diff --git a/include/crocoddyl/core/activation-base.hpp b/include/crocoddyl/core/activation-base.hpp
index c8c1e9fb81..b3f0f0962e 100644
--- a/include/crocoddyl/core/activation-base.hpp
+++ b/include/crocoddyl/core/activation-base.hpp
@@ -1,7 +1,8 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
+// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
+//                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
 ///////////////////////////////////////////////////////////////////////////////
@@ -78,7 +79,7 @@ struct ActivationDataAbstractTpl {
 
   template <template <typename Scalar> class Activation>
   explicit ActivationDataAbstractTpl(Activation<Scalar>* const activation)
-      : a_value(0.),
+      : a_value(Scalar(0.)),
         Ar(VectorXs::Zero(activation->get_nr())),
         Arr(DiagonalMatrixXs(activation->get_nr())) {
     Arr.setZero();
diff --git a/include/crocoddyl/core/costs/cost-sum.hxx b/include/crocoddyl/core/costs/cost-sum.hxx
index 1aa78e8583..19e6eeb4bd 100644
--- a/include/crocoddyl/core/costs/cost-sum.hxx
+++ b/include/crocoddyl/core/costs/cost-sum.hxx
@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh,
+// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
 //                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
@@ -106,7 +106,7 @@ void CostModelSumTpl<Scalar>::calc(const boost::shared_ptr<CostDataSum>& data,
     throw_pretty("Invalid argument: "
                  << "it doesn't match the number of cost datas and models");
   }
-  data->cost = 0.;
+  data->cost = Scalar(0.);
 
   typename CostModelContainer::iterator it_m, end_m;
   typename CostDataContainer::iterator it_d, end_d;
@@ -138,7 +138,7 @@ void CostModelSumTpl<Scalar>::calc(const boost::shared_ptr<CostDataSum>& data,
     throw_pretty("Invalid argument: "
                  << "it doesn't match the number of cost datas and models");
   }
-  data->cost = 0.;
+  data->cost = Scalar(0.);
 
   typename CostModelContainer::iterator it_m, end_m;
   typename CostDataContainer::iterator it_d, end_d;