diff --git a/robotis_math/include/robotis_math/robotis_linear_algebra.h b/robotis_math/include/robotis_math/robotis_linear_algebra.h
index 9fecb82..84b3e11 100644
--- a/robotis_math/include/robotis_math/robotis_linear_algebra.h
+++ b/robotis_math/include/robotis_math/robotis_linear_algebra.h
@@ -50,7 +50,7 @@ namespace robotis_framework
 
 Eigen::MatrixXd transitionXYZ ( double position_x, double position_y, double position_z );
 Eigen::MatrixXd transformationXYZRPY ( double position_x, double position_y, double position_z , double roll , double pitch , double yaw );
-Eigen::MatrixXd InverseTransformation(Eigen::MatrixXd transform);
+Eigen::MatrixXd inverseTransformation(Eigen::MatrixXd transform);
 
 Eigen::MatrixXd inertiaXYZ( double ixx, double ixy, double ixz , double iyy , double iyz, double izz );
 
@@ -70,7 +70,7 @@ Eigen::MatrixXd quaternion2rotation( Eigen::Quaterniond quaternion );
 Eigen::MatrixXd rotation4d( double roll, double pitch, double yaw );
 
 Eigen::MatrixXd hatto( Eigen::MatrixXd matrix3d );
-Eigen::MatrixXd Rodrigues( Eigen::MatrixXd hat_matrix , double angle );
+Eigen::MatrixXd rodrigues( Eigen::MatrixXd hat_matrix , double angle );
 Eigen::MatrixXd rot2omega(Eigen::MatrixXd rotation );
 Eigen::MatrixXd cross(Eigen::MatrixXd vector3d_a, Eigen::MatrixXd vector3d_b );
 double dot(Eigen::MatrixXd vector3d_a, Eigen::MatrixXd vector3d_b );
diff --git a/robotis_math/include/robotis_math/robotis_math_base.h b/robotis_math/include/robotis_math/robotis_math_base.h
index 436b0e4..8088051 100644
--- a/robotis_math/include/robotis_math/robotis_math_base.h
+++ b/robotis_math/include/robotis_math/robotis_math_base.h
@@ -46,8 +46,8 @@ namespace robotis_framework
 #define PRINT_VAR(X) std::cout << #X << " : " << X << std::endl
 #define PRINT_MAT(X) std::cout << #X << ":\n" << X << std::endl << std::endl
 
-#define deg2rad 	(M_PI / 180.0)
-#define rad2deg 	(180.0 / M_PI)
+#define DEGREE2RADIAN (M_PI / 180.0)
+#define RADIAN2DEGREE (180.0 / M_PI)
 
 inline double powDI(double a, int b)
 {
diff --git a/robotis_math/src/robotis_linear_algebra.cpp b/robotis_math/src/robotis_linear_algebra.cpp
index 569a695..60cdf90 100644
--- a/robotis_math/src/robotis_linear_algebra.cpp
+++ b/robotis_math/src/robotis_linear_algebra.cpp
@@ -75,7 +75,7 @@ Eigen::MatrixXd transformationXYZRPY ( double position_x, double position_y, dou
     return _transformation;
 }
 
-Eigen::MatrixXd InverseTransformation(Eigen::MatrixXd transform)
+Eigen::MatrixXd inverseTransformation(Eigen::MatrixXd transform)
 {
 	Eigen::Vector3d vecBOA; //If T is Transform Matrix A from B, the BOA is translation component coordi. B to coordi. A
 	Eigen::Vector3d vec_x, vec_y, vec_z;
@@ -261,7 +261,7 @@ Eigen::MatrixXd hatto( Eigen::MatrixXd matrix3d )
     return _hatto;
 }
 
-Eigen::MatrixXd Rodrigues( Eigen::MatrixXd hat_matrix , double angle )
+Eigen::MatrixXd rodrigues( Eigen::MatrixXd hat_matrix , double angle )
 {
     Eigen::MatrixXd _E	 = 	Eigen::MatrixXd::Identity( 3 , 3 );
     Eigen::MatrixXd _Rodrigues = _E + hat_matrix * sin( angle ) + hat_matrix * hat_matrix * ( 1 - cos( angle ) );