diff --git a/dart/dynamics/BallJoint.h b/dart/dynamics/BallJoint.h
index 577f0f6606520..b50b2dc2dee4a 100644
--- a/dart/dynamics/BallJoint.h
+++ b/dart/dynamics/BallJoint.h
@@ -55,6 +55,7 @@ class BallJoint : public MultiDofJoint<3>
   {
     Properties(const MultiDofJoint<3>::Properties& _properties =
                                                 MultiDofJoint<3>::Properties());
+    virtual ~Properties() = default;
   };
 
   /// Constructor
diff --git a/dart/dynamics/EulerJoint.h b/dart/dynamics/EulerJoint.h
index 1707d16113df9..97a9d7129fd59 100644
--- a/dart/dynamics/EulerJoint.h
+++ b/dart/dynamics/EulerJoint.h
@@ -65,6 +65,8 @@ class EulerJoint : public MultiDofJoint<3>
 
     /// Constructor
     UniqueProperties(AxisOrder _axisOrder = AO_XYZ);
+
+    virtual ~UniqueProperties() = default;
   };
 
   struct Properties : MultiDofJoint<3>::Properties, EulerJoint::UniqueProperties
@@ -75,6 +77,8 @@ class EulerJoint : public MultiDofJoint<3>
                                                 MultiDofJoint<3>::Properties(),
         const EulerJoint::UniqueProperties& _eulerJointProperties =
                                                 EulerJoint::UniqueProperties());
+
+    virtual ~Properties() = default;
   };
 
   /// Constructor
diff --git a/dart/dynamics/FreeJoint.h b/dart/dynamics/FreeJoint.h
index 6a6c57e093d17..0bcc0ff3b26cc 100644
--- a/dart/dynamics/FreeJoint.h
+++ b/dart/dynamics/FreeJoint.h
@@ -57,6 +57,8 @@ class FreeJoint : public MultiDofJoint<6>
   {
     Properties(const MultiDofJoint<6>::Properties& _properties =
                                                 MultiDofJoint<6>::Properties());
+
+    virtual ~Properties() = default;
   };
 
   /// Constructor
diff --git a/dart/dynamics/Joint.h b/dart/dynamics/Joint.h
index 04fa197794a8f..990390491798c 100644
--- a/dart/dynamics/Joint.h
+++ b/dart/dynamics/Joint.h
@@ -145,6 +145,8 @@ class Joint : public virtual common::Subject
                                    Eigen::Isometry3d::Identity(),
                bool _isPositionLimited = false,
                ActuatorType _actuatorType = DefaultActuatorType);
+
+    virtual ~Properties() = default;
   };
 
   /// Default actuator type
@@ -912,6 +914,8 @@ class TemplateJointPtr
 
   template<class, class> friend class TemplateJointPtr;
 
+  typedef JointT element_type;
+
   /// Default constructor
   TemplateJointPtr() = default;
 
diff --git a/dart/dynamics/MultiDofJoint.h b/dart/dynamics/MultiDofJoint.h
index f5c1d9c1d7de2..a47ee5a190e48 100644
--- a/dart/dynamics/MultiDofJoint.h
+++ b/dart/dynamics/MultiDofJoint.h
@@ -121,6 +121,8 @@ class MultiDofJoint : public Joint
       const Vector& _restPosition = Vector::Constant(0.0),
       const Vector& _dampingCoefficient = Vector::Constant(0.0),
       const Vector& _coulombFrictions = Vector::Constant(0.0));
+
+    virtual ~UniqueProperties() = default;
   };
 
   struct Properties : Joint::Properties, UniqueProperties
@@ -128,6 +130,8 @@ class MultiDofJoint : public Joint
     Properties(
         const Joint::Properties& _jointProperties = Joint::Properties(),
         const UniqueProperties& _multiDofProperties = UniqueProperties());
+
+    virtual ~Properties() = default;
   };
 
   /// Constructor
diff --git a/dart/dynamics/PlanarJoint.h b/dart/dynamics/PlanarJoint.h
index bc51c18d8a872..59afefe891329 100644
--- a/dart/dynamics/PlanarJoint.h
+++ b/dart/dynamics/PlanarJoint.h
@@ -95,6 +95,8 @@ class PlanarJoint : public MultiDofJoint<3>
     UniqueProperties(const Eigen::Vector3d& _transAxis1,
                      const Eigen::Vector3d& _transAxis2);
 
+    virtual ~UniqueProperties() = default;
+
     /// Set plane type as XY-plane
     void setXYPlane();
 
@@ -115,6 +117,8 @@ class PlanarJoint : public MultiDofJoint<3>
                                               MultiDofJoint<3>::Properties(),
                const PlanarJoint::UniqueProperties& _planarProperties =
                                               PlanarJoint::UniqueProperties());
+
+    virtual ~Properties() = default;
   };
 
   /// Constructor
diff --git a/dart/dynamics/PrismaticJoint.h b/dart/dynamics/PrismaticJoint.h
index 0793eaf6c95f7..a00cd7f9c9bed 100644
--- a/dart/dynamics/PrismaticJoint.h
+++ b/dart/dynamics/PrismaticJoint.h
@@ -58,6 +58,7 @@ class PrismaticJoint : public SingleDofJoint
     Eigen::Vector3d mAxis;
 
     UniqueProperties(const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ());
+    virtual ~UniqueProperties() = default;
   };
 
   struct Properties : SingleDofJoint::Properties,
@@ -68,6 +69,7 @@ class PrismaticJoint : public SingleDofJoint
                                             SingleDofJoint::Properties(),
         const PrismaticJoint::UniqueProperties& _prismaticProperties =
                                             PrismaticJoint::UniqueProperties());
+    virtual ~Properties() = default;
   };
 
   /// Constructor
diff --git a/dart/dynamics/RevoluteJoint.h b/dart/dynamics/RevoluteJoint.h
index 7c1a9311b564b..fdbd2d1c1bde0 100644
--- a/dart/dynamics/RevoluteJoint.h
+++ b/dart/dynamics/RevoluteJoint.h
@@ -58,6 +58,8 @@ class RevoluteJoint : public SingleDofJoint
     Eigen::Vector3d mAxis;
 
     UniqueProperties(const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ());
+
+    virtual ~UniqueProperties() = default;
   };
 
   struct Properties : SingleDofJoint::Properties,
@@ -68,6 +70,8 @@ class RevoluteJoint : public SingleDofJoint
                                             SingleDofJoint::Properties(),
         const RevoluteJoint::UniqueProperties& _revoluteProperties =
                                             RevoluteJoint::UniqueProperties());
+
+    virtual ~Properties() = default;
   };
 
   /// Constructor
diff --git a/dart/dynamics/ScrewJoint.h b/dart/dynamics/ScrewJoint.h
index 0b9264e251b39..9e983193dbfb6 100644
--- a/dart/dynamics/ScrewJoint.h
+++ b/dart/dynamics/ScrewJoint.h
@@ -63,6 +63,7 @@ class ScrewJoint : public SingleDofJoint
 
     UniqueProperties(const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ(),
                      double _pitch = 0.1);
+    virtual ~UniqueProperties() = default;
   };
 
   struct Properties : SingleDofJoint::Properties,
@@ -73,6 +74,7 @@ class ScrewJoint : public SingleDofJoint
                                               SingleDofJoint::Properties(),
         const ScrewJoint::UniqueProperties& _screwProperties =
                                               ScrewJoint::UniqueProperties());
+    virtual ~Properties() = default;
   };
 
   /// Constructor
diff --git a/dart/dynamics/SingleDofJoint.h b/dart/dynamics/SingleDofJoint.h
index d38bb16ef9a7c..5706a375463ef 100644
--- a/dart/dynamics/SingleDofJoint.h
+++ b/dart/dynamics/SingleDofJoint.h
@@ -112,6 +112,8 @@ class SingleDofJoint : public Joint
                      double _coulombFriction = 0.0,
                      bool _preserveDofName = false,
                      std::string _dofName = "");
+
+    virtual ~UniqueProperties() = default;
   };
 
   struct Properties : Joint::Properties, UniqueProperties
@@ -119,6 +121,8 @@ class SingleDofJoint : public Joint
     Properties(
         const Joint::Properties& _jointProperties = Joint::Properties(),
         const UniqueProperties& _singleDofProperties = UniqueProperties());
+
+    virtual ~Properties() = default;
   };
 
   /// Constructor
diff --git a/dart/dynamics/TranslationalJoint.h b/dart/dynamics/TranslationalJoint.h
index 13f1e8a2a3fb9..3ef5b3dce160e 100644
--- a/dart/dynamics/TranslationalJoint.h
+++ b/dart/dynamics/TranslationalJoint.h
@@ -55,6 +55,7 @@ class TranslationalJoint : public MultiDofJoint<3>
   {
     Properties(const MultiDofJoint<3>::Properties& _properties =
                                                 MultiDofJoint<3>::Properties());
+    virtual ~Properties() = default;
   };
 
   /// Constructor
diff --git a/dart/dynamics/UniversalJoint.h b/dart/dynamics/UniversalJoint.h
index 1f722caabe03c..53a87dcd50a68 100644
--- a/dart/dynamics/UniversalJoint.h
+++ b/dart/dynamics/UniversalJoint.h
@@ -59,6 +59,8 @@ class UniversalJoint : public MultiDofJoint<2>
 
     UniqueProperties(const Eigen::Vector3d& _axis1 = Eigen::Vector3d::UnitX(),
                      const Eigen::Vector3d& _axis2 = Eigen::Vector3d::UnitY());
+
+    virtual ~UniqueProperties() = default;
   };
 
   struct Properties : MultiDofJoint<2>::Properties,
@@ -68,6 +70,7 @@ class UniversalJoint : public MultiDofJoint<2>
                                             MultiDofJoint<2>::Properties(),
                const UniversalJoint::UniqueProperties& _universalProperties =
                                             UniversalJoint::UniqueProperties());
+    virtual ~Properties() = default;
   };
 
   /// Constructor
diff --git a/dart/dynamics/WeldJoint.h b/dart/dynamics/WeldJoint.h
index da1d307613d6a..383a7c0269f34 100644
--- a/dart/dynamics/WeldJoint.h
+++ b/dart/dynamics/WeldJoint.h
@@ -56,6 +56,7 @@ class WeldJoint : public ZeroDofJoint
   struct Properties : ZeroDofJoint::Properties
   {
     Properties(const Joint::Properties& _properties = Joint::Properties());
+    virtual ~Properties() = default;
   };
 
   /// Constructor
diff --git a/dart/dynamics/ZeroDofJoint.h b/dart/dynamics/ZeroDofJoint.h
index 801bfbbf17ec2..7d72ab3a7bed4 100644
--- a/dart/dynamics/ZeroDofJoint.h
+++ b/dart/dynamics/ZeroDofJoint.h
@@ -55,6 +55,7 @@ class ZeroDofJoint : public Joint
   struct Properties : Joint::Properties
   {
     Properties(const Joint::Properties& _properties = Joint::Properties());
+    virtual ~Properties() = default;
   };
 
   /// Constructor