diff --git a/orocos_kdl/src/chainiksolvervel_pinv_givens.cpp b/orocos_kdl/src/chainiksolvervel_pinv_givens.cpp
index b38ce04b..fbf102b4 100644
--- a/orocos_kdl/src/chainiksolvervel_pinv_givens.cpp
+++ b/orocos_kdl/src/chainiksolvervel_pinv_givens.cpp
@@ -30,8 +30,8 @@ namespace KDL
         jnt2jac(chain),
         jac(nj),
         transpose(nj>6),toggle(true),
-        m(max(6,nj)),
-        n(min(6,nj)),
+        m(static_cast<unsigned int>(max(6,nj))),
+        n(static_cast<unsigned int>(min(6,nj))),
         jac_eigen(m,n),
         U(Eigen::MatrixXd::Identity(m,m)),
         V(Eigen::MatrixXd::Identity(n,n)),
@@ -50,8 +50,8 @@ namespace KDL
         jnt2jac.updateInternalDataStructures();
         jac.resize(nj);
         transpose = (nj > 6);
-        m = max(6,nj);
-        n = min(6,nj);
+        m = static_cast<unsigned int>(max(6,nj));
+        n = static_cast<unsigned int>(min(6,nj));
         jac_eigen.conservativeResize(m,n);
         U.conservativeResizeLike(Eigen::MatrixXd::Identity(m,m));
         V.conservativeResizeLike(Eigen::MatrixXd::Identity(n,n));
diff --git a/orocos_kdl/src/jacobian.cpp b/orocos_kdl/src/jacobian.cpp
index a4942076..21d3d649 100644
--- a/orocos_kdl/src/jacobian.cpp
+++ b/orocos_kdl/src/jacobian.cpp
@@ -68,12 +68,12 @@ namespace KDL
 
     unsigned int Jacobian::rows()const
     {
-        return data.rows();
+        return static_cast<unsigned int>(data.rows());
     }
 
     unsigned int Jacobian::columns()const
     {
-        return data.cols();
+        return static_cast<unsigned int>(data.cols());
     }
 
     void SetToZero(Jacobian& jac)
diff --git a/orocos_kdl/src/jntarray.cpp b/orocos_kdl/src/jntarray.cpp
index 6dc26218..32c875d0 100644
--- a/orocos_kdl/src/jntarray.cpp
+++ b/orocos_kdl/src/jntarray.cpp
@@ -69,12 +69,12 @@ namespace KDL
 
     unsigned int JntArray::rows()const
     {
-        return data.rows();
+        return static_cast<unsigned int>(data.rows());
     }
 
     unsigned int JntArray::columns()const
     {
-        return data.cols();
+        return static_cast<unsigned int>(data.cols());
     }
 
     void Add(const JntArray& src1,const JntArray& src2,JntArray& dest)
diff --git a/orocos_kdl/src/jntspaceinertiamatrix.cpp b/orocos_kdl/src/jntspaceinertiamatrix.cpp
index 31ea4200..fb8a4fed 100644
--- a/orocos_kdl/src/jntspaceinertiamatrix.cpp
+++ b/orocos_kdl/src/jntspaceinertiamatrix.cpp
@@ -67,12 +67,12 @@ namespace KDL
 
     unsigned int JntSpaceInertiaMatrix::rows()const
     {
-        return data.rows();
+        return static_cast<unsigned int>(data.rows());
     }
 
     unsigned int JntSpaceInertiaMatrix::columns()const
     {
-        return data.cols();
+        return static_cast<unsigned int>(data.cols());
     }
     
 
diff --git a/orocos_kdl/src/tree.cpp b/orocos_kdl/src/tree.cpp
index 6d8943de..70151e66 100644
--- a/orocos_kdl/src/tree.cpp
+++ b/orocos_kdl/src/tree.cpp
@@ -156,8 +156,8 @@ bool Tree::getChain(const std::string& chain_root, const std::string& chain_tip,
     }
 
     // add the segments from the common frame to the tip frame
-    for (int s=parents_chain_tip.size()-1; s>-1; s--){
-        chain.addSegment(GetTreeElementSegment(getSegment(parents_chain_tip[s])->second));
+    for (auto rit=parents_chain_tip.rbegin(); rit != parents_chain_tip.rend(); ++rit){
+        chain.addSegment(GetTreeElementSegment(getSegment(*rit)->second));
     }
     return true;
 }
diff --git a/orocos_kdl/src/treeiksolverpos_online.cpp b/orocos_kdl/src/treeiksolverpos_online.cpp
index 3e3d1318..594c3a05 100644
--- a/orocos_kdl/src/treeiksolverpos_online.cpp
+++ b/orocos_kdl/src/treeiksolverpos_online.cpp
@@ -35,12 +35,9 @@ TreeIkSolverPos_Online::TreeIkSolverPos_Online(const double& nr_of_jnts,
                                                const double x_dot_rot_max,
                                                TreeFkSolverPos& fksolver,
                                                TreeIkSolverVel& iksolver) :
-                                               q_min_(nr_of_jnts),
-                                               q_max_(nr_of_jnts),
-                                               q_dot_max_(nr_of_jnts),
                                                fksolver_(fksolver),
                                                iksolver_(iksolver),
-                                               q_dot_(nr_of_jnts)
+                                               q_dot_(static_cast<unsigned int>(nr_of_jnts))
 {
     q_min_ = q_min;
     q_max_ = q_max;
diff --git a/orocos_kdl/src/utilities/error_stack.cxx b/orocos_kdl/src/utilities/error_stack.cxx
index 78c5027a..c4837e6e 100644
--- a/orocos_kdl/src/utilities/error_stack.cxx
+++ b/orocos_kdl/src/utilities/error_stack.cxx
@@ -57,7 +57,11 @@ void IOTracePopStr(char* buffer,int size) {
         *buffer = 0;
         return;
     }
+#if defined(_WIN32)
+    strncpy_s(buffer,size,errorstack.top().c_str(),size);
+#else
     strncpy(buffer,errorstack.top().c_str(),size);
+#endif
     buffer[size - 1] = '\0';
     errorstack.pop();
 }
diff --git a/orocos_kdl/src/utilities/ldl_solver_eigen.cpp b/orocos_kdl/src/utilities/ldl_solver_eigen.cpp
index 1729ead9..3f47afdc 100644
--- a/orocos_kdl/src/utilities/ldl_solver_eigen.cpp
+++ b/orocos_kdl/src/utilities/ldl_solver_eigen.cpp
@@ -25,7 +25,7 @@ namespace KDL{
 
     int ldl_solver_eigen(const Eigen::MatrixXd& A, const Eigen::VectorXd& v, Eigen::MatrixXd& L, Eigen::VectorXd& D, Eigen::VectorXd& vtmp, Eigen::VectorXd& q)
     {
-        const int n = A.rows();
+        const int n = static_cast<int>(A.rows());
         int error=SolverI::E_NOERROR;
 
         //Check sizes
diff --git a/orocos_kdl/src/utilities/svd_eigen_HH.cpp b/orocos_kdl/src/utilities/svd_eigen_HH.cpp
index 2fdb9d2b..7c7bd379 100644
--- a/orocos_kdl/src/utilities/svd_eigen_HH.cpp
+++ b/orocos_kdl/src/utilities/svd_eigen_HH.cpp
@@ -26,8 +26,8 @@ namespace KDL{
     int svd_eigen_HH(const Eigen::MatrixXd &A, Eigen::MatrixXd &U, Eigen::VectorXd &S, Eigen::MatrixXd &V, Eigen::VectorXd &tmp, int maxiter, double epsilon)
     {
         //get the rows/columns of the matrix
-        const int rows = A.rows();
-        const int cols = A.cols();
+        const int rows = static_cast<int>(A.rows());
+        const int cols = static_cast<int>(A.cols());
     
         U.setZero();
         U.topLeftCorner(rows,cols)=A;