diff --git a/trajopt_sco/include/trajopt_sco/optimizers.hpp b/trajopt_sco/include/trajopt_sco/optimizers.hpp
index 12bd6248..e6b8d315 100644
--- a/trajopt_sco/include/trajopt_sco/optimizers.hpp
+++ b/trajopt_sco/include/trajopt_sco/optimizers.hpp
@@ -236,26 +236,26 @@ struct BasicTrustRegionSQPResults
   DblVec old_cnt_viols;
   /** @brief The previous iterations (exact) merit = vecSum(old_cost_vals) + merit_error_coeff * vecSum(old_cnt_viols)
    */
-  double old_merit;
+  double old_merit{ 0 };
   /** @brief The models merit = vecSum(model_cost_vals) + merit_error_coeff * vecSum(model_cnt_viols) */
-  double model_merit;
+  double model_merit{ 0 };
   /** @brief The exact merit = vecSum(new_cost_vals) + merit_error_coeff * vecSum(new_cnt_viols) */
-  double new_merit;
+  double new_merit{ 0 };
   /**
    * @brief A measure of improvement approximated using values from the model.
    * approx_merit_improve = old_merit - model_merit;
    */
-  double approx_merit_improve;
+  double approx_merit_improve{ 0 };
   /**
    * @brief A measure of improvement using exact values
    * exact_merit_improve = old_merit - new_merit;
    */
-  double exact_merit_improve;
+  double exact_merit_improve{ 0 };
   /**
    * @brief The ratio between the exact and model merit improvement
    * merit_improve_ratio = exact_merit_improve / approx_merit_improve;
    */
-  double merit_improve_ratio;
+  double merit_improve_ratio{ 0 };
   /** @brief This is the penalty applied to the constraints for this iteration */
   std::vector<double> merit_error_coeffs;
   /** @brief Variable names */
diff --git a/trajopt_sco/src/bpmpd_interface.cpp b/trajopt_sco/src/bpmpd_interface.cpp
index a55a47e7..ab48e7f4 100644
--- a/trajopt_sco/src/bpmpd_interface.cpp
+++ b/trajopt_sco/src/bpmpd_interface.cpp
@@ -2,6 +2,7 @@
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <cmath>
 #include <array>
+#include <mutex>
 #include <trajopt_sco/bpmpd_io.hpp>
 TRAJOPT_IGNORE_WARNINGS_POP
 
diff --git a/trajopt_sco/src/optimizers.cpp b/trajopt_sco/src/optimizers.cpp
index c8ec5efa..8854b482 100644
--- a/trajopt_sco/src/optimizers.cpp
+++ b/trajopt_sco/src/optimizers.cpp
@@ -307,12 +307,6 @@ BasicTrustRegionSQPResults::BasicTrustRegionSQPResults(std::vector<std::string>
   old_cost_vals.clear();
   new_cnt_viols.clear();
   old_cnt_viols.clear();
-  old_merit = 0;
-  model_merit = 0;
-  new_merit = 0;
-  approx_merit_improve = 0;
-  exact_merit_improve = 0;
-  merit_improve_ratio = 0;
   merit_error_coeffs = std::vector<double>(this->cnt_names.size(), 0);
 }