diff --git a/ifopt_ipopt/cmake/FindIPOPT.cmake b/ifopt_ipopt/cmake/FindIPOPT.cmake
index 912f20d..5e30cce 100644
--- a/ifopt_ipopt/cmake/FindIPOPT.cmake
+++ b/ifopt_ipopt/cmake/FindIPOPT.cmake
@@ -40,11 +40,13 @@
 # (To distribute this file outside of YCM, substitute the full
 #  License text for the above reference.)
 
-if(NOT WIN32)
 
-  # First priority is finding the package using IPOPT_DIR if set
-  if(DEFINED ENV{IPOPT_DIR})
-    set(IPOPT_DIR $ENV{IPOPT_DIR} CACHE PATH "Path to IPOPT build directory")
+
+# First priority is finding the package using IPOPT_DIR if set
+if(DEFINED ENV{IPOPT_DIR})
+  set(IPOPT_DIR $ENV{IPOPT_DIR} CACHE PATH "Path to IPOPT build directory")
+
+  if(NOT WIN32)
 
     set(IPOPT_INCLUDE_DIRS ${IPOPT_DIR}/include/coin)
     find_library(IPOPT_LIBRARIES ipopt ${IPOPT_DIR}/lib
@@ -85,145 +87,141 @@ if(NOT WIN32)
     endif()
 
     set(IPOPT_DEFINITIONS "")
+    set(IPOPT_LINK_FLAGS "")
 
-  
-  # if IPOPT_DIR not set, try finding IPOPT through package manager  
   else()
-    find_package(PkgConfig QUIET)
-    if(PKG_CONFIG_FOUND)
-    
-      if(IPOPT_FIND_VERSION)
-        if(IPOPT_FIND_VERSION_EXACT)
-          pkg_check_modules(_PC_IPOPT REQUIRED ipopt=${IPOPT_FIND_VERSION})
-        else()
-          pkg_check_modules(_PC_IPOPT REQUIRED ipopt>=${IPOPT_FIND_VERSION})
-        endif()
-      else()
-        pkg_check_modules(_PC_IPOPT REQUIRED ipopt)
+    include(SelectLibraryConfigurations)
+
+    set(IPOPT_INCLUDE_DIRS ${IPOPT_DIR}/include/coin)
+    find_library(IPOPT_IPOPT_LIBRARY_RELEASE libipopt ${IPOPT_DIR}/lib
+                                                      ${IPOPT_DIR}/lib/coin
+                                                      NO_DEFAULT_PATH)
+    find_library(IPOPT_IPOPT_LIBRARY_DEBUG   libipoptD ${IPOPT_DIR}/lib
+                                                      ${IPOPT_DIR}/lib/coin
+                                                      NO_DEFAULT_PATH)
+
+    select_library_configurations(IPOPT_IPOPT)
+    set(IPOPT_LIBRARIES ${IPOPT_IPOPT_LIBRARY})
+
+    # Some old version of binary releases of IPOPT have Intel fortran
+    # libraries embedded in the library, newer releases require them to
+    # be explicitly linked.
+    if(IPOPT_IPOPT_LIBRARY)
+      get_filename_component(_MSVC_DIR "${CMAKE_LINKER}" DIRECTORY)
+
+      # Find the lib.exe executable
+      find_program(LIB_EXECUTABLE
+                  NAMES lib.exe
+                  HINTS "${_MSVC_BINDIR}"
+                        "C:/Program Files/Microsoft Visual Studio 10.0/VC/bin"
+                        "C:/Program Files (x86)/Microsoft Visual Studio 10.0/VC/bin"
+                        "C:/Program Files/Microsoft Visual Studio 11.0/VC/bin"
+                        "C:/Program Files (x86)/Microsoft Visual Studio 11.0/VC/bin"
+                        "C:/Program Files/Microsoft Visual Studio 12.0/VC/bin"
+                        "C:/Program Files (x86)/Microsoft Visual Studio 12.0/VC/bin"
+                        "C:/Program Files/Microsoft Visual Studio 14.0/VC/bin"
+                        "C:/Program Files (x86)/Microsoft Visual Studio 14.0/VC/bin"
+                  DOC "Path to the lib.exe executable")
+      mark_as_advanced(LIB_EXECUTABLE)
+
+      # backup PATH environment variable
+      set(_path $ENV{PATH})
+
+      # Add th MSVC "Common7/IDE" dir containing the dlls in the PATH when needed.
+      get_filename_component(_MSVC_LIBDIR "${_MSVC_BINDIR}/../../Common7/IDE" ABSOLUTE)
+      if(NOT EXISTS "${_MSVC_LIBDIR}")
+        get_filename_component(_MSVC_LIBDIR "${_MSVC_BINDIR}/../../../Common7/IDE" ABSOLUTE)
       endif()
-    
-    
-      if(_PC_IPOPT_FOUND)
-        set(IPOPT_INCLUDE_DIRS ${_PC_IPOPT_INCLUDE_DIRS} CACHE PATH "IPOPT include directory")
-        set(IPOPT_DEFINITIONS ${_PC_IPOPT_CFLAGS_OTHER} CACHE STRING "Additional compiler flags for IPOPT")
-        set(IPOPT_LIBRARIES "" CACHE STRING "IPOPT libraries" FORCE)
-        foreach(_LIBRARY IN ITEMS ${_PC_IPOPT_LIBRARIES})
-          find_library(${_LIBRARY}_PATH
-                       NAMES ${_LIBRARY}
-                       PATHS ${_PC_IPOPT_LIBRARY_DIRS})
-          # Workaround for https://github.com/robotology/icub-main/issues/418
-          if(${_LIBRARY}_PATH)
-            list(APPEND IPOPT_LIBRARIES ${${_LIBRARY}_PATH})
+
+      if(EXISTS "${_MSVC_LIBDIR}")
+        set(_MSVC_LIBDIR_FOUND 0)
+        file(TO_CMAKE_PATH "$ENV{PATH}" _env_path)
+        foreach(_dir ${_env_path})
+          if("${_dir}" STREQUAL ${_MSVC_LIBDIR})
+            set(_MSVC_LIBDIR_FOUND 1)
           endif()
         endforeach()
-      else()
-        set(IPOPT_DEFINITIONS "")
+        if(NOT _MSVC_LIBDIR_FOUND)
+          file(TO_NATIVE_PATH "${_MSVC_LIBDIR}" _MSVC_LIBDIR)
+          set(ENV{PATH} "$ENV{PATH};${_MSVC_LIBDIR}")
+        endif()
       endif()
-    endif()
-  endif()
-  
-  set(IPOPT_LINK_FLAGS "")
-
-# Windows platforms
-else()
-  include(SelectLibraryConfigurations)
-
-  set(IPOPT_DIR $ENV{IPOPT_DIR} CACHE PATH "Path to IPOPT build directory")
-
-  set(IPOPT_INCLUDE_DIRS ${IPOPT_DIR}/include/coin)
-  find_library(IPOPT_IPOPT_LIBRARY_RELEASE libipopt ${IPOPT_DIR}/lib
-                                                    ${IPOPT_DIR}/lib/coin
-                                                    NO_DEFAULT_PATH)
-  find_library(IPOPT_IPOPT_LIBRARY_DEBUG   libipoptD ${IPOPT_DIR}/lib
-                                                     ${IPOPT_DIR}/lib/coin
-                                                     NO_DEFAULT_PATH)
 
-  select_library_configurations(IPOPT_IPOPT)
-  set(IPOPT_LIBRARIES ${IPOPT_IPOPT_LIBRARY})
-
-  # Some old version of binary releases of IPOPT have Intel fortran
-  # libraries embedded in the library, newer releases require them to
-  # be explicitly linked.
-  if(IPOPT_IPOPT_LIBRARY)
-    get_filename_component(_MSVC_DIR "${CMAKE_LINKER}" DIRECTORY)
-
-    # Find the lib.exe executable
-    find_program(LIB_EXECUTABLE
-                 NAMES lib.exe
-                 HINTS "${_MSVC_BINDIR}"
-                       "C:/Program Files/Microsoft Visual Studio 10.0/VC/bin"
-                       "C:/Program Files (x86)/Microsoft Visual Studio 10.0/VC/bin"
-                       "C:/Program Files/Microsoft Visual Studio 11.0/VC/bin"
-                       "C:/Program Files (x86)/Microsoft Visual Studio 11.0/VC/bin"
-                       "C:/Program Files/Microsoft Visual Studio 12.0/VC/bin"
-                       "C:/Program Files (x86)/Microsoft Visual Studio 12.0/VC/bin"
-                       "C:/Program Files/Microsoft Visual Studio 14.0/VC/bin"
-                       "C:/Program Files (x86)/Microsoft Visual Studio 14.0/VC/bin"
-                 DOC "Path to the lib.exe executable")
-    mark_as_advanced(LIB_EXECUTABLE)
-
-    # backup PATH environment variable
-    set(_path $ENV{PATH})
-
-    # Add th MSVC "Common7/IDE" dir containing the dlls in the PATH when needed.
-    get_filename_component(_MSVC_LIBDIR "${_MSVC_BINDIR}/../../Common7/IDE" ABSOLUTE)
-    if(NOT EXISTS "${_MSVC_LIBDIR}")
-      get_filename_component(_MSVC_LIBDIR "${_MSVC_BINDIR}/../../../Common7/IDE" ABSOLUTE)
-    endif()
+      if(IPOPT_IPOPT_LIBRARY_RELEASE)
+        set(_IPOPT_LIB ${IPOPT_IPOPT_LIBRARY_RELEASE})
+      else()
+        set(_IPOPT_LIB ${IPOPT_IPOPT_LIBRARY_DEBUG})
+      endif()
 
-    if(EXISTS "${_MSVC_LIBDIR}")
-      set(_MSVC_LIBDIR_FOUND 0)
-      file(TO_CMAKE_PATH "$ENV{PATH}" _env_path)
-      foreach(_dir ${_env_path})
-        if("${_dir}" STREQUAL ${_MSVC_LIBDIR})
-          set(_MSVC_LIBDIR_FOUND 1)
-        endif()
-      endforeach()
-      if(NOT _MSVC_LIBDIR_FOUND)
-        file(TO_NATIVE_PATH "${_MSVC_LIBDIR}" _MSVC_LIBDIR)
-        set(ENV{PATH} "$ENV{PATH};${_MSVC_LIBDIR}")
+      execute_process(COMMAND ${LIB_EXECUTABLE} /list "${_IPOPT_LIB}"
+                      OUTPUT_VARIABLE _lib_output)
+
+      set(ENV{PATH} "${_path}")
+      unset(_path)
+
+      if(NOT "${_lib_output}" MATCHES "libifcoremd.dll")
+        get_filename_component(_IPOPT_IPOPT_LIBRARY_DIR "${_IPOPT_LIB}" DIRECTORY)
+
+        foreach(_lib ifconsol
+                    libifcoremd
+                    libifportmd
+                    libmmd
+                    libirc
+                    svml_dispmd)
+          string(TOUPPER "${_lib}" _LIB)
+          find_library(IPOPT_${_LIB}_LIBRARY_RELEASE ${_lib} ${_IPOPT_IPOPT_LIBRARY_DIR})
+          find_library(IPOPT_${_LIB}_LIBRARY_DEBUG ${_lib}d ${_IPOPT_IPOPT_LIBRARY_DIR})
+          select_library_configurations(IPOPT_${_LIB})
+          list(APPEND IPOPT_LIBRARIES ${IPOPT_${_LIB}_LIBRARY})
+        endforeach()
       endif()
     endif()
 
-    if(IPOPT_IPOPT_LIBRARY_RELEASE)
-      set(_IPOPT_LIB ${IPOPT_IPOPT_LIBRARY_RELEASE})
+    set(IPOPT_DEFINITIONS "")
+    if(MSVC)
+      set(IPOPT_LINK_FLAGS "/NODEFAULTLIB:libcmt.lib;libcmtd.lib")
     else()
-      set(_IPOPT_LIB ${IPOPT_IPOPT_LIBRARY_DEBUG})
+      set(IPOPT_LINK_FLAGS "")
     endif()
 
-    execute_process(COMMAND ${LIB_EXECUTABLE} /list "${_IPOPT_LIB}"
-                    OUTPUT_VARIABLE _lib_output)
-
-    set(ENV{PATH} "${_path}")
-    unset(_path)
-
-    if(NOT "${_lib_output}" MATCHES "libifcoremd.dll")
-      get_filename_component(_IPOPT_IPOPT_LIBRARY_DIR "${_IPOPT_LIB}" DIRECTORY)
-
-      foreach(_lib ifconsol
-                   libifcoremd
-                   libifportmd
-                   libmmd
-                   libirc
-                   svml_dispmd)
-        string(TOUPPER "${_lib}" _LIB)
-        find_library(IPOPT_${_LIB}_LIBRARY_RELEASE ${_lib} ${_IPOPT_IPOPT_LIBRARY_DIR})
-        find_library(IPOPT_${_LIB}_LIBRARY_DEBUG ${_lib}d ${_IPOPT_IPOPT_LIBRARY_DIR})
-        select_library_configurations(IPOPT_${_LIB})
-        list(APPEND IPOPT_LIBRARIES ${IPOPT_${_LIB}_LIBRARY})
-      endforeach()
-    endif()
   endif()
 
-  set(IPOPT_DEFINITIONS "")
-  if(MSVC)
-    set(IPOPT_LINK_FLAGS "/NODEFAULTLIB:libcmt.lib;libcmtd.lib")
-  else()
-    set(IPOPT_LINK_FLAGS "")
+# if IPOPT_DIR not set, try finding IPOPT through package manager  
+else()
+  find_package(PkgConfig QUIET)
+  if(PKG_CONFIG_FOUND)
+  
+    if(IPOPT_FIND_VERSION)
+      if(IPOPT_FIND_VERSION_EXACT)
+        pkg_check_modules(_PC_IPOPT REQUIRED ipopt=${IPOPT_FIND_VERSION})
+      else()
+        pkg_check_modules(_PC_IPOPT REQUIRED ipopt>=${IPOPT_FIND_VERSION})
+      endif()
+    else()
+      pkg_check_modules(_PC_IPOPT REQUIRED ipopt)
+    endif()
+  
+  
+    if(_PC_IPOPT_FOUND)
+      set(IPOPT_INCLUDE_DIRS ${_PC_IPOPT_INCLUDE_DIRS} CACHE PATH "IPOPT include directory")
+      set(IPOPT_DEFINITIONS ${_PC_IPOPT_CFLAGS_OTHER} CACHE STRING "Additional compiler flags for IPOPT")
+      set(IPOPT_LIBRARIES "" CACHE STRING "IPOPT libraries" FORCE)
+      foreach(_LIBRARY IN ITEMS ${_PC_IPOPT_LIBRARIES})
+        find_library(${_LIBRARY}_PATH
+                      NAMES ${_LIBRARY}
+                      PATHS ${_PC_IPOPT_LIBRARY_DIRS})
+        # Workaround for https://github.com/robotology/icub-main/issues/418
+        if(${_LIBRARY}_PATH)
+          list(APPEND IPOPT_LIBRARIES ${${_LIBRARY}_PATH})
+        endif()
+      endforeach()
+    else()
+      set(IPOPT_DEFINITIONS "")
+    endif()
   endif()
-
 endif()
 
+# Windows platforms
 mark_as_advanced(IPOPT_INCLUDE_DIRS
                  IPOPT_LIBRARIES
                  IPOPT_DEFINITIONS