diff --git a/Clothoids.prj b/Clothoids.prj
index af6c9143..a9de3fb9 100644
--- a/Clothoids.prj
+++ b/Clothoids.prj
@@ -1,143 +1,142 @@
-<deployment-project plugin="plugin.toolbox" plugin-version="1.0">
-  <configuration build-checksum="2095973427" file="/Users/enrico/Ricerca/develop/C++/pins-mechatronix/LibSources/submodules/Clothoids/Clothoids.prj" location="/Users/enrico/Ricerca/develop/C++/pins-mechatronix/LibSources/submodules/Clothoids" name="Clothoids" target="target.toolbox" target-name="Package Toolbox">
-    <param.appname>Clothoids</param.appname>
-    <param.authnamewatermark>Enrico Bertolazzi</param.authnamewatermark>
-    <param.email>enrico.bertolazzi@unitn.it</param.email>
-    <param.company>Unversità degli Studi di Trento</param.company>
-    <param.summary>Clothoids, a library for clothoids computation and more</param.summary>
-    <param.description>A library for clothoids computation and more.</param.description>
-    <param.screenshot>${PROJECT_ROOT}/toolbox/logo.png</param.screenshot>
-    <param.version>2.0.3</param.version>
-    <param.output>${PROJECT_ROOT}/Clothoids.mltbx</param.output>
-    <param.products.name />
-    <param.products.id />
-    <param.products.version />
-    <param.platforms />
-    <param.guid>b42d3f6f-9769-4fb7-a2da-cae5046d9f9f</param.guid>
-    <param.exclude.filters>% List files contained in your toolbox folder that you would like to exclude
-% from packaging.  Excludes should be listed relative to the toolbox folder.
-% Some examples of how to specify excludes are provided below:
-%
-% A single file in the toolbox folder:
-% .svn
-%
-% A single file in a subfolder of the toolbox folder:
-% example/.svn
-%
-% All files in a subfolder of the toolbox folder:
-% example/*
-%
-% All files of a certain name in all subfolders of the toolbox folder:
-% **/.svn
-%
-% All files matching a pattern in all subfolders of the toolbox folder:
-% **/*.bak
-%
-populate_toolbox.rb
-setup.m
-.DS_Store</param.exclude.filters>
-    <param.exclude.pcodedmfiles>true</param.exclude.pcodedmfiles>
-    <param.examples />
-    <param.demosxml />
-    <param.apps />
-    <param.registered.apps />
-    <param.docs>${PROJECT_ROOT}/toolbox/info.xml</param.docs>
-    <param.getting.started.guide>${PROJECT_ROOT}/toolbox/doc/GettingStarted.mlx</param.getting.started.guide>
-    <param.matlabpath.excludes />
-    <param.javaclasspath.excludes />
-    <param.exported.on.package>false</param.exported.on.package>
-    <param.required.addons />
-    <param.matlab.project.id />
-    <param.matlab.project.name />
-    <param.release.start />
-    <param.release.end />
-    <param.release.current.only>false</param.release.current.only>
-    <param.compatiblity.windows>true</param.compatiblity.windows>
-    <param.compatiblity.macos>true</param.compatiblity.macos>
-    <param.compatiblity.linux>true</param.compatiblity.linux>
-    <param.compatiblity.matlabonline>true</param.compatiblity.matlabonline>
-    <param.installation.map />
-    <param.additional.sw.names />
-    <param.additional.sw.licenses />
-    <param.additional.sw.win.url />
-    <param.additional.sw.mac.url />
-    <param.additional.sw.linux.url />
-    <unset>
-      <param.authnamewatermark />
-      <param.email />
-      <param.output />
-      <param.products.name />
-      <param.products.id />
-      <param.products.version />
-      <param.platforms />
-      <param.exclude.pcodedmfiles />
-      <param.examples />
-      <param.demosxml />
-      <param.apps />
-      <param.registered.apps />
-      <param.matlabpath.excludes />
-      <param.javaclasspath.excludes />
-      <param.exported.on.package />
-      <param.required.addons />
-      <param.matlab.project.id />
-      <param.matlab.project.name />
-      <param.release.start />
-      <param.release.end />
-      <param.release.current.only />
-      <param.compatiblity.windows />
-      <param.compatiblity.macos />
-      <param.compatiblity.linux />
-      <param.compatiblity.matlabonline />
-      <param.additional.sw.names />
-      <param.additional.sw.licenses />
-      <param.additional.sw.win.url />
-      <param.additional.sw.mac.url />
-      <param.additional.sw.linux.url />
-    </unset>
-    <fileset.rootdir>
-      <file>${PROJECT_ROOT}/toolbox</file>
-    </fileset.rootdir>
-    <fileset.rootfiles>
-      <file>${PROJECT_ROOT}/toolbox/.vscode</file>
-      <file>${PROJECT_ROOT}/toolbox/CompileClothoidsLib.m</file>
-      <file>${PROJECT_ROOT}/toolbox/bin</file>
-      <file>${PROJECT_ROOT}/toolbox/demos.xml</file>
-      <file>${PROJECT_ROOT}/toolbox/doc</file>
-      <file>${PROJECT_ROOT}/toolbox/helptoc.xml</file>
-      <file>${PROJECT_ROOT}/toolbox/html</file>
-      <file>${PROJECT_ROOT}/toolbox/info.xml</file>
-      <file>${PROJECT_ROOT}/toolbox/lib</file>
-      <file>${PROJECT_ROOT}/toolbox/license.txt</file>
-      <file>${PROJECT_ROOT}/toolbox/logo.png</file>
-      <file>${PROJECT_ROOT}/toolbox/src</file>
-      <file>${PROJECT_ROOT}/toolbox/src_mex</file>
-      <file>${PROJECT_ROOT}/toolbox/tests</file>
-    </fileset.rootfiles>
-    <fileset.depfun.included />
-    <fileset.depfun.excluded />
-    <fileset.package />
-    <build-deliverables>
-      <file location="${PROJECT_ROOT}" name="Clothoids.mltbx" optional="false">/Users/enrico/Ricerca/develop/C++/pins-mechatronix/LibSources/submodules/Clothoids/Clothoids.mltbx</file>
-    </build-deliverables>
-    <workflow />
-    <matlab>
-      <root>/Applications/MATLAB_R2020b.app</root>
-      <toolboxes />
-    </matlab>
-    <platform>
-      <unix>true</unix>
-      <mac>true</mac>
-      <windows>false</windows>
-      <win2k>false</win2k>
-      <winxp>false</winxp>
-      <vista>false</vista>
-      <linux>false</linux>
-      <solaris>false</solaris>
-      <osver>10.15.7</osver>
-      <os32>false</os32>
-      <os64>true</os64>
-      <arch>maci64</arch>
-      <matlab>true</matlab>
-    </platform>
-  </configuration>
+<deployment-project plugin="plugin.toolbox" plugin-version="1.0">
+  <configuration build-checksum="2095973427" file="/home/enrico/pins-mechatronix/LibSources/submodules/Clothoids/Clothoids.prj" location="/home/enrico/pins-mechatronix/LibSources/submodules/Clothoids" name="Clothoids" target="target.toolbox" target-name="Package Toolbox">
+    <param.appname>Clothoids</param.appname>
+    <param.authnamewatermark />
+    <param.email />
+    <param.company>Unversità degli Studi di Trento</param.company>
+    <param.summary>Clothoids, a library for clothoids computation and more</param.summary>
+    <param.description>A library for clothoids computation and more.</param.description>
+    <param.screenshot>${PROJECT_ROOT}/toolbox/logo.png</param.screenshot>
+    <param.version>2.0.3</param.version>
+    <param.output>${PROJECT_ROOT}/Clothoids.mltbx</param.output>
+    <param.products.name />
+    <param.products.id />
+    <param.products.version />
+    <param.platforms />
+    <param.guid>b42d3f6f-9769-4fb7-a2da-cae5046d9f9f</param.guid>
+    <param.exclude.filters>% List files contained in your toolbox folder that you would like to exclude
+% from packaging.  Excludes should be listed relative to the toolbox folder.
+% Some examples of how to specify excludes are provided below:
+%
+% A single file in the toolbox folder:
+% .svn
+%
+% A single file in a subfolder of the toolbox folder:
+% example/.svn
+%
+% All files in a subfolder of the toolbox folder:
+% example/*
+%
+% All files of a certain name in all subfolders of the toolbox folder:
+% **/.svn
+%
+% All files matching a pattern in all subfolders of the toolbox folder:
+% **/*.bak
+%
+populate_toolbox.rb
+setup.m
+.DS_Store</param.exclude.filters>
+    <param.exclude.pcodedmfiles>true</param.exclude.pcodedmfiles>
+    <param.examples />
+    <param.demosxml />
+    <param.apps />
+    <param.registered.apps />
+    <param.docs>${PROJECT_ROOT}/toolbox/info.xml</param.docs>
+    <param.getting.started.guide>${PROJECT_ROOT}/toolbox/doc/GettingStarted.mlx</param.getting.started.guide>
+    <param.matlabpath.excludes />
+    <param.javaclasspath.excludes />
+    <param.exported.on.package>false</param.exported.on.package>
+    <param.required.addons />
+    <param.matlab.project.id />
+    <param.matlab.project.name />
+    <param.release.start />
+    <param.release.end />
+    <param.release.current.only>false</param.release.current.only>
+    <param.compatiblity.windows>true</param.compatiblity.windows>
+    <param.compatiblity.macos>true</param.compatiblity.macos>
+    <param.compatiblity.linux>true</param.compatiblity.linux>
+    <param.compatiblity.matlabonline>true</param.compatiblity.matlabonline>
+    <param.installation.map />
+    <param.additional.sw.names />
+    <param.additional.sw.licenses />
+    <param.additional.sw.win.url />
+    <param.additional.sw.mac.url />
+    <param.additional.sw.linux.url />
+    <unset>
+      <param.authnamewatermark />
+      <param.email />
+      <param.output />
+      <param.products.name />
+      <param.products.id />
+      <param.products.version />
+      <param.platforms />
+      <param.exclude.pcodedmfiles />
+      <param.examples />
+      <param.demosxml />
+      <param.apps />
+      <param.registered.apps />
+      <param.matlabpath.excludes />
+      <param.javaclasspath.excludes />
+      <param.exported.on.package />
+      <param.required.addons />
+      <param.matlab.project.id />
+      <param.matlab.project.name />
+      <param.release.start />
+      <param.release.end />
+      <param.release.current.only />
+      <param.compatiblity.windows />
+      <param.compatiblity.macos />
+      <param.compatiblity.linux />
+      <param.compatiblity.matlabonline />
+      <param.additional.sw.names />
+      <param.additional.sw.licenses />
+      <param.additional.sw.win.url />
+      <param.additional.sw.mac.url />
+      <param.additional.sw.linux.url />
+    </unset>
+    <fileset.rootdir>
+      <file>${PROJECT_ROOT}/toolbox</file>
+    </fileset.rootdir>
+    <fileset.rootfiles>
+      <file>${PROJECT_ROOT}/toolbox/CompileClothoidsLib.m</file>
+      <file>${PROJECT_ROOT}/toolbox/bin</file>
+      <file>${PROJECT_ROOT}/toolbox/demos.xml</file>
+      <file>${PROJECT_ROOT}/toolbox/doc</file>
+      <file>${PROJECT_ROOT}/toolbox/helptoc.xml</file>
+      <file>${PROJECT_ROOT}/toolbox/html</file>
+      <file>${PROJECT_ROOT}/toolbox/info.xml</file>
+      <file>${PROJECT_ROOT}/toolbox/lib</file>
+      <file>${PROJECT_ROOT}/toolbox/license.txt</file>
+      <file>${PROJECT_ROOT}/toolbox/logo.png</file>
+      <file>${PROJECT_ROOT}/toolbox/src</file>
+      <file>${PROJECT_ROOT}/toolbox/src_mex</file>
+      <file>${PROJECT_ROOT}/toolbox/tests</file>
+    </fileset.rootfiles>
+    <fileset.depfun.included />
+    <fileset.depfun.excluded />
+    <fileset.package />
+    <build-deliverables>
+      <file location="${PROJECT_ROOT}" name="Clothoids.mltbx" optional="false">/home/enrico/pins-mechatronix/LibSources/submodules/Clothoids/Clothoids.mltbx</file>
+    </build-deliverables>
+    <workflow />
+    <matlab>
+      <root>/usr/local/MATLAB/R2020a</root>
+      <toolboxes />
+    </matlab>
+    <platform>
+      <unix>true</unix>
+      <mac>false</mac>
+      <windows>false</windows>
+      <win2k>false</win2k>
+      <winxp>false</winxp>
+      <vista>false</vista>
+      <linux>true</linux>
+      <solaris>false</solaris>
+      <osver>5.4.0-56-generic</osver>
+      <os32>false</os32>
+      <os64>true</os64>
+      <arch>glnxa64</arch>
+      <matlab>true</matlab>
+    </platform>
+  </configuration>
 </deployment-project>
\ No newline at end of file
diff --git a/toolbox/CompileClothoidsLib.m b/toolbox/CompileClothoidsLib.m
index 4b63dc37..889bfbca 100644
--- a/toolbox/CompileClothoidsLib.m
+++ b/toolbox/CompileClothoidsLib.m
@@ -60,15 +60,15 @@
 elseif ispc
 end
 
-for k=1:length(NAMES)
-  N=NAMES{k};
-  disp('---------------------------------------------------------');
-  fprintf(1,'Compiling: %s\n',N)
-  CMD = [CMDBASE ' -c src_mex/mex_' N '.cc' ];
-  disp('---------------------------------------------------------');
-  disp(CMD);
-  eval(CMD);
-end
+%for k=1:length(NAMES)
+%  N=NAMES{k};
+%  disp('---------------------------------------------------------');
+%  fprintf(1,'Compiling: %s\n',N)
+%  CMD = [CMDBASE ' -c src_mex/mex_' N '.cc' ];
+%  disp('---------------------------------------------------------');
+%  disp(CMD);
+%  eval(CMD);
+%end
 
 LIB_OBJS = '';
 for k=1:length(LIB_NAMES)
@@ -85,23 +85,17 @@
   eval(CMD);
 end
 
-[~,mexLoaded] = inmem('-completenames');
-
 for k=1:length(NAMES)
   N=NAMES{k};
   disp('---------------------------------------------------------');
-  fprintf(1,'Linking: %s\n',N);
+  fprintf(1,'Compiling: %s\n',N);
 
   CMD = [ 'while mislocked(''' N '''); munlock(''' N '''); end;'];
   eval(CMD);
 
-  CMD = [ 'mex -Isrc -output bin/', N, ' -largeArrayDims mex_'];
-  if ispc
-    CMD = [ CMD, N, '.obj ', LIB_OBJS ];
-  else
-    CMD = [ CMD, N, '.o ', LIB_OBJS ];
-  end
-
+  CMD = [ 'mex -Isrc -output bin/', N ];
+  CMD = [ CMD, ' -largeArrayDims src_mex/mex_', N ];
+  CMD = [ CMD, '.cc ', LIB_OBJS ];
 
   if ismac
     CMD = [CMD, ' CXXFLAGS="\$CXXFLAGS -Wall -O2 -g"'];
@@ -114,7 +108,7 @@
     CMD = [ CMD, ...
       ' CXXFLAGS="\$CXXFLAGS -Wall -O2 -g"' ...
       ' LDFLAGS="\$LDFLAGS -static-libgcc -static-libstdc++"' ...
-      ' LINKLIBS="-L\$MATLABROOT/bin/\$ARCH -L\$MATLABROOT/extern/bin/\$ARCH -lMatlabDataArray -lmx -lmex -lmat -lm "' ...
+      ' LINKLIBS="-ldl -L\$MATLABROOT/bin/\$ARCH -L\$MATLABROOT/extern/bin/\$ARCH -lMatlabDataArray -lmx -lmex -lmat -lm "' ...
     ];
   elseif ispc
   end
@@ -124,9 +118,9 @@
 end
 
 if isunix
-  delete *.o;
-elseif ispc
-  delete *.obj;
+  delete *.o
+else
+  delete *.obj
 end
 
 cd(old_dir);
diff --git a/toolbox/src_mex/mex_BiarcListMexWrapper.cc b/toolbox/src_mex/mex_BiarcListMexWrapper.cc
index 9fd584a1..ef5ef7f6 100644
--- a/toolbox/src_mex/mex_BiarcListMexWrapper.cc
+++ b/toolbox/src_mex/mex_BiarcListMexWrapper.cc
@@ -356,10 +356,10 @@ namespace G2lib {
     int nrhs, mxArray const *prhs[]
   ) {
 
-    #define CMD "BiarcListMexWrapper('findST1',OBJ,x,y[,ibegin,iend]): "
+    #define CMD "BiarcListMexWrapper('findST1',OBJ,x,y): "
     MEX_ASSERT2(
-      nrhs == 4 || nrhs == 6,
-      CMD "expected 4 or 6 inputs, nrhs = {}\n", nrhs
+      nrhs == 4,
+      CMD "expected 4 inputs, nrhs = {}\n", nrhs
     );
     MEX_ASSERT2(
       nlhs == 3,
@@ -389,17 +389,6 @@ namespace G2lib {
       nrx, ncx, nry, ncy
     );
 
-    int64_t ibegin = 0;
-    int64_t iend   = ptr->numSegment()-1;
-    if ( nrhs == 6 ) {
-      ibegin = getInt(
-        arg_in_4, CMD "`ibegin` expected to be a scalar integer"
-      );
-      iend = getInt(
-        arg_in_5, CMD "`iend` expected to be a scalar integer"
-      );
-    }
-
     real_type * s   = createMatrixValue( arg_out_0, nrx, ncx );
     real_type * t   = createMatrixValue( arg_out_1, nrx, ncx );
     real_type * idx = createMatrixValue( arg_out_2, nrx, ncx );
diff --git a/toolbox/src_mex/mex_ClothoidListMexWrapper.cc b/toolbox/src_mex/mex_ClothoidListMexWrapper.cc
index f07aa59d..c5b0df6a 100644
--- a/toolbox/src_mex/mex_ClothoidListMexWrapper.cc
+++ b/toolbox/src_mex/mex_ClothoidListMexWrapper.cc
@@ -797,10 +797,10 @@ namespace G2lib {
     int nrhs, mxArray const *prhs[]
   ) {
 
-    #define CMD "ClothoidListMexWrapper('findST1',OBJ,x,y[,ibegin,iend]): "
+    #define CMD "ClothoidListMexWrapper('findST1',OBJ,x,y): "
     MEX_ASSERT2(
-      nrhs == 4 || nrhs == 6,
-      CMD "expected 4 or 6 inputs, nrhs = {}\n", nrhs
+      nrhs == 4,
+      CMD "expected 4 inputs, nrhs = {}\n", nrhs
     );
     MEX_ASSERT2(
       nlhs == 3,
@@ -830,17 +830,6 @@ namespace G2lib {
       nrx, ncx, nry, ncy
     );
 
-    int64_t ibegin = 0;
-    int64_t iend   = ptr->numSegment()-1;
-    if ( nrhs == 6 ) {
-      ibegin = getInt(
-        arg_in_4, CMD "`ibegin` expected to be a scalar integer"
-      );
-      iend = getInt(
-        arg_in_5, CMD "`iend` expected to be a scalar integer"
-      );
-    }
-
     real_type * s   = createMatrixValue( arg_out_0, nrx, ncx );
     real_type * t   = createMatrixValue( arg_out_1, nrx, ncx );
     real_type * idx = createMatrixValue( arg_out_2, nrx, ncx );
diff --git a/toolbox/src_mex/mex_ClothoidSplineG2MexWrapper.cc b/toolbox/src_mex/mex_ClothoidSplineG2MexWrapper.cc
index fcc38392..a012524e 100644
--- a/toolbox/src_mex/mex_ClothoidSplineG2MexWrapper.cc
+++ b/toolbox/src_mex/mex_ClothoidSplineG2MexWrapper.cc
@@ -218,7 +218,7 @@ namespace G2lib {
     mwSize ntheta;
     real_type const * theta = getVectorPointer( arg_in_2, ntheta, CMD "Error in reading theta" );
     MEX_ASSERT2(
-      ntheta == ptr->numPnts(),
+      ntheta == static_cast<mwSize>(ptr->numPnts()),
       CMD "length(theta) = {} must be {}\n", ntheta, ptr->numPnts() 
     );
     real_type f;
@@ -247,7 +247,7 @@ namespace G2lib {
     mwSize ntheta;
     real_type const * theta = getVectorPointer( arg_in_2, ntheta, CMD "Error in reading theta" );
     MEX_ASSERT2(
-      ntheta == ptr->numPnts(),
+      ntheta == static_cast<mwSize>(ptr->numPnts()),
       CMD "length(theta) = {} must be {}\n", ntheta, ptr->numPnts()
     );
     double * g = createMatrixValue( arg_out_0, ntheta, 1 );
@@ -276,7 +276,7 @@ namespace G2lib {
     mwSize ntheta;
     real_type const * theta = getVectorPointer( arg_in_2, ntheta, CMD "Error in reading theta" );
     MEX_ASSERT2(
-      ntheta == ptr->numPnts(),
+      ntheta == static_cast<mwSize>(ptr->numPnts()),
       CMD "length(theta) = {} must be {}\n", ntheta, ptr->numPnts()
     );
     double * c = createMatrixValue( arg_out_0, ptr->numConstraints(), 1 );
@@ -305,7 +305,7 @@ namespace G2lib {
     mwSize ntheta;
     real_type const * theta = getVectorPointer( arg_in_2, ntheta, CMD "Error in reading theta" );
     MEX_ASSERT2(
-      ntheta == ptr->numPnts(),
+      ntheta == static_cast<mwSize>(ptr->numPnts()),
       CMD "length(theta) = {} must be {}\n", ntheta, ptr->numPnts()
     );