diff --git a/.gitignore b/.gitignore
index 2731ed6..535a269 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,4 +3,8 @@ measurements/error
 output/
 
 __pycache__/
-.vscode/
\ No newline at end of file
+.vscode/
+
+*.tex.ini
+*.txt.user*
+build-*/
diff --git a/code/CMakeLists.txt b/code/CMakeLists.txt
index 2d0c52c..b2fe97b 100644
--- a/code/CMakeLists.txt
+++ b/code/CMakeLists.txt
@@ -22,8 +22,9 @@ INCLUDE_DIRECTORIES(
     ../../
     ../../../
     ../../../../
-	
-	../../eigen3
+
+        ../../eigen3
+        /usr/include/eigen3
 )
 
 
diff --git a/code/Eval.h b/code/Eval.h
index 7bc62c7..3a51ba6 100644
--- a/code/Eval.h
+++ b/code/Eval.h
@@ -2,6 +2,7 @@
 
 #include <unordered_map>
 #include <vector>
+#include <memory>
 
 #include <Indoor/geo/Point3.h>
 
diff --git a/code/FtmKalman.cpp b/code/FtmKalman.cpp
index db9cd5e..7adb983 100644
--- a/code/FtmKalman.cpp
+++ b/code/FtmKalman.cpp
@@ -21,7 +21,7 @@ float Kalman::predictAndUpdate(const Timestamp timestamp, const float measurment
     Eigen::Map<Eigen::Matrix<float, 2, 2>> P(this->P);
 
     // init kalman filter
-    if (isnan(lastTimestamp))
+    if (std::isnan(lastTimestamp))
     {
         P << 10, 0,
             0, 10; // Initial Uncertainty   
@@ -30,7 +30,7 @@ float Kalman::predictAndUpdate(const Timestamp timestamp, const float measurment
             0;
     }
 
-    const float dt = isnan(lastTimestamp) ? 1 : timestamp.sec() - lastTimestamp;
+    const float dt = std::isnan(lastTimestamp) ? 1 : timestamp.sec() - lastTimestamp;
     lastTimestamp = timestamp.sec();
 
     Eigen::Matrix<float, 1, 2> H; // Measurement function
@@ -62,7 +62,7 @@ float Kalman::predictAndUpdate(const Timestamp timestamp, const float measurment
 
 KalmanPrediction Kalman::predict(const Timestamp timestamp)
 {
-    if (isnan(lastTimestamp))
+    if (std::isnan(lastTimestamp))
     {
         // Kalman has no data => nothing to predict
         return KalmanPrediction{ NAN, NAN };
diff --git a/code/FtmKalman.h b/code/FtmKalman.h
index e99619c..1f16c8a 100644
--- a/code/FtmKalman.h
+++ b/code/FtmKalman.h
@@ -1,7 +1,10 @@
 #pragma once
 
+#include <cmath>
+
 #include <Indoor/data/Timestamp.h>
 
+
 struct KalmanPrediction
 {
     float distance;
diff --git a/code/Plotta.h b/code/Plotta.h
index 2eb22e6..96b6350 100644
--- a/code/Plotta.h
+++ b/code/Plotta.h
@@ -147,7 +147,7 @@ namespace Plotta
     template<>
     inline plottastream& operator<<(plottastream& stream, const float& value)
     {
-        return stream << (isnan(value) ? "float(\"nan\")" : std::to_string(value));
+        return stream << (std::isnan(value) ? "float(\"nan\")" : std::to_string(value));
     }
 
     template<>
diff --git a/code/Plotty.h b/code/Plotty.h
index f0561c7..6f1c2ad 100644
--- a/code/Plotty.h
+++ b/code/Plotty.h
@@ -583,7 +583,7 @@ public:
     
 #if defined(_WINDOWS)
         stream << "set terminal windows size 2000,1500\n";
-#elif
+#else
         stream << "set terminal x11 size 2000,1500\n";
 #endif
         stream << gp.getBuffer();
diff --git a/code/main.cpp b/code/main.cpp
index 2645362..f8b1030 100644
--- a/code/main.cpp
+++ b/code/main.cpp
@@ -620,10 +620,6 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
 
     errorPlot.frame();
 
-
-    std::cout << "Press any key to continue ..." << std::endl;
-    std::cin.get();
-
     // MATLAB output
     //{
     //    std::ofstream matlab_error_out;
@@ -736,8 +732,8 @@ int main(int argc, char** argv)
         //Settings::data.Path9,
         //Settings::data.Path10,
         //Settings::data.Path11
-        //Settings::data.Path20,
-        //Settings::data.Path21,
+        Settings::data.Path20,
+        Settings::data.Path21,
         Settings::data.Path22,
     };
     
diff --git a/code/mainTrilat.cpp b/code/mainTrilat.cpp
index cee3f02..49eb815 100644
--- a/code/mainTrilat.cpp
+++ b/code/mainTrilat.cpp
@@ -192,7 +192,7 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
 
 
                 plot.plot();
-                Sleep(100);
+                std::this_thread::sleep_for(std::chrono::milliseconds(100));
             }
 
             obs.clear();
@@ -281,4 +281,4 @@ int mainTrilat(int argc, char** argv)
     }
 
     return 0;
-}
\ No newline at end of file
+}
diff --git a/code/misc.h b/code/misc.h
index d5648bb..002eaed 100644
--- a/code/misc.h
+++ b/code/misc.h
@@ -69,10 +69,10 @@ struct WifiMeas {
     int numSucessMeas() const {
         int count = 0;
 
-        if (!isnan(ftmDists[0])) count++;
-        if (!isnan(ftmDists[1])) count++;
-        if (!isnan(ftmDists[2])) count++;
-        if (!isnan(ftmDists[3])) count++;
+        if (!std::isnan(ftmDists[0])) count++;
+        if (!std::isnan(ftmDists[1])) count++;
+        if (!std::isnan(ftmDists[2])) count++;
+        if (!std::isnan(ftmDists[3])) count++;
 
         return count;
     }
@@ -177,4 +177,4 @@ struct CmdArguments
     {
         return std::find(arguments.begin(), arguments.end(), arg) != arguments.end();
     }
-};
\ No newline at end of file
+};
diff --git a/code/trilateration.cpp b/code/trilateration.cpp
index 5a91e03..86b93a8 100644
--- a/code/trilateration.cpp
+++ b/code/trilateration.cpp
@@ -246,4 +246,4 @@ namespace Trilateration
 
         return levenPos;
     }
-}
\ No newline at end of file
+}