/atlasSimbicon/State.h"
-#include "examples/atlasSimbicon/StateMachine.h"
-#include "examples/atlasSimbicon/TerminalCondition.h"
+#include "examples/atlasSimbicon/State.hpp"
+#include "examples/atlasSimbicon/StateMachine.hpp"
+#include "examples/atlasSimbicon/TerminalCondition.hpp"
 
 using namespace std;
 
diff --git a/examples/atlasSimbicon/Controller.h b/examples/atlasSimbicon/Controller.hpp
similarity index 97%
rename from examples/atlasSimbicon/Controller.h
rename to examples/atlasSimbicon/Controller.hpp
index af62815842969..5ba5730d48d1a 100644
--- a/examples/atlasSimbicon/Controller.h
+++ b/examples/atlasSimbicon/Controller.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_ATLASSIMBICON_CONTROLLER_H_
-#define EXAMPLES_ATLASSIMBICON_CONTROLLER_H_
+#ifndef EXAMPLES_ATLASSIMBICON_CONTROLLER_HPP_
+#define EXAMPLES_ATLASSIMBICON_CONTROLLER_HPP_
 
 #include <vector>
 
 #include <Eigen/Dense>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
 class StateMachine;
 
@@ -184,4 +184,4 @@ class Controller
   dart::dynamics::Skeleton::Configuration mInitialState;
 };
 
-#endif  // EXAMPLES_ATLASSIMBICON_CONTROLLER_H_
+#endif  // EXAMPLES_ATLASSIMBICON_CONTROLLER_HPP_
diff --git a/examples/atlasSimbicon/Humanoid.cpp b/examples/atlasSimbicon/Humanoid.cpp
index 4b45323619477..749d788408cc3 100644
--- a/examples/atlasSimbicon/Humanoid.cpp
+++ b/examples/atlasSimbicon/Humanoid.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/atlasSimbicon/Humanoid.h"
+#include "examples/atlasSimbicon/Humanoid.hpp"
 
-#include "examples/atlasSimbicon/State.h"
+#include "examples/atlasSimbicon/State.hpp"
 
 // Macro for functions not implemented yet
 #define NOT_YET(FUNCTION) std::cout << #FUNCTION\
diff --git a/examples/atlasSimbicon/Humanoid.h b/examples/atlasSimbicon/Humanoid.hpp
similarity index 95%
rename from examples/atlasSimbicon/Humanoid.h
rename to examples/atlasSimbicon/Humanoid.hpp
index 9f7fbedd03334..d1115156a50be 100644
--- a/examples/atlasSimbicon/Humanoid.h
+++ b/examples/atlasSimbicon/Humanoid.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_ATLASSIMBICON_HUMANOID_H_
-#define EXAMPLES_ATLASSIMBICON_HUMANOID_H_
+#ifndef EXAMPLES_ATLASSIMBICON_HUMANOID_HPP_
+#define EXAMPLES_ATLASSIMBICON_HUMANOID_HPP_
 
 #include <vector>
 #include <string>
 
 #include <Eigen/Dense>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
 class State;
 
@@ -123,4 +123,4 @@ class AtlasRobot : public Humanoid
 protected:
 };
 
-#endif  // EXAMPLES_ATLASSIMBICON_HUMANOID_H_
+#endif  // EXAMPLES_ATLASSIMBICON_HUMANOID_HPP_
diff --git a/examples/atlasSimbicon/Main.cpp b/examples/atlasSimbicon/Main.cpp
index 54098d2ca22f2..0294630837850 100644
--- a/examples/atlasSimbicon/Main.cpp
+++ b/examples/atlasSimbicon/Main.cpp
@@ -37,10 +37,10 @@
 
 #include <iostream>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
-#include "examples/atlasSimbicon/MyWindow.h"
-#include "examples/atlasSimbicon/Controller.h"
+#include "examples/atlasSimbicon/MyWindow.hpp"
+#include "examples/atlasSimbicon/Controller.hpp"
 
 using namespace std;
 using namespace Eigen;
diff --git a/examples/atlasSimbicon/MyWindow.cpp b/examples/atlasSimbicon/MyWindow.cpp
index 48b29ccd01d15..153d5fbd9d203 100644
--- a/examples/atlasSimbicon/MyWindow.cpp
+++ b/examples/atlasSimbicon/MyWindow.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/atlasSimbicon/MyWindow.h"
+#include "examples/atlasSimbicon/MyWindow.hpp"
 
 //==============================================================================
 MyWindow::MyWindow(Controller* _controller)
diff --git a/examples/atlasSimbicon/MyWindow.h b/examples/atlasSimbicon/MyWindow.hpp
similarity index 91%
rename from examples/atlasSimbicon/MyWindow.h
rename to examples/atlasSimbicon/MyWindow.hpp
index 453851fae588c..d9ee5ad4beed0 100644
--- a/examples/atlasSimbicon/MyWindow.h
+++ b/examples/atlasSimbicon/MyWindow.hpp
@@ -35,13 +35,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_ATLASSIMBICON_MYWINDOW_H_
-#define EXAMPLES_ATLASSIMBICON_MYWINDOW_H_
+#ifndef EXAMPLES_ATLASSIMBICON_MYWINDOW_HPP_
+#define EXAMPLES_ATLASSIMBICON_MYWINDOW_HPP_
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
-#include "examples/atlasSimbicon/Controller.h"
+#include "examples/atlasSimbicon/Controller.hpp"
 
 /// \brief class MyWindow
 class MyWindow : public dart::gui::SimWindow
@@ -73,4 +73,4 @@ class MyWindow : public dart::gui::SimWindow
   Controller* mController;
 };
 
-#endif  // EXAMPLES_ATLASSIMBICON_MYWINDOW_H_
+#endif  // EXAMPLES_ATLASSIMBICON_MYWINDOW_HPP_
diff --git a/examples/atlasSimbicon/State.cpp b/examples/atlasSimbicon/State.cpp
index b8e82f9c040b1..154b6dfbaccd3 100644
--- a/examples/atlasSimbicon/State.cpp
+++ b/examples/atlasSimbicon/State.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/atlasSimbicon/State.h"
+#include "examples/atlasSimbicon/State.hpp"
 
-#include "examples/atlasSimbicon/TerminalCondition.h"
+#include "examples/atlasSimbicon/TerminalCondition.hpp"
 
 // Macro for functions not implemented yet
 #define NOT_YET(FUNCTION) std::cout << #FUNCTION\
diff --git a/examples/atlasSimbicon/State.h b/examples/atlasSimbicon/State.hpp
similarity index 98%
rename from examples/atlasSimbicon/State.h
rename to examples/atlasSimbicon/State.hpp
index b1a3e5bc2ffd1..5ac20a8878f51 100644
--- a/examples/atlasSimbicon/State.h
+++ b/examples/atlasSimbicon/State.hpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_ATLASSIMBICON_STATE_H_
-#define EXAMPLES_ATLASSIMBICON_STATE_H_
+#ifndef EXAMPLES_ATLASSIMBICON_STATE_HPP_
+#define EXAMPLES_ATLASSIMBICON_STATE_HPP_
 
 #include <map>
 #include <vector>
@@ -43,7 +43,7 @@
 
 #include <Eigen/Dense>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
 #define ATLAS_DEFAULT_KD 1.0  // No more than 1.0
 #define ATLAS_DEFAULT_KP 1e+3
@@ -336,4 +336,4 @@ class State
   Eigen::VectorXd mDesiredJointPositionsBalance;
 };
 
-#endif  // EXAMPLES_ATLASSIMBICON_STATE_H_
+#endif  // EXAMPLES_ATLASSIMBICON_STATE_HPP_
diff --git a/examples/atlasSimbicon/StateMachine.cpp b/examples/atlasSimbicon/StateMachine.cpp
index 7d2130c32edc3..04e0c0b1ee5c3 100644
--- a/examples/atlasSimbicon/StateMachine.cpp
+++ b/examples/atlasSimbicon/StateMachine.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/atlasSimbicon/StateMachine.h"
+#include "examples/atlasSimbicon/StateMachine.hpp"
 
-#include "examples/atlasSimbicon/State.h"
+#include "examples/atlasSimbicon/State.hpp"
 
 // Macro for functions not implemented yet
 #define NOT_YET(FUNCTION) std::cout << #FUNCTION\
diff --git a/examples/atlasSimbicon/StateMachine.h b/examples/atlasSimbicon/StateMachine.hpp
similarity index 95%
rename from examples/atlasSimbicon/StateMachine.h
rename to examples/atlasSimbicon/StateMachine.hpp
index f5b1608151bd1..91e215d56b6e4 100644
--- a/examples/atlasSimbicon/StateMachine.h
+++ b/examples/atlasSimbicon/StateMachine.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_ATLASSIMBICON_STATEMACHINE_H_
-#define EXAMPLES_ATLASSIMBICON_STATEMACHINE_H_
+#ifndef EXAMPLES_ATLASSIMBICON_STATEMACHINE_HPP_
+#define EXAMPLES_ATLASSIMBICON_STATEMACHINE_HPP_
 
 #include <vector>
 #include <string>
 
 #include <Eigen/Dense>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
 class State;
 
@@ -129,4 +129,4 @@ class StateMachine
   State* _findState(const std::string& _name) const;
 };
 
-#endif  // EXAMPLES_ATLASSIMBICON_STATEMACHINE_H_
+#endif  // EXAMPLES_ATLASSIMBICON_STATEMACHINE_HPP_
diff --git a/examples/atlasSimbicon/TerminalCondition.cpp b/examples/atlasSimbicon/TerminalCondition.cpp
index 41bf99b303264..f198359083c49 100644
--- a/examples/atlasSimbicon/TerminalCondition.cpp
+++ b/examples/atlasSimbicon/TerminalCondition.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/atlasSimbicon/TerminalCondition.h"
+#include "examples/atlasSimbicon/TerminalCondition.hpp"
 
-#include "examples/atlasSimbicon/State.h"
+#include "examples/atlasSimbicon/State.hpp"
 
 // Macro for functions not implemented yet
 #define NOT_YET(FUNCTION) std::cout << #FUNCTION\
diff --git a/examples/atlasSimbicon/TerminalCondition.h b/examples/atlasSimbicon/TerminalCondition.hpp
similarity index 94%
rename from examples/atlasSimbicon/TerminalCondition.h
rename to examples/atlasSimbicon/TerminalCondition.hpp
index daea7ef30bc5f..4f7729fd91ec4 100644
--- a/examples/atlasSimbicon/TerminalCondition.h
+++ b/examples/atlasSimbicon/TerminalCondition.hpp
@@ -34,15 +34,15 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_H_
-#define EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_H_
+#ifndef EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_
+#define EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_
 
 #include <vector>
 #include <string>
 
 #include <Eigen/Dense>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
 class State;
 
@@ -103,4 +103,4 @@ class BodyContactCondition : public TerminalCondition
   dart::dynamics::BodyNode* mBodyNode;
 };
 
-#endif  // EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_H_
+#endif  // EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_
diff --git a/examples/bipedStand/CMakeLists.txt b/examples/bipedStand/CMakeLists.txt
index 4c79c3b22d1f5..3b45740b7cc4c 100644
--- a/examples/bipedStand/CMakeLists.txt
+++ b/examples/bipedStand/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/bipedStand/Controller.cpp b/examples/bipedStand/Controller.cpp
index 0ffc21c288eb8..ab0bd38e52719 100644
--- a/examples/bipedStand/Controller.cpp
+++ b/examples/bipedStand/Controller.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/bipedStand/Controller.h"
+#include "examples/bipedStand/Controller.hpp"
 
 Controller::Controller(dart::dynamics::SkeletonPtr _skel,
                        double _t) {
diff --git a/examples/bipedStand/Controller.h b/examples/bipedStand/Controller.hpp
similarity index 94%
rename from examples/bipedStand/Controller.h
rename to examples/bipedStand/Controller.hpp
index 733fcbdbe4eb4..3ccd18e0e4f1c 100644
--- a/examples/bipedStand/Controller.h
+++ b/examples/bipedStand/Controller.hpp
@@ -35,14 +35,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_BIPEDSTAND_CONTROLLER_H_
-#define EXAMPLES_BIPEDSTAND_CONTROLLER_H_
+#ifndef EXAMPLES_BIPEDSTAND_CONTROLLER_HPP_
+#define EXAMPLES_BIPEDSTAND_CONTROLLER_HPP_
 
 #include <vector>
 
 #include <Eigen/Dense>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
 class Controller {
 public:
@@ -75,4 +75,4 @@ class Controller {
   /// \brief SPD utilizes the current info about contact forces
 };
 
-#endif  // EXAMPLES_BIPEDSTAND_CONTROLLER_H_
+#endif  // EXAMPLES_BIPEDSTAND_CONTROLLER_HPP_
diff --git a/examples/bipedStand/Main.cpp b/examples/bipedStand/Main.cpp
index a64b4a2830137..12c1f8f962a6b 100644
--- a/examples/bipedStand/Main.cpp
+++ b/examples/bipedStand/Main.cpp
@@ -38,9 +38,9 @@
 #include <iostream>
 #include <vector>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
-#include "examples/bipedStand/MyWindow.h"
+#include "examples/bipedStand/MyWindow.hpp"
 
 int main(int argc, char* argv[]) {
   // create and initialize the world
diff --git a/examples/bipedStand/MyWindow.cpp b/examples/bipedStand/MyWindow.cpp
index 9deeeea982ad7..a955a1814ac71 100644
--- a/examples/bipedStand/MyWindow.cpp
+++ b/examples/bipedStand/MyWindow.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/bipedStand/MyWindow.h"
+#include "examples/bipedStand/MyWindow.hpp"
 
 MyWindow::MyWindow(): SimWindow() {
   mForce = Eigen::Vector3d::Zero();
diff --git a/examples/bipedStand/MyWindow.h b/examples/bipedStand/MyWindow.hpp
similarity index 90%
rename from examples/bipedStand/MyWindow.h
rename to examples/bipedStand/MyWindow.hpp
index 896f3f1c00e18..941e4c3935c8b 100644
--- a/examples/bipedStand/MyWindow.h
+++ b/examples/bipedStand/MyWindow.hpp
@@ -35,17 +35,17 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_BIPEDSTAND_MYWINDOW_H_
-#define EXAMPLES_BIPEDSTAND_MYWINDOW_H_
+#ifndef EXAMPLES_BIPEDSTAND_MYWINDOW_HPP_
+#define EXAMPLES_BIPEDSTAND_MYWINDOW_HPP_
 
 #include <cstdarg>
 
 #include <Eigen/Dense>
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
-#include "examples/bipedStand/Controller.h"
+#include "examples/bipedStand/Controller.hpp"
 
 class MyWindow : public dart::gui::SimWindow {
 public:
@@ -65,4 +65,4 @@ class MyWindow : public dart::gui::SimWindow {
   int mImpulseDuration;
 };
 
-#endif  // EXAMPLES_BIPEDSTAND_MYWINDOW_H_
+#endif  // EXAMPLES_BIPEDSTAND_MYWINDOW_HPP_
diff --git a/examples/hardcodedDesign/CMakeLists.txt b/examples/hardcodedDesign/CMakeLists.txt
index 4c79c3b22d1f5..3b45740b7cc4c 100644
--- a/examples/hardcodedDesign/CMakeLists.txt
+++ b/examples/hardcodedDesign/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/hardcodedDesign/Main.cpp b/examples/hardcodedDesign/Main.cpp
index 54a9d5f1fe7b9..8d2d2b8c4c8e5 100644
--- a/examples/hardcodedDesign/Main.cpp
+++ b/examples/hardcodedDesign/Main.cpp
@@ -45,9 +45,9 @@
  * direction.
  */
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
-#include "examples/hardcodedDesign/MyWindow.h"
+#include "examples/hardcodedDesign/MyWindow.hpp"
 
 int main(int argc, char* argv[]) {
   // Create Left Leg skeleton
diff --git a/examples/hardcodedDesign/MyWindow.cpp b/examples/hardcodedDesign/MyWindow.cpp
index c2322793c0c27..697ece3da71ff 100644
--- a/examples/hardcodedDesign/MyWindow.cpp
+++ b/examples/hardcodedDesign/MyWindow.cpp
@@ -41,7 +41,7 @@
  * @brief Simple example of a skeleton created from scratch.
  */
 
-#include "examples/hardcodedDesign/MyWindow.h"
+#include "examples/hardcodedDesign/MyWindow.hpp"
 
 void MyWindow::draw() {
   glDisable(GL_LIGHTING);
diff --git a/examples/hardcodedDesign/MyWindow.h b/examples/hardcodedDesign/MyWindow.hpp
similarity index 92%
rename from examples/hardcodedDesign/MyWindow.h
rename to examples/hardcodedDesign/MyWindow.hpp
index 6ae82003a129f..147dce3383752 100644
--- a/examples/hardcodedDesign/MyWindow.h
+++ b/examples/hardcodedDesign/MyWindow.hpp
@@ -41,14 +41,14 @@
  * @brief Simple example of a skeleton created from scratch.
  */
 
-#ifndef EXAMPLES_HARDCODEDDESIGN_MYWINDOW_H_
-#define EXAMPLES_HARDCODEDDESIGN_MYWINDOW_H_
+#ifndef EXAMPLES_HARDCODEDDESIGN_MYWINDOW_HPP_
+#define EXAMPLES_HARDCODEDDESIGN_MYWINDOW_HPP_
 
 #include <cstdio>
 #include <cstdarg>
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 class MyWindow : public dart::gui::SimWindow {
 public:
@@ -68,4 +68,4 @@ class MyWindow : public dart::gui::SimWindow {
   dart::dynamics::SkeletonPtr skel;
 };
 
-#endif  // EXAMPLES_HARDCODEDDESIGN_MYWINDOW_H_
+#endif  // EXAMPLES_HARDCODEDDESIGN_MYWINDOW_HPP_
diff --git a/examples/hybridDynamics/CMakeLists.txt b/examples/hybridDynamics/CMakeLists.txt
index d309d200fcf6f..543906cdc7e0c 100644
--- a/examples/hybridDynamics/CMakeLists.txt
+++ b/examples/hybridDynamics/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/hybridDynamics/Main.cpp b/examples/hybridDynamics/Main.cpp
index 6ab1d4b778284..06d1ba72644ea 100644
--- a/examples/hybridDynamics/Main.cpp
+++ b/examples/hybridDynamics/Main.cpp
@@ -35,8 +35,8 @@
  */
 
 #include <iostream>
-#include "dart/dart.h"
-#include "MyWindow.h"
+#include "dart/dart.hpp"
+#include "MyWindow.hpp"
 
 int main(int argc, char* argv[])
 {
diff --git a/examples/hybridDynamics/MyWindow.cpp b/examples/hybridDynamics/MyWindow.cpp
index f197cf6abd133..f5b72ae60de0b 100644
--- a/examples/hybridDynamics/MyWindow.cpp
+++ b/examples/hybridDynamics/MyWindow.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "MyWindow.h"
+#include "MyWindow.hpp"
 
 //==============================================================================
 MyWindow::MyWindow()
diff --git a/examples/hybridDynamics/MyWindow.h b/examples/hybridDynamics/MyWindow.hpp
similarity index 91%
rename from examples/hybridDynamics/MyWindow.h
rename to examples/hybridDynamics/MyWindow.hpp
index c71c3603772d9..c92bd2f72fa26 100644
--- a/examples/hybridDynamics/MyWindow.h
+++ b/examples/hybridDynamics/MyWindow.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_HYBRIDDYNAMICS_MYWINDOW_H_
-#define EXAMPLES_HYBRIDDYNAMICS_MYWINDOW_H_
+#ifndef EXAMPLES_HYBRIDDYNAMICS_MYWINDOW_HPP_
+#define EXAMPLES_HYBRIDDYNAMICS_MYWINDOW_HPP_
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 /// \brief
 class MyWindow : public dart::gui::SimWindow
@@ -63,4 +63,4 @@ class MyWindow : public dart::gui::SimWindow
   bool mHarnessOn;
 };
 
-#endif  // EXAMPLES_HYBRIDDYNAMICS_MYWINDOW_H_
+#endif  // EXAMPLES_HYBRIDDYNAMICS_MYWINDOW_HPP_
diff --git a/examples/jointConstraints/CMakeLists.txt b/examples/jointConstraints/CMakeLists.txt
index d309d200fcf6f..543906cdc7e0c 100644
--- a/examples/jointConstraints/CMakeLists.txt
+++ b/examples/jointConstraints/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/jointConstraints/Controller.cpp b/examples/jointConstraints/Controller.cpp
index 4a444ff95dd71..20e1248f6d19f 100644
--- a/examples/jointConstraints/Controller.cpp
+++ b/examples/jointConstraints/Controller.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/jointConstraints/Controller.h"
+#include "examples/jointConstraints/Controller.hpp"
 
 using namespace dart;
 using namespace dynamics;
diff --git a/examples/jointConstraints/Controller.h b/examples/jointConstraints/Controller.hpp
similarity index 94%
rename from examples/jointConstraints/Controller.h
rename to examples/jointConstraints/Controller.hpp
index d90f99584eddb..e14f034fd5d39 100644
--- a/examples/jointConstraints/Controller.h
+++ b/examples/jointConstraints/Controller.hpp
@@ -34,14 +34,14 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_JOINTCONSTRAINTS_CONTROLLER_H_
-#define EXAMPLES_JOINTCONSTRAINTS_CONTROLLER_H_
+#ifndef EXAMPLES_JOINTCONSTRAINTS_CONTROLLER_HPP_
+#define EXAMPLES_JOINTCONSTRAINTS_CONTROLLER_HPP_
 
 #include <vector>
 
 #include <Eigen/Dense>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
 class Controller
 {
@@ -80,4 +80,4 @@ class Controller
   Eigen::VectorXd mConstrForces; // SPD utilizes the current info about contact forces
 };
 
-#endif  // EXAMPLES_JOINTCONSTRAINTS_CONTROLLER_H_
+#endif  // EXAMPLES_JOINTCONSTRAINTS_CONTROLLER_HPP_
diff --git a/examples/jointConstraints/Main.cpp b/examples/jointConstraints/Main.cpp
index f04b922772277..f7b3723d6ef67 100644
--- a/examples/jointConstraints/Main.cpp
+++ b/examples/jointConstraints/Main.cpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/jointConstraints/MyWindow.h"
+#include "examples/jointConstraints/MyWindow.hpp"
 
 #include <iostream>
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 using namespace dart;
 using namespace dynamics;
diff --git a/examples/jointConstraints/MyWindow.cpp b/examples/jointConstraints/MyWindow.cpp
index 1fdae824f74c4..77cf61b39e93f 100644
--- a/examples/jointConstraints/MyWindow.cpp
+++ b/examples/jointConstraints/MyWindow.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/jointConstraints/MyWindow.h"
+#include "examples/jointConstraints/MyWindow.hpp"
 
 using namespace dart;
 using namespace math;
diff --git a/examples/jointConstraints/MyWindow.h b/examples/jointConstraints/MyWindow.hpp
similarity index 91%
rename from examples/jointConstraints/MyWindow.h
rename to examples/jointConstraints/MyWindow.hpp
index f3fe730013866..c32056c9f06cb 100644
--- a/examples/jointConstraints/MyWindow.h
+++ b/examples/jointConstraints/MyWindow.hpp
@@ -34,16 +34,16 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_JOINTCONSTRAINTS_MYWINDOW_H_
-#define EXAMPLES_JOINTCONSTRAINTS_MYWINDOW_H_
+#ifndef EXAMPLES_JOINTCONSTRAINTS_MYWINDOW_HPP_
+#define EXAMPLES_JOINTCONSTRAINTS_MYWINDOW_HPP_
 
 #include <Eigen/Dense>
 #include <stdarg.h>
 
-#include "examples/jointConstraints/Controller.h"
+#include "examples/jointConstraints/Controller.hpp"
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 class MyWindow : public dart::gui::SimWindow
 {
@@ -79,15 +79,15 @@ class MyWindow : public dart::gui::SimWindow
 
 };
 
-#endif  // EXAMPLES_JOINTCONSTRAINTS_MYWINDOW_H_
+#endif  // EXAMPLES_JOINTCONSTRAINTS_MYWINDOW_HPP_
 
 /*
 #include <stdarg.h>
-#include "yui/Win3D.h"
-#include "Controller.h"
-#include "integration/EulerIntegrator.h"
-#include "integration/RK4Integrator.h"
-#include "dynamics/SkeletonDynamics.h"
+#include "yui/Win3D.hpp"
+#include "Controller.hpp"
+#include "integration/EulerIntegrator.hpp"
+#include "integration/RK4Integrator.hpp"
+#include "dynamics/SkeletonDynamics.hpp"
 
 class MyWindow : public yui::Win3D, public integration::IntegrableSystem {
 public:
diff --git a/examples/mixedChain/CMakeLists.txt b/examples/mixedChain/CMakeLists.txt
index d309d200fcf6f..543906cdc7e0c 100644
--- a/examples/mixedChain/CMakeLists.txt
+++ b/examples/mixedChain/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/mixedChain/Main.cpp b/examples/mixedChain/Main.cpp
index f319f2be45477..d707b1c346116 100644
--- a/examples/mixedChain/Main.cpp
+++ b/examples/mixedChain/Main.cpp
@@ -42,9 +42,9 @@
 
 #include <iostream>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
-#include "examples/mixedChain/MyWindow.h"
+#include "examples/mixedChain/MyWindow.hpp"
 
 int main(int argc, char* argv[])
 {
diff --git a/examples/mixedChain/MyWindow.cpp b/examples/mixedChain/MyWindow.cpp
index f160d0913e2c2..9dbbcd1fe7129 100644
--- a/examples/mixedChain/MyWindow.cpp
+++ b/examples/mixedChain/MyWindow.cpp
@@ -40,7 +40,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/mixedChain/MyWindow.h"
+#include "examples/mixedChain/MyWindow.hpp"
 
 #define FORCE_ON_RIGIDBODY 500.0;
 #define FORCE_ON_VERTEX 1.00;
diff --git a/examples/softBodies/MyWindow.h b/examples/mixedChain/MyWindow.hpp
similarity index 93%
rename from examples/softBodies/MyWindow.h
rename to examples/mixedChain/MyWindow.hpp
index 18668cbd09639..c476d57032e50 100644
--- a/examples/softBodies/MyWindow.h
+++ b/examples/mixedChain/MyWindow.hpp
@@ -40,11 +40,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_SOFTBODIES_MYWINDOW_H_
-#define EXAMPLES_SOFTBODIES_MYWINDOW_H_
+#ifndef EXAMPLES_TESTDROP_MYWINDOW_HPP_
+#define EXAMPLES_TESTDROP_MYWINDOW_HPP_
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 /// \brief
 class MyWindow : public dart::gui::SoftSimWindow
@@ -76,4 +76,4 @@ class MyWindow : public dart::gui::SoftSimWindow
   Eigen::Vector3d mForceOnVertex;
 };
 
-#endif  // EXAMPLES_SOFTBODIES_MYWINDOW_H_
+#endif  // EXAMPLES_TESTDROP_MYWINDOW_HPP_
diff --git a/examples/operationalSpaceControl/CMakeLists.txt b/examples/operationalSpaceControl/CMakeLists.txt
index 970de2e36569e..665c092f160b9 100644
--- a/examples/operationalSpaceControl/CMakeLists.txt
+++ b/examples/operationalSpaceControl/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui dart-utils-urdf)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/operationalSpaceControl/Controller.cpp b/examples/operationalSpaceControl/Controller.cpp
index 567d090436c0c..309e652e9da24 100644
--- a/examples/operationalSpaceControl/Controller.cpp
+++ b/examples/operationalSpaceControl/Controller.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/operationalSpaceControl/Controller.h"
+#include "examples/operationalSpaceControl/Controller.hpp"
 
 //==============================================================================
 Controller::Controller(dart::dynamics::SkeletonPtr _robot,
diff --git a/examples/operationalSpaceControl/Controller.h b/examples/operationalSpaceControl/Controller.hpp
similarity index 93%
rename from examples/operationalSpaceControl/Controller.h
rename to examples/operationalSpaceControl/Controller.hpp
index b6c704f769976..f4b19b9c2376d 100644
--- a/examples/operationalSpaceControl/Controller.h
+++ b/examples/operationalSpaceControl/Controller.hpp
@@ -34,12 +34,12 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_OPERATIONALSPACECONTROL_CONTROLLER_H_
-#define EXAMPLES_OPERATIONALSPACECONTROL_CONTROLLER_H_
+#ifndef EXAMPLES_OPERATIONALSPACECONTROL_CONTROLLER_HPP_
+#define EXAMPLES_OPERATIONALSPACECONTROL_CONTROLLER_HPP_
 
 #include <Eigen/Eigen>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
 /// \brief Operational space controller for 6-dof manipulator
 class Controller
@@ -81,4 +81,4 @@ class Controller
   Eigen::Matrix3d mKv;
 };
 
-#endif  // EXAMPLES_OPERATIONALSPACECONTROL_CONTROLLER_H_
+#endif  // EXAMPLES_OPERATIONALSPACECONTROL_CONTROLLER_HPP_
diff --git a/examples/operationalSpaceControl/Main.cpp b/examples/operationalSpaceControl/Main.cpp
index 8e72a9bf90c6b..5f771925ba6f7 100644
--- a/examples/operationalSpaceControl/Main.cpp
+++ b/examples/operationalSpaceControl/Main.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
-#include "examples/operationalSpaceControl/MyWindow.h"
+#include "examples/operationalSpaceControl/MyWindow.hpp"
 
 int main(int argc, char* argv[])
 {
diff --git a/examples/operationalSpaceControl/MyWindow.cpp b/examples/operationalSpaceControl/MyWindow.cpp
index af73af7f41c11..1efa6df0b488b 100644
--- a/examples/operationalSpaceControl/MyWindow.cpp
+++ b/examples/operationalSpaceControl/MyWindow.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/operationalSpaceControl/MyWindow.h"
+#include "examples/operationalSpaceControl/MyWindow.hpp"
 
 #include <iostream>
 
diff --git a/examples/operationalSpaceControl/MyWindow.h b/examples/operationalSpaceControl/MyWindow.hpp
similarity index 90%
rename from examples/operationalSpaceControl/MyWindow.h
rename to examples/operationalSpaceControl/MyWindow.hpp
index 0686e3f44a67a..1bac19efc91df 100644
--- a/examples/operationalSpaceControl/MyWindow.h
+++ b/examples/operationalSpaceControl/MyWindow.hpp
@@ -34,13 +34,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_OPERATIONALSPACECONTROL_MYWINDOW_H_
-#define EXAMPLES_OPERATIONALSPACECONTROL_MYWINDOW_H_
+#ifndef EXAMPLES_OPERATIONALSPACECONTROL_MYWINDOW_HPP_
+#define EXAMPLES_OPERATIONALSPACECONTROL_MYWINDOW_HPP_
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
-#include "Controller.h"
+#include "Controller.hpp"
 
 /// \brief class MyWindow
 class MyWindow : public dart::gui::SimWindow
@@ -72,4 +72,4 @@ class MyWindow : public dart::gui::SimWindow
   bool mCircleTask;
 };
 
-#endif  // EXAMPLES_OPERATIONALSPACECONTROL_MYWINDOW_H_
+#endif  // EXAMPLES_OPERATIONALSPACECONTROL_MYWINDOW_HPP_
diff --git a/examples/rigidChain/CMakeLists.txt b/examples/rigidChain/CMakeLists.txt
index 4c79c3b22d1f5..3b45740b7cc4c 100644
--- a/examples/rigidChain/CMakeLists.txt
+++ b/examples/rigidChain/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/rigidChain/Main.cpp b/examples/rigidChain/Main.cpp
index 574cf7da6ab08..bfb125d4f2c88 100644
--- a/examples/rigidChain/Main.cpp
+++ b/examples/rigidChain/Main.cpp
@@ -35,9 +35,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
-#include "examples/rigidChain/MyWindow.h"
+#include "examples/rigidChain/MyWindow.hpp"
 
 int main(int argc, char* argv[]) {
   // create and initialize the world
diff --git a/examples/rigidChain/MyWindow.cpp b/examples/rigidChain/MyWindow.cpp
index 9cbb0aeba19fb..45083cd0b09fd 100644
--- a/examples/rigidChain/MyWindow.cpp
+++ b/examples/rigidChain/MyWindow.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/rigidChain/MyWindow.h"
+#include "examples/rigidChain/MyWindow.hpp"
 
 MyWindow::MyWindow() : SimWindow() {
 }
diff --git a/examples/rigidChain/MyWindow.h b/examples/rigidChain/MyWindow.hpp
similarity index 91%
rename from examples/rigidChain/MyWindow.h
rename to examples/rigidChain/MyWindow.hpp
index 58517e32bf4c1..54f15c0809031 100644
--- a/examples/rigidChain/MyWindow.h
+++ b/examples/rigidChain/MyWindow.hpp
@@ -35,11 +35,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_FORWARDSIM_MYWINDOW_H_
-#define EXAMPLES_FORWARDSIM_MYWINDOW_H_
+#ifndef EXAMPLES_FORWARDSIM_MYWINDOW_HPP_
+#define EXAMPLES_FORWARDSIM_MYWINDOW_HPP_
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 class MyWindow : public dart::gui::SimWindow {
 public:
@@ -53,4 +53,4 @@ class MyWindow : public dart::gui::SimWindow {
   Eigen::VectorXd computeDamping();
 };
 
-#endif  // EXAMPLES_FORWARDSIM_MYWINDOW_H_
+#endif  // EXAMPLES_FORWARDSIM_MYWINDOW_HPP_
diff --git a/examples/rigidCubes/CMakeLists.txt b/examples/rigidCubes/CMakeLists.txt
index 4c79c3b22d1f5..3b45740b7cc4c 100644
--- a/examples/rigidCubes/CMakeLists.txt
+++ b/examples/rigidCubes/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/rigidCubes/Main.cpp b/examples/rigidCubes/Main.cpp
index b147a086cf8e4..6015708f06ae9 100644
--- a/examples/rigidCubes/Main.cpp
+++ b/examples/rigidCubes/Main.cpp
@@ -37,9 +37,9 @@
 
 #include <iostream>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
-#include "examples/rigidCubes/MyWindow.h"
+#include "examples/rigidCubes/MyWindow.hpp"
 
 int main(int argc, char* argv[]) {
   // create and initialize the world
diff --git a/examples/rigidCubes/MyWindow.cpp b/examples/rigidCubes/MyWindow.cpp
index c8d6b22e9205b..90650bd495026 100644
--- a/examples/rigidCubes/MyWindow.cpp
+++ b/examples/rigidCubes/MyWindow.cpp
@@ -35,7 +35,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/rigidCubes/MyWindow.h"
+#include "examples/rigidCubes/MyWindow.hpp"
 
 MyWindow::MyWindow()
   : SimWindow() {
diff --git a/examples/rigidCubes/MyWindow.h b/examples/rigidCubes/MyWindow.hpp
similarity index 92%
rename from examples/rigidCubes/MyWindow.h
rename to examples/rigidCubes/MyWindow.hpp
index fbc84933b7ef1..a269ebade0ce2 100644
--- a/examples/rigidCubes/MyWindow.h
+++ b/examples/rigidCubes/MyWindow.hpp
@@ -35,11 +35,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_CUBES_MYWINDOW_H_
-#define EXAMPLES_CUBES_MYWINDOW_H_
+#ifndef EXAMPLES_CUBES_MYWINDOW_HPP_
+#define EXAMPLES_CUBES_MYWINDOW_HPP_
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 /// \brief
 class MyWindow : public dart::gui::SimWindow {
@@ -64,4 +64,4 @@ class MyWindow : public dart::gui::SimWindow {
   Eigen::Vector3d mForce;
 };
 
-#endif  // EXAMPLES_CUBES_MYWINDOW_H_
+#endif  // EXAMPLES_CUBES_MYWINDOW_HPP_
diff --git a/examples/rigidLoop/CMakeLists.txt b/examples/rigidLoop/CMakeLists.txt
index 4c79c3b22d1f5..3b45740b7cc4c 100644
--- a/examples/rigidLoop/CMakeLists.txt
+++ b/examples/rigidLoop/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/rigidLoop/Main.cpp b/examples/rigidLoop/Main.cpp
index b6fd9691b2270..38659bb5005fa 100644
--- a/examples/rigidLoop/Main.cpp
+++ b/examples/rigidLoop/Main.cpp
@@ -34,9 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
-#include "examples/rigidLoop/MyWindow.h"
+#include "examples/rigidLoop/MyWindow.hpp"
 
 using namespace dart;
 using namespace math;
diff --git a/examples/rigidLoop/MyWindow.cpp b/examples/rigidLoop/MyWindow.cpp
index e6a358b2d195a..4af7eafbe60c3 100644
--- a/examples/rigidLoop/MyWindow.cpp
+++ b/examples/rigidLoop/MyWindow.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/rigidLoop/MyWindow.h"
+#include "examples/rigidLoop/MyWindow.hpp"
 
 void MyWindow::timeStepping()
 {
diff --git a/examples/rigidLoop/MyWindow.h b/examples/rigidLoop/MyWindow.hpp
similarity index 92%
rename from examples/rigidLoop/MyWindow.h
rename to examples/rigidLoop/MyWindow.hpp
index f8799c2093500..15791be6d7d70 100644
--- a/examples/rigidLoop/MyWindow.h
+++ b/examples/rigidLoop/MyWindow.hpp
@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_CLOSEDLOOP_MYWINDOW_H_
-#define EXAMPLES_CLOSEDLOOP_MYWINDOW_H_
+#ifndef EXAMPLES_CLOSEDLOOP_MYWINDOW_HPP_
+#define EXAMPLES_CLOSEDLOOP_MYWINDOW_HPP_
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 class MyWindow : public dart::gui::SimWindow
 {
@@ -56,4 +56,4 @@ class MyWindow : public dart::gui::SimWindow
     Eigen::VectorXd computeDamping();
 };
 
-#endif  // EXAMPLES_CLOSEDLOOP_MYWINDOW_H_
+#endif  // EXAMPLES_CLOSEDLOOP_MYWINDOW_HPP_
diff --git a/examples/rigidShapes/CMakeLists.txt b/examples/rigidShapes/CMakeLists.txt
index 4c79c3b22d1f5..3b45740b7cc4c 100644
--- a/examples/rigidShapes/CMakeLists.txt
+++ b/examples/rigidShapes/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/rigidShapes/Main.cpp b/examples/rigidShapes/Main.cpp
index adf1b124d5452..93cb49b929e9c 100644
--- a/examples/rigidShapes/Main.cpp
+++ b/examples/rigidShapes/Main.cpp
@@ -41,8 +41,8 @@
  */
 
 #include <iostream>
-#include "dart/dart.h"
-#include "MyWindow.h"
+#include "dart/dart.hpp"
+#include "MyWindow.hpp"
 
 #include <fcl/config.h>
 
diff --git a/examples/rigidShapes/MyWindow.cpp b/examples/rigidShapes/MyWindow.cpp
index e063925ba2581..7d9596f83b86c 100644
--- a/examples/rigidShapes/MyWindow.cpp
+++ b/examples/rigidShapes/MyWindow.cpp
@@ -40,7 +40,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "MyWindow.h"
+#include "MyWindow.hpp"
 
 using namespace std;
 using namespace Eigen;
diff --git a/examples/rigidShapes/MyWindow.h b/examples/rigidShapes/MyWindow.hpp
similarity index 94%
rename from examples/rigidShapes/MyWindow.h
rename to examples/rigidShapes/MyWindow.hpp
index b699d7c87e3bb..b3cde4aa7dc05 100644
--- a/examples/rigidShapes/MyWindow.h
+++ b/examples/rigidShapes/MyWindow.hpp
@@ -40,11 +40,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_RIGIDSHAPES_MYWINDOW_H_
-#define EXAMPLES_RIGIDSHAPES_MYWINDOW_H_
+#ifndef EXAMPLES_RIGIDSHAPES_MYWINDOW_HPP_
+#define EXAMPLES_RIGIDSHAPES_MYWINDOW_HPP_
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 /// MyWindow
 class MyWindow : public dart::gui::SimWindow
@@ -85,4 +85,4 @@ class MyWindow : public dart::gui::SimWindow
       double _mass = 10);
 };
 
-#endif  // EXAMPLES_RIGIDSHAPES_MYWINDOW_H_
+#endif  // EXAMPLES_RIGIDSHAPES_MYWINDOW_HPP_
diff --git a/examples/simpleFrames/CMakeLists.txt b/examples/simpleFrames/CMakeLists.txt
index 4c79c3b22d1f5..3b45740b7cc4c 100644
--- a/examples/simpleFrames/CMakeLists.txt
+++ b/examples/simpleFrames/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/simpleFrames/Main.cpp b/examples/simpleFrames/Main.cpp
index fd56f25cf1c93..17cbf1e80f68e 100644
--- a/examples/simpleFrames/Main.cpp
+++ b/examples/simpleFrames/Main.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 using namespace dart::dynamics;
 
diff --git a/examples/softBodies/CMakeLists.txt b/examples/softBodies/CMakeLists.txt
index 4c79c3b22d1f5..3b45740b7cc4c 100644
--- a/examples/softBodies/CMakeLists.txt
+++ b/examples/softBodies/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/softBodies/Main.cpp b/examples/softBodies/Main.cpp
index 1c16859a3b63d..03c4210729690 100644
--- a/examples/softBodies/Main.cpp
+++ b/examples/softBodies/Main.cpp
@@ -42,9 +42,9 @@
 
 #include <iostream>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
-#include "examples/softBodies/MyWindow.h"
+#include "examples/softBodies/MyWindow.hpp"
 
 int main(int argc, char* argv[])
 {
diff --git a/examples/softBodies/MyWindow.cpp b/examples/softBodies/MyWindow.cpp
index fc92f1eb2518b..db6486ad6f6ec 100644
--- a/examples/softBodies/MyWindow.cpp
+++ b/examples/softBodies/MyWindow.cpp
@@ -40,7 +40,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/softBodies/MyWindow.h"
+#include "examples/softBodies/MyWindow.hpp"
 
 #define FORCE_ON_RIGIDBODY 25.0;
 #define FORCE_ON_VERTEX 1.00;
diff --git a/examples/mixedChain/MyWindow.h b/examples/softBodies/MyWindow.hpp
similarity index 93%
rename from examples/mixedChain/MyWindow.h
rename to examples/softBodies/MyWindow.hpp
index e35f620d7a97a..0f5c59d9ea527 100644
--- a/examples/mixedChain/MyWindow.h
+++ b/examples/softBodies/MyWindow.hpp
@@ -40,11 +40,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef EXAMPLES_TESTDROP_MYWINDOW_H_
-#define EXAMPLES_TESTDROP_MYWINDOW_H_
+#ifndef EXAMPLES_SOFTBODIES_MYWINDOW_HPP_
+#define EXAMPLES_SOFTBODIES_MYWINDOW_HPP_
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 /// \brief
 class MyWindow : public dart::gui::SoftSimWindow
@@ -76,4 +76,4 @@ class MyWindow : public dart::gui::SoftSimWindow
   Eigen::Vector3d mForceOnVertex;
 };
 
-#endif  // EXAMPLES_TESTDROP_MYWINDOW_H_
+#endif  // EXAMPLES_SOFTBODIES_MYWINDOW_HPP_
diff --git a/examples/speedTest/CMakeLists.txt b/examples/speedTest/CMakeLists.txt
index 4c79c3b22d1f5..3b45740b7cc4c 100644
--- a/examples/speedTest/CMakeLists.txt
+++ b/examples/speedTest/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/speedTest/Main.cpp b/examples/speedTest/Main.cpp
index 8052d8acc4e66..7444f8876b0b4 100644
--- a/examples/speedTest/Main.cpp
+++ b/examples/speedTest/Main.cpp
@@ -38,8 +38,8 @@
 #include <chrono>
 #include <numeric>
 
-#include "dart/dart.h"
-#include "dart/utils/utils.h"
+#include "dart/dart.hpp"
+#include "dart/utils/utils.hpp"
 
 double testForwardKinematicSpeed(dart::dynamics::SkeletonPtr skel,
                                  bool position=true,
diff --git a/examples/vehicle/CMakeLists.txt b/examples/vehicle/CMakeLists.txt
index 4c79c3b22d1f5..3b45740b7cc4c 100644
--- a/examples/vehicle/CMakeLists.txt
+++ b/examples/vehicle/CMakeLists.txt
@@ -4,7 +4,7 @@
 # target_link_libraries if your app depends on more than dart #
 ###############################################################
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
-file(GLOB ${example_name}_srcs "*.cpp" "*.h" "*.hpp")
+file(GLOB ${example_name}_srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${${example_name}_srcs})
 target_link_libraries(${example_name} dart dart-gui)
 set_target_properties(${example_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
diff --git a/examples/vehicle/Main.cpp b/examples/vehicle/Main.cpp
index b6367d3fbd73d..5bf133ab12fd5 100644
--- a/examples/vehicle/Main.cpp
+++ b/examples/vehicle/Main.cpp
@@ -36,9 +36,9 @@
 
 #include <iostream>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
-#include "examples/vehicle/MyWindow.h"
+#include "examples/vehicle/MyWindow.hpp"
 
 int main(int argc, char* argv[])
 {
diff --git a/examples/vehicle/MyWindow.cpp b/examples/vehicle/MyWindow.cpp
index 8900c763b9de6..9361477f3439b 100644
--- a/examples/vehicle/MyWindow.cpp
+++ b/examples/vehicle/MyWindow.cpp
@@ -34,7 +34,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "examples/vehicle/MyWindow.h"
+#include "examples/vehicle/MyWindow.hpp"
 
 MyWindow::MyWindow()
   : SimWindow() {
diff --git a/examples/vehicle/MyWindow.h b/examples/vehicle/MyWindow.hpp
similarity index 92%
rename from examples/vehicle/MyWindow.h
rename to examples/vehicle/MyWindow.hpp
index aa9b1b6eb24fb..bc61d4ea4c6f1 100644
--- a/examples/vehicle/MyWindow.h
+++ b/examples/vehicle/MyWindow.hpp
@@ -35,11 +35,11 @@
  */
 
 
-#ifndef EXAMPLES_VEHICLE_MYWINDOW_H_
-#define EXAMPLES_VEHICLE_MYWINDOW_H_
+#ifndef EXAMPLES_VEHICLE_MYWINDOW_HPP_
+#define EXAMPLES_VEHICLE_MYWINDOW_HPP_
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 /// \brief
 class MyWindow : public dart::gui::SimWindow {
@@ -73,4 +73,4 @@ class MyWindow : public dart::gui::SimWindow {
   double mD;
 };
 
-#endif  // EXAMPLES_VEHICLE_MYWINDOW_H_
+#endif  // EXAMPLES_VEHICLE_MYWINDOW_HPP_
diff --git a/tutorials/tutorialBiped-Finished.cpp b/tutorials/tutorialBiped-Finished.cpp
index 41c2d40721152..c1c7d38e8bd9c 100644
--- a/tutorials/tutorialBiped-Finished.cpp
+++ b/tutorials/tutorialBiped-Finished.cpp
@@ -34,6 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 const double default_speed_increment = 0.5;
 
@@ -42,9 +44,6 @@ const int default_ik_iterations = 4500;
 const double default_force =  50.0; // N
 const int default_countdown = 100;  // Number of timesteps for applying force
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
-
 using namespace dart::common;
 using namespace dart::dynamics;
 using namespace dart::simulation;
diff --git a/tutorials/tutorialBiped.cpp b/tutorials/tutorialBiped.cpp
index fe7be55e56592..d9a32fcd4f361 100644
--- a/tutorials/tutorialBiped.cpp
+++ b/tutorials/tutorialBiped.cpp
@@ -34,6 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 const double default_speed_increment = 0.5;
 
@@ -42,9 +44,6 @@ const int default_ik_iterations = 4500;
 const double default_force =  50.0; // N
 const int default_countdown = 100;  // Number of timesteps for applying force
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
-
 using namespace dart::common;
 using namespace dart::dynamics;
 using namespace dart::simulation;
diff --git a/tutorials/tutorialCollisions-Finished.cpp b/tutorials/tutorialCollisions-Finished.cpp
index 8f7f29f0c7c71..044e8736c42e4 100644
--- a/tutorials/tutorialCollisions-Finished.cpp
+++ b/tutorials/tutorialCollisions-Finished.cpp
@@ -36,8 +36,8 @@
 
 #include <random>
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 const double default_shape_density = 1000; // kg/m^3
 const double default_shape_height  = 0.1;  // m
diff --git a/tutorials/tutorialCollisions.cpp b/tutorials/tutorialCollisions.cpp
index 1124de907859f..2dc6d4c524d0e 100644
--- a/tutorials/tutorialCollisions.cpp
+++ b/tutorials/tutorialCollisions.cpp
@@ -36,8 +36,8 @@
 
 #include <random>
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 const double default_shape_density = 1000; // kg/m^3
 const double default_shape_height  = 0.1;  // m
diff --git a/tutorials/tutorialDominoes-Finished.cpp b/tutorials/tutorialDominoes-Finished.cpp
index 1f1f244b70de8..3e08077bbaeac 100644
--- a/tutorials/tutorialDominoes-Finished.cpp
+++ b/tutorials/tutorialDominoes-Finished.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 const double default_domino_height = 0.3;
 const double default_domino_width = 0.4 * default_domino_height;
diff --git a/tutorials/tutorialDominoes.cpp b/tutorials/tutorialDominoes.cpp
index e027fe2f5ea1a..f75d8afb92978 100644
--- a/tutorials/tutorialDominoes.cpp
+++ b/tutorials/tutorialDominoes.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 const double default_domino_height = 0.3;
 const double default_domino_width = 0.4 * default_domino_height;
diff --git a/tutorials/tutorialMultiPendulum-Finished.cpp b/tutorials/tutorialMultiPendulum-Finished.cpp
index 39a3fbf12e6e9..e81df813de541 100644
--- a/tutorials/tutorialMultiPendulum-Finished.cpp
+++ b/tutorials/tutorialMultiPendulum-Finished.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 const double default_height = 1.0; // m
 const double default_width = 0.2;  // m
diff --git a/tutorials/tutorialMultiPendulum.cpp b/tutorials/tutorialMultiPendulum.cpp
index bb9809f5fe339..3b9b34edd5fe5 100644
--- a/tutorials/tutorialMultiPendulum.cpp
+++ b/tutorials/tutorialMultiPendulum.cpp
@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/dart.h"
-#include "dart/gui/gui.h"
+#include "dart/dart.hpp"
+#include "dart/gui/gui.hpp"
 
 const double default_height = 1.0; // m
 const double default_width = 0.2;  // m
diff --git a/unittests/TestHelpers.h b/unittests/TestHelpers.hpp
similarity index 98%
rename from unittests/TestHelpers.h
rename to unittests/TestHelpers.hpp
index 31c07c7c05c03..9edd062e7f137 100644
--- a/unittests/TestHelpers.h
+++ b/unittests/TestHelpers.hpp
@@ -48,13 +48,13 @@
 #include <vector>
 #include <boost/math/special_functions/fpclassify.hpp>
 #include <Eigen/Dense>
-#include "dart/common/Uri.h"
-#include "dart/math/Geometry.h"
-#include "dart/dynamics/dynamics.h"
-#include "dart/collision/CollisionDetector.h"
-#include "dart/constraint/ConstraintSolver.h"
-#include "dart/simulation/World.h"
-#include "dart/common/ResourceRetriever.h"
+#include "dart/common/ResourceRetriever.hpp"
+#include "dart/common/Uri.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/dynamics/dynamics.hpp"
+#include "dart/collision/CollisionDetector.hpp"
+#include "dart/constraint/ConstraintSolver.hpp"
+#include "dart/simulation/World.hpp"
 
 using namespace Eigen;
 using namespace dart::math;
diff --git a/unittests/testAspect.cpp b/unittests/testAspect.cpp
index 8a9b75aa772ba..970847e48d62a 100644
--- a/unittests/testAspect.cpp
+++ b/unittests/testAspect.cpp
@@ -41,16 +41,16 @@
 
 #include <gtest/gtest.h>
 
-#include "TestHelpers.h"
+#include "TestHelpers.hpp"
 
-#include "dart/common/Subject.h"
-#include "dart/common/sub_ptr.h"
-#include "dart/common/Composite.h"
-#include "dart/common/SpecializedForAspect.h"
-#include "dart/common/EmbeddedAspect.h"
+#include "dart/common/Subject.hpp"
+#include "dart/common/sub_ptr.hpp"
+#include "dart/common/Composite.hpp"
+#include "dart/common/SpecializedForAspect.hpp"
+#include "dart/common/EmbeddedAspect.hpp"
 
-#include "dart/dynamics/EulerJoint.h"
-#include "dart/dynamics/BoxShape.h"
+#include "dart/dynamics/EulerJoint.hpp"
+#include "dart/dynamics/BoxShape.hpp"
 
 using namespace dart::common;
 
diff --git a/unittests/testBuilding.cpp b/unittests/testBuilding.cpp
index 8d18f2d762d4c..f0cd758033b93 100644
--- a/unittests/testBuilding.cpp
+++ b/unittests/testBuilding.cpp
@@ -36,13 +36,13 @@
 
 #include <iostream>
 #include <gtest/gtest.h>
-#include "TestHelpers.h"
+#include "TestHelpers.hpp"
 
-#include "dart/math/Geometry.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
+#include "dart/math/Geometry.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
 
 using namespace dart;
 using namespace math;
diff --git a/unittests/testCollision.cpp b/unittests/testCollision.cpp
index 42bf4d992a3cb..8a75b9dafad8e 100644
--- a/unittests/testCollision.cpp
+++ b/unittests/testCollision.cpp
@@ -41,19 +41,19 @@
 #include <fcl/shape/geometric_shapes.h>
 #include <fcl/narrowphase/narrowphase.h>
 
-#include "dart/config.h"
-#include "dart/common/common.h"
-#include "dart/math/math.h"
-#include "dart/collision/CollisionGroup.h"
-#include "dart/collision/fcl/FCLCollisionDetector.h"
-#include "dart/collision/dart/DARTCollisionDetector.h"
+#include "dart/config.hpp"
+#include "dart/common/common.hpp"
+#include "dart/math/math.hpp"
+#include "dart/collision/CollisionGroup.hpp"
+#include "dart/collision/fcl/FCLCollisionDetector.hpp"
+#include "dart/collision/dart/DARTCollisionDetector.hpp"
 #if HAVE_BULLET_COLLISION
-  #include "dart/collision/bullet/BulletCollisionDetector.h"
+  #include "dart/collision/bullet/BulletCollisionDetector.hpp"
 #endif
-#include "dart/dynamics/dynamics.h"
-#include "dart/simulation/simulation.h"
-#include "dart/utils/utils.h"
-#include "TestHelpers.h"
+#include "dart/dynamics/dynamics.hpp"
+#include "dart/simulation/simulation.hpp"
+#include "dart/utils/utils.hpp"
+#include "TestHelpers.hpp"
 
 using namespace dart;
 using namespace common;
diff --git a/unittests/testCommon.cpp b/unittests/testCommon.cpp
index e37589223eaa5..73cf7c05d8e84 100644
--- a/unittests/testCommon.cpp
+++ b/unittests/testCommon.cpp
@@ -36,7 +36,7 @@
 
 #include <gtest/gtest.h>
 
-#include "dart/common/Timer.h"
+#include "dart/common/Timer.hpp"
 
 using namespace dart::common;
 
diff --git a/unittests/testCompositeResourceRetriever.cpp b/unittests/testCompositeResourceRetriever.cpp
index 40ff96e8bedc5..b5b0136e24a9f 100644
--- a/unittests/testCompositeResourceRetriever.cpp
+++ b/unittests/testCompositeResourceRetriever.cpp
@@ -35,8 +35,8 @@
  */
 
 #include <gtest/gtest.h>
-#include "dart/utils/CompositeResourceRetriever.h"
-#include "TestHelpers.h"
+#include "dart/utils/CompositeResourceRetriever.hpp"
+#include "TestHelpers.hpp"
 
 using dart::common::Uri;
 using dart::common::Resource;
diff --git a/unittests/testConcurrency.cpp b/unittests/testConcurrency.cpp
index 2d0b7062b2125..4d67777eb677a 100644
--- a/unittests/testConcurrency.cpp
+++ b/unittests/testConcurrency.cpp
@@ -39,9 +39,9 @@
 
 #include <gtest/gtest.h>
 
-#include "dart/simulation/World.h"
+#include "dart/simulation/World.hpp"
 
-#include "TestHelpers.h"
+#include "TestHelpers.hpp"
 
 using namespace dart;
 using namespace dynamics;
diff --git a/unittests/testConstraint.cpp b/unittests/testConstraint.cpp
index c1b61c86e53f7..1770a822a4aa3 100644
--- a/unittests/testConstraint.cpp
+++ b/unittests/testConstraint.cpp
@@ -40,16 +40,16 @@
 #include <Eigen/Dense>
 #include <gtest/gtest.h>
 
-#include "TestHelpers.h"
-
-#include "dart/common/Console.h"
-#include "dart/math/Geometry.h"
-#include "dart/math/Helpers.h"
-#include "dart/collision/dart/DARTCollisionDetector.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
-#include "dart/utils/SkelParser.h"
+#include "TestHelpers.hpp"
+
+#include "dart/common/Console.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/collision/dart/DARTCollisionDetector.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/utils/SkelParser.hpp"
 
 //==============================================================================
 class ConstraintTest : public ::testing::Test
diff --git a/unittests/testDartLoader.cpp b/unittests/testDartLoader.cpp
index dfd2f245d72df..98b543fccff90 100644
--- a/unittests/testDartLoader.cpp
+++ b/unittests/testDartLoader.cpp
@@ -36,7 +36,7 @@
 
 #include <iostream>
 #include <gtest/gtest.h>
-#include "dart/utils/urdf/DartLoader.h"
+#include "dart/utils/urdf/DartLoader.hpp"
 
 using dart::common::Uri;
 using dart::utils::DartLoader;
diff --git a/unittests/testDynamics.cpp b/unittests/testDynamics.cpp
index af9394718857d..dbb65846c2021 100644
--- a/unittests/testDynamics.cpp
+++ b/unittests/testDynamics.cpp
@@ -40,16 +40,16 @@
 #include <Eigen/Dense>
 #include <gtest/gtest.h>
 
-#include "TestHelpers.h"
-
-#include "dart/common/Console.h"
-#include "dart/math/Geometry.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/SimpleFrame.h"
-#include "dart/simulation/World.h"
-#include "dart/utils/SkelParser.h"
+#include "TestHelpers.hpp"
+
+#include "dart/common/Console.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/utils/SkelParser.hpp"
 
 using namespace Eigen;
 using namespace dart;
diff --git a/unittests/testFileInfoWorld.cpp b/unittests/testFileInfoWorld.cpp
index b791741c88fdb..ed3b78cf3fc13 100644
--- a/unittests/testFileInfoWorld.cpp
+++ b/unittests/testFileInfoWorld.cpp
@@ -37,15 +37,15 @@
 #include <iostream>
 #include <fstream>
 #include <gtest/gtest.h>
-#include "TestHelpers.h"
-
-#include "dart/math/Geometry.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
-#include "dart/utils/SkelParser.h"
-#include "dart/utils/FileInfoWorld.h"
+#include "TestHelpers.hpp"
+
+#include "dart/math/Geometry.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/utils/SkelParser.hpp"
+#include "dart/utils/FileInfoWorld.hpp"
 
 using namespace dart;
 using namespace math;
diff --git a/unittests/testForwardKinematics.cpp b/unittests/testForwardKinematics.cpp
index 4a1be2687ebe5..baa08010a6e2f 100644
--- a/unittests/testForwardKinematics.cpp
+++ b/unittests/testForwardKinematics.cpp
@@ -36,9 +36,9 @@
 
 #include <iostream>
 #include <gtest/gtest.h>
-#include "TestHelpers.h"
+#include "TestHelpers.hpp"
 
-#include "dart/utils/urdf/DartLoader.h"
+#include "dart/utils/urdf/DartLoader.hpp"
 
 std::vector<std::size_t> twoLinkIndices;
 
diff --git a/unittests/testFrames.cpp b/unittests/testFrames.cpp
index 9377d4b8d2963..b8ddce5a9da12 100644
--- a/unittests/testFrames.cpp
+++ b/unittests/testFrames.cpp
@@ -36,10 +36,10 @@
 
 #include <gtest/gtest.h>
 
-#include "dart/dynamics/SimpleFrame.h"
-#include "dart/math/Helpers.h"
+#include "dart/dynamics/SimpleFrame.hpp"
+#include "dart/math/Helpers.hpp"
 
-#include "TestHelpers.h"
+#include "TestHelpers.hpp"
 
 using namespace dart;
 using namespace dynamics;
diff --git a/unittests/testGeometry.cpp b/unittests/testGeometry.cpp
index 97937538f2aa8..e6c41d1453b9e 100644
--- a/unittests/testGeometry.cpp
+++ b/unittests/testGeometry.cpp
@@ -36,18 +36,18 @@
 
 #include <iostream>
 #include <gtest/gtest.h>
-#include "TestHelpers.h"
-
-#include "dart/math/Geometry.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/BallJoint.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/PrismaticJoint.h"
-#include "dart/dynamics/FreeJoint.h"
-#include "dart/dynamics/WeldJoint.h"
-#include "dart/dynamics/TranslationalJoint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
+#include "TestHelpers.hpp"
+
+#include "dart/math/Geometry.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/BallJoint.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/PrismaticJoint.hpp"
+#include "dart/dynamics/FreeJoint.hpp"
+#include "dart/dynamics/WeldJoint.hpp"
+#include "dart/dynamics/TranslationalJoint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
 
 using namespace dart;
 using namespace math;
diff --git a/unittests/testInverseKinematics.cpp b/unittests/testInverseKinematics.cpp
index 5527a95d7407d..ea8cbf50b9d6e 100644
--- a/unittests/testInverseKinematics.cpp
+++ b/unittests/testInverseKinematics.cpp
@@ -37,9 +37,9 @@
 #include <iostream>
 #include <gtest/gtest.h>
 
-#include "dart/config.h"
-#include "dart/math/Helpers.h"
-#include "TestHelpers.h"
+#include "dart/config.hpp"
+#include "dart/math/Helpers.hpp"
+#include "TestHelpers.hpp"
 
 using namespace Eigen;
 using namespace dart;
diff --git a/unittests/testJoints.cpp b/unittests/testJoints.cpp
index 0991d0a2df8f1..ecd3cdf9ff2e7 100644
--- a/unittests/testJoints.cpp
+++ b/unittests/testJoints.cpp
@@ -37,24 +37,24 @@
 #include <array>
 #include <iostream>
 #include <gtest/gtest.h>
-#include "TestHelpers.h"
-
-#include "dart/math/Geometry.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/BallJoint.h"
-#include "dart/dynamics/FreeJoint.h"
-#include "dart/dynamics/PrismaticJoint.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/TranslationalJoint.h"
-#include "dart/dynamics/UniversalJoint.h"
-#include "dart/dynamics/WeldJoint.h"
-#include "dart/dynamics/EulerJoint.h"
-#include "dart/dynamics/ScrewJoint.h"
-#include "dart/dynamics/PlanarJoint.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
-#include "dart/utils/SkelParser.h"
+#include "TestHelpers.hpp"
+
+#include "dart/math/Geometry.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/BallJoint.hpp"
+#include "dart/dynamics/FreeJoint.hpp"
+#include "dart/dynamics/PrismaticJoint.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/TranslationalJoint.hpp"
+#include "dart/dynamics/UniversalJoint.hpp"
+#include "dart/dynamics/WeldJoint.hpp"
+#include "dart/dynamics/EulerJoint.hpp"
+#include "dart/dynamics/ScrewJoint.hpp"
+#include "dart/dynamics/PlanarJoint.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/utils/SkelParser.hpp"
 
 using namespace dart;
 using namespace dart::math;
diff --git a/unittests/testLocalResourceRetriever.cpp b/unittests/testLocalResourceRetriever.cpp
index f5989b568302b..d61b35b5da542 100644
--- a/unittests/testLocalResourceRetriever.cpp
+++ b/unittests/testLocalResourceRetriever.cpp
@@ -35,8 +35,8 @@
  */
 
 #include <gtest/gtest.h>
-#include "dart/common/LocalResourceRetriever.h"
-#include "TestHelpers.h"
+#include "dart/common/LocalResourceRetriever.hpp"
+#include "TestHelpers.hpp"
 
 using dart::common::Uri;
 using dart::common::Resource;
diff --git a/unittests/testMath.cpp b/unittests/testMath.cpp
index 77c3232745d23..c47f29926189f 100644
--- a/unittests/testMath.cpp
+++ b/unittests/testMath.cpp
@@ -36,14 +36,14 @@
 
 #include <iostream>
 #include <gtest/gtest.h>
-#include "TestHelpers.h"
-
-#include "dart/common/Timer.h"
-#include "dart/math/Geometry.h"
-#include "dart/math/Helpers.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
+#include "TestHelpers.hpp"
+
+#include "dart/common/Timer.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/math/Helpers.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
 
 using namespace dart;
 using namespace common;
diff --git a/unittests/testNameManagement.cpp b/unittests/testNameManagement.cpp
index 6807814f84053..82a18da4c5e5d 100644
--- a/unittests/testNameManagement.cpp
+++ b/unittests/testNameManagement.cpp
@@ -36,8 +36,8 @@
 
 #include <iostream>
 #include <gtest/gtest.h>
-#include "TestHelpers.h"
-#include "dart/dynamics/SoftBodyNode.h"
+#include "TestHelpers.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
 
 using namespace dart;
 using namespace math;
diff --git a/unittests/testNearestNeighbor.cpp b/unittests/testNearestNeighbor.cpp
index 898ccc1fff707..7150e4eecbf5f 100644
--- a/unittests/testNearestNeighbor.cpp
+++ b/unittests/testNearestNeighbor.cpp
@@ -9,7 +9,7 @@
 #include <gtest/gtest.h>
 #include <flann/flann.hpp>
 #include <Eigen/Core>
-#include "TestHelpers.h"
+#include "TestHelpers.hpp"
 
 /* ********************************************************************************************* */
 TEST(NEAREST_NEIGHBOR, 2D) {
diff --git a/unittests/testOptimizer.cpp b/unittests/testOptimizer.cpp
index a1f149441858f..08f5a38d5f86a 100644
--- a/unittests/testOptimizer.cpp
+++ b/unittests/testOptimizer.cpp
@@ -41,23 +41,23 @@
 #include <sstream>
 #include <gtest/gtest.h>
 #include <Eigen/Dense>
-#include "TestHelpers.h"
-#include "dart/config.h"
-#include "dart/common/Console.h"
-#include "dart/optimizer/Function.h"
-#include "dart/optimizer/Problem.h"
-#include "dart/optimizer/GradientDescentSolver.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/FreeJoint.h"
-#include "dart/dynamics/InverseKinematics.h"
+#include "TestHelpers.hpp"
+#include "dart/config.hpp"
+#include "dart/common/Console.hpp"
+#include "dart/optimizer/Function.hpp"
+#include "dart/optimizer/Problem.hpp"
+#include "dart/optimizer/GradientDescentSolver.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/FreeJoint.hpp"
+#include "dart/dynamics/InverseKinematics.hpp"
 #if HAVE_NLOPT
-  #include "dart/optimizer/nlopt/NloptSolver.h"
+  #include "dart/optimizer/nlopt/NloptSolver.hpp"
 #endif
 #if HAVE_IPOPT
-  #include "dart/optimizer/ipopt/IpoptSolver.h"
+  #include "dart/optimizer/ipopt/IpoptSolver.hpp"
 #endif
 #if HAVE_SNOPT
-  #include "dart/optimizer/snopt/SnoptSolver.h"
+  #include "dart/optimizer/snopt/SnoptSolver.hpp"
 #endif
 
 using namespace std;
diff --git a/unittests/testPackageResourceRetriever.cpp b/unittests/testPackageResourceRetriever.cpp
index c648dca3a5015..1bec18327688e 100644
--- a/unittests/testPackageResourceRetriever.cpp
+++ b/unittests/testPackageResourceRetriever.cpp
@@ -35,8 +35,8 @@
  */
 
 #include <gtest/gtest.h>
-#include "dart/utils/PackageResourceRetriever.h"
-#include "TestHelpers.h"
+#include "dart/utils/PackageResourceRetriever.hpp"
+#include "TestHelpers.hpp"
 
 using dart::common::Uri;
 using dart::common::Resource;
diff --git a/unittests/testSdfParser.cpp b/unittests/testSdfParser.cpp
index 8a35393919389..0925fe33d0742 100644
--- a/unittests/testSdfParser.cpp
+++ b/unittests/testSdfParser.cpp
@@ -36,14 +36,14 @@
 
 #include <iostream>
 #include <gtest/gtest.h>
-#include "TestHelpers.h"
-
-#include "dart/dynamics/SoftBodyNode.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/PlanarJoint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
-#include "dart/utils/sdf/SdfParser.h"
+#include "TestHelpers.hpp"
+
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/PlanarJoint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/utils/sdf/SdfParser.hpp"
 
 using namespace dart;
 using namespace math;
diff --git a/unittests/testSignal.cpp b/unittests/testSignal.cpp
index a95e8d3e06e1c..1c5b6d8ae0da6 100644
--- a/unittests/testSignal.cpp
+++ b/unittests/testSignal.cpp
@@ -37,7 +37,7 @@
 #include <numeric>
 #include <gtest/gtest.h>
 
-#include "dart/dart.h"
+#include "dart/dart.hpp"
 
 using namespace std;
 using namespace Eigen;
diff --git a/unittests/testSkelParser.cpp b/unittests/testSkelParser.cpp
index 40773a07bd23c..eb5cbb715eb50 100644
--- a/unittests/testSkelParser.cpp
+++ b/unittests/testSkelParser.cpp
@@ -36,16 +36,16 @@
 
 #include <iostream>
 #include <gtest/gtest.h>
-#include "TestHelpers.h"
-
-#include "dart/dynamics/SoftBodyNode.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/PlanarJoint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
-#include "dart/simulation/World.h"
-#include "dart/utils/XmlHelpers.h"
-#include "dart/utils/SkelParser.h"
+#include "TestHelpers.hpp"
+
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/PlanarJoint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/utils/XmlHelpers.hpp"
+#include "dart/utils/SkelParser.hpp"
 
 using namespace dart;
 using namespace math;
diff --git a/unittests/testSkeleton.cpp b/unittests/testSkeleton.cpp
index a930e06fddbf2..e9f25adfb559e 100644
--- a/unittests/testSkeleton.cpp
+++ b/unittests/testSkeleton.cpp
@@ -36,15 +36,15 @@
 
 #include <iostream>
 #include <gtest/gtest.h>
-#include "TestHelpers.h"
-
-#include "dart/common/sub_ptr.h"
-#include "dart/math/Geometry.h"
-#include "dart/utils/SkelParser.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
+#include "TestHelpers.hpp"
+
+#include "dart/common/sub_ptr.hpp"
+#include "dart/math/Geometry.hpp"
+#include "dart/utils/SkelParser.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
 
 using namespace dart;
 using namespace math;
diff --git a/unittests/testSoftDynamics.cpp b/unittests/testSoftDynamics.cpp
index b39f344e32934..901004d8f7e14 100644
--- a/unittests/testSoftDynamics.cpp
+++ b/unittests/testSoftDynamics.cpp
@@ -40,14 +40,14 @@
 #include <Eigen/Dense>
 #include <gtest/gtest.h>
 
-#include "dart/common/Console.h"
-#include "dart/math/Constants.h"
-#include "dart/dynamics/Joint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/dynamics/SoftBodyNode.h"
-#include "dart/dynamics/PointMass.h"
-#include "dart/simulation/World.h"
-#include "dart/utils/SkelParser.h"
+#include "dart/common/Console.hpp"
+#include "dart/math/Constants.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/PointMass.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/utils/SkelParser.hpp"
 
 using namespace std;
 using namespace Eigen;
diff --git a/unittests/testSubscriptions.cpp b/unittests/testSubscriptions.cpp
index 804dafe80d443..05aee48cf27da 100644
--- a/unittests/testSubscriptions.cpp
+++ b/unittests/testSubscriptions.cpp
@@ -36,9 +36,9 @@
 
 #include <gtest/gtest.h>
 
-#include "dart/common/sub_ptr.h"
-#include "dart/dynamics/SimpleFrame.h"
-#include "dart/dynamics/BoxShape.h"
+#include "dart/common/sub_ptr.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
+#include "dart/dynamics/BoxShape.hpp"
 
 using namespace dart;
 using namespace dynamics;
diff --git a/unittests/testUri.cpp b/unittests/testUri.cpp
index a0d366c72b675..92174b09f7a32 100644
--- a/unittests/testUri.cpp
+++ b/unittests/testUri.cpp
@@ -35,8 +35,8 @@
  */
 
 #include <gtest/gtest.h>
-#include "dart/common/Uri.h"
-#include "TestHelpers.h"
+#include "dart/common/Uri.hpp"
+#include "TestHelpers.hpp"
 
 using dart::common::Uri;
 
diff --git a/unittests/testVskParser.cpp b/unittests/testVskParser.cpp
index 73e8acab0e951..11a5db506d212 100644
--- a/unittests/testVskParser.cpp
+++ b/unittests/testVskParser.cpp
@@ -36,17 +36,15 @@
 
 #include <iostream>
 #include <gtest/gtest.h>
-#include "TestHelpers.h"
-
-#include "tinyxml2.h"
-
-#include "dart/dynamics/SoftBodyNode.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/PlanarJoint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/simulation/World.h"
-#include "dart/simulation/World.h"
-#include "dart/utils/VskParser.h"
+#include "TestHelpers.hpp"
+
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/PlanarJoint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/simulation/World.hpp"
+#include "dart/utils/VskParser.hpp"
 
 using namespace dart;
 using namespace math;
diff --git a/unittests/testWorld.cpp b/unittests/testWorld.cpp
index 7fcab98d58762..82e6b628e826e 100644
--- a/unittests/testWorld.cpp
+++ b/unittests/testWorld.cpp
@@ -37,15 +37,15 @@
 
 #include <iostream>
 #include <gtest/gtest.h>
-#include "TestHelpers.h"
-
-#include "dart/math/Geometry.h"
-#include "dart/utils/SkelParser.h"
-#include "dart/dynamics/BodyNode.h"
-#include "dart/dynamics/RevoluteJoint.h"
-#include "dart/dynamics/Skeleton.h"
-#include "dart/collision/collision.h"
-#include "dart/simulation/World.h"
+#include "TestHelpers.hpp"
+
+#include "dart/math/Geometry.hpp"
+#include "dart/utils/SkelParser.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/collision/collision.hpp"
+#include "dart/simulation/World.hpp"
 
 using namespace dart;
 using namespace math;