diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9096577..9a63140 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.14)
+cmake_minimum_required(VERSION 3.15)
 project(kml_generator)
 
 find_package(ament_cmake_auto REQUIRED)
diff --git a/include/kml_generator/kml_generator.hpp b/include/kml_generator/kml_generator.hpp
index 89a784f..14936ec 100644
--- a/include/kml_generator/kml_generator.hpp
+++ b/include/kml_generator/kml_generator.hpp
@@ -5,7 +5,9 @@
 #include <string>
 #include <iostream>
 #include <fstream>
+#include <sstream>
 #include <iomanip>
+#define _USE_MATH_DEFINES
 #include <cmath>
 
 #include "kml_generator/common.hpp"
diff --git a/src/kml_generator/coordinate_transformation.cpp b/src/kml_generator/coordinate_transformation.cpp
index 556f5f0..5535882 100644
--- a/src/kml_generator/coordinate_transformation.cpp
+++ b/src/kml_generator/coordinate_transformation.cpp
@@ -1,24 +1,27 @@
 #include <kml_generator/kml_generator.hpp>
 // Ref:eagleye(BSD3 License)
 // https://github.com/MapIV/eagleye/blob/main-ros1/eagleye_core/coordinate/src/llh2xyz.cpp
+#include <cmath>
+#include <numbers>
+
 void KmlGenerator::llh2xyz(double llh_pos[3], double ecef_pos[3])
 {
   double semi_major_axis = 6378137.0000;
   double semi_minor_axis = 6356752.3142;
-  double a1 = sqrt (1-pow((semi_minor_axis/semi_major_axis), 2.0));
+  double a1 = std::sqrt (1-std::pow((semi_minor_axis/semi_major_axis), 2.0));
   double a2 = a1 * a1;
 
   double phi = llh_pos[0];
   double lam = llh_pos[1];
   double hei = llh_pos[2];
 
-  double sin_phi = sin(phi);
-  double cos_phi = cos(phi);
-  double cos_lam = cos(lam);
-  double sin_lam = sin(lam);
+  double sin_phi = std::sin(phi);
+  double cos_phi = std::cos(phi);
+  double cos_lam = std::cos(lam);
+  double sin_lam = std::sin(lam);
 
   double tmp1 = 1 - a2;
-  double tmp2 = sqrt(1 - a2*sin_phi*sin_phi);
+  double tmp2 = std::sqrt(1 - a2*sin_phi*sin_phi);
 
   ecef_pos[0] = (semi_major_axis/tmp2 + hei)*cos_lam*cos_phi;
   ecef_pos[1] = (semi_major_axis/tmp2 + hei)*sin_lam*cos_phi;
@@ -30,51 +33,51 @@ void KmlGenerator::xyz2enu(double ecef_pos[3], double ecef_base_pos[3], double e
 {
   double llh_base_pos[3];
   ecef2llh(ecef_base_pos,llh_base_pos);
-  enu_pos[0] = ((-(sin(llh_base_pos[1])) * (ecef_pos[0] - ecef_base_pos[0])) +
-    ((cos(llh_base_pos[1])) * (ecef_pos[1] - ecef_base_pos[1])) + (0 * (ecef_pos[2] - ecef_base_pos[2])));
-  enu_pos[1] = ((-(sin(llh_base_pos[0])) * (cos(llh_base_pos[1])) * (ecef_pos[0] - ecef_base_pos[0])) +
-    (-(sin(llh_base_pos[0])) * (sin(llh_base_pos[1])) * (ecef_pos[1] - ecef_base_pos[1])) +
-    ((cos(llh_base_pos[0])) * (ecef_pos[2] - ecef_base_pos[2])));
-  enu_pos[2] = (((cos(llh_base_pos[0])) * (cos(llh_base_pos[1])) * (ecef_pos[0] - ecef_base_pos[0])) +
-    ((cos(llh_base_pos[0])) * (sin(llh_base_pos[1])) * (ecef_pos[1] - ecef_base_pos[1])) +
-    ((sin(llh_base_pos[0])) * (ecef_pos[2] - ecef_base_pos[2])));
+  enu_pos[0] = ((-(std::sin(llh_base_pos[1])) * (ecef_pos[0] - ecef_base_pos[0])) +
+    ((std::cos(llh_base_pos[1])) * (ecef_pos[1] - ecef_base_pos[1])) + (0 * (ecef_pos[2] - ecef_base_pos[2])));
+  enu_pos[1] = ((-(std::sin(llh_base_pos[0])) * (std::cos(llh_base_pos[1])) * (ecef_pos[0] - ecef_base_pos[0])) +
+    (-(std::sin(llh_base_pos[0])) * (std::sin(llh_base_pos[1])) * (ecef_pos[1] - ecef_base_pos[1])) +
+    ((std::cos(llh_base_pos[0])) * (ecef_pos[2] - ecef_base_pos[2])));
+  enu_pos[2] = (((std::cos(llh_base_pos[0])) * (std::cos(llh_base_pos[1])) * (ecef_pos[0] - ecef_base_pos[0])) +
+    ((std::cos(llh_base_pos[0])) * (std::sin(llh_base_pos[1])) * (ecef_pos[1] - ecef_base_pos[1])) +
+    ((std::sin(llh_base_pos[0])) * (ecef_pos[2] - ecef_base_pos[2])));
 }
 
 void KmlGenerator::ecef2llh(double ecef_pos[3], double llh_pos[3])
 {
   double semi_major_axis = 6378137.0000;
   double semi_minor_axis = 6356752.3142;
-  double a1 = sqrt(1 - pow(semi_minor_axis / semi_major_axis, 2.0));
-  double a2 = sqrt((ecef_pos[0] * ecef_pos[0]) + (ecef_pos[1] * ecef_pos[1]));
+  double a1 = std::sqrt(1 - std::pow(semi_minor_axis / semi_major_axis, 2.0));
+  double a2 = std::sqrt((ecef_pos[0] * ecef_pos[0]) + (ecef_pos[1] * ecef_pos[1]));
   double a3 = 54 * (semi_minor_axis * semi_minor_axis) * (ecef_pos[2] * ecef_pos[2]);
   double a4 = (a2 * a2) + (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2]) - (a1 * a1) * (semi_major_axis * semi_major_axis - semi_minor_axis * semi_minor_axis);
   double a5 = ((a1 * a1) * (a1 * a1) * a3 * (a2 * a2)) / (a4 * a4 * a4);
-  double a6 = pow((1 + a5 + sqrt(a5 * a5 + 2 * a5)), 1.0 / 3.0);
-  double a7 = a3 / (3 * pow((a6 + 1 / a6 + 1), 2.0) * a4 * a4);
-  double a8 = sqrt(1 + 2 * (a1 * a1) * (a1 * a1) * a7);
-  double a9 = -(a7 * (a1 * a1) * a2) / (1 + a8) + sqrt((semi_major_axis * semi_major_axis / 2) *
+  double a6 = std::pow((1 + a5 + std::sqrt(a5 * a5 + 2 * a5)), 1.0 / 3.0);
+  double a7 = a3 / (3 * std::pow((a6 + 1 / a6 + 1), 2.0) * a4 * a4);
+  double a8 = std::sqrt(1 + 2 * (a1 * a1) * (a1 * a1) * a7);
+  double a9 = -(a7 * (a1 * a1) * a2) / (1 + a8) + std::sqrt((semi_major_axis * semi_major_axis / 2) *
     (1 + 1 / a8) - (a7 * (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2])) / (a8 * (1 + a8)) - a7 * (a2 * a2) / 2);
-  double a10 = sqrt((pow((a2 - (a1 * a1) * a9), 2.0)) + (ecef_pos[2] * ecef_pos[2]));
-  double a11 = sqrt((pow((a2 - (a1 * a1) * a9), 2.0)) + (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2]));
+  double a10 = std::sqrt((std::pow((a2 - (a1 * a1) * a9), 2.0)) + (ecef_pos[2] * ecef_pos[2]));
+  double a11 = std::sqrt((std::pow((a2 - (a1 * a1) * a9), 2.0)) + (1 - (a1 * a1)) * (ecef_pos[2] * ecef_pos[2]));
   double a12 = ((semi_minor_axis * semi_minor_axis) * ecef_pos[2]) / (semi_major_axis * a11);
-  llh_pos[0] = atan((ecef_pos[2] + (a1 * (semi_major_axis / semi_minor_axis)) * (a1 * (semi_major_axis / semi_minor_axis)) * a12) / a2);
+  llh_pos[0] = std::atan((ecef_pos[2] + (a1 * (semi_major_axis / semi_minor_axis)) * (a1 * (semi_major_axis / semi_minor_axis)) * a12) / a2);
   llh_pos[1] = 0;
 
   if (ecef_pos[0] >= 0)
   {
-    llh_pos[1] = (atan(ecef_pos[1] / ecef_pos[0]));
+    llh_pos[1] = (std::atan(ecef_pos[1] / ecef_pos[0]));
   }
   else
   {
     if (ecef_pos[0] < 0 && ecef_pos[1] >= 0)
     {
-      llh_pos[1] = M_PI + (atan(ecef_pos[1] / ecef_pos[0]));
+      llh_pos[1] = std::numbers::pi + (std::atan(ecef_pos[1] / ecef_pos[0]));
     }
     else
     {
-      llh_pos[1] = (atan(ecef_pos[1] / ecef_pos[0])) - M_PI;
+      llh_pos[1] = (std::atan(ecef_pos[1] / ecef_pos[0])) - std::numbers::pi;
     }
   }
 
   llh_pos[2] = a10 * (1 - (semi_minor_axis * semi_minor_axis) / (semi_major_axis * a11));
-}
\ No newline at end of file
+}
diff --git a/src/kml_generator/kml_generator_core.cpp b/src/kml_generator/kml_generator_core.cpp
index 32bc657..03497c0 100644
--- a/src/kml_generator/kml_generator_core.cpp
+++ b/src/kml_generator/kml_generator_core.cpp
@@ -1,4 +1,5 @@
 #include <kml_generator/kml_generator.hpp>
+#include <numbers>
 
 namespace kml_utils
 {
@@ -215,7 +216,7 @@ void KmlGenerator::LLH2StringInCondition(std::string& str, double& time_last, do
   }
   else if (interval_type_ == IntervalType::DISTANCE_INTERBAL)
   {
-    double llh_pos[3] = { llh[0] * M_PI / 180, llh[1] * M_PI / 180, llh[2] * M_PI / 180 };
+    double llh_pos[3] = { llh[0] * std::numbers::pi / 180, llh[1] * std::numbers::pi / 180, llh[2] * std::numbers::pi / 180 };
     llh2xyz(llh_pos, ecef_pose);
 
     if (ecef_pose_last[0] == 0 && ecef_pose_last[1] == 0 && ecef_pose_last[2] == 0)