diff --git a/ct/cmake/clang-cxx-dev-tools.cmake b/ct/cmake/clang-cxx-dev-tools.cmake
new file mode 100644
index 0000000..0a1ed1e
--- /dev/null
+++ b/ct/cmake/clang-cxx-dev-tools.cmake
@@ -0,0 +1,115 @@
+# CLANG-TIDY AND CLANG-FORMAT
+##############################
+
+# Additional targets to perform clang-format/clang-tidy
+
+
+# function to exclude user-defined folders from the clang format- and tidy process     
+function(filter_ct_directories allItems excludeDir)
+    foreach (TMP_PATH ${${allItems}})
+        if ("${TMP_PATH}" MATCHES ${excludeDir})
+            list (REMOVE_ITEM ${allItems} ${TMP_PATH})
+        endif()
+    endforeach(TMP_PATH)
+    set(${allItems} ${${allItems}} PARENT_SCOPE)
+endfunction(filter_ct_directories)
+
+function(ct_get_all_srcs ADD_HEADERS)
+
+    set(EXTENSIONS "*.cpp")
+    if (ADD_HEADERS)
+      list(APPEND EXTENSIONS "*.hpp" "*.h")
+    endif()
+    
+    # Get all project files
+    file(GLOB_RECURSE
+     ALL_CXX_SOURCE_FILES
+     ${PROJECT_SOURCE_DIR}
+     ${EXTENSIONS}
+     )
+     
+     
+     # list "external" sources, to be excluded from the format- and tidy process: 
+    filter_ct_directories(ALL_CXX_SOURCE_FILES "/external/") # excludes CppAD
+    filter_ct_directories(ALL_CXX_SOURCE_FILES ".tpl.cpp") # excludes CppAD
+    filter_ct_directories(ALL_CXX_SOURCE_FILES "/iit/rbd/")   # excludes iit rbd folders 
+    filter_ct_directories(ALL_CXX_SOURCE_FILES "/testIrb4600/generated/")   # excludes generated code
+    filter_ct_directories(ALL_CXX_SOURCE_FILES "/testhyq/generated/")   # excludes generated code
+    filter_ct_directories(ALL_CXX_SOURCE_FILES "/HyA/generated/")   # excludes generated code
+    filter_ct_directories(ALL_CXX_SOURCE_FILES "/HyQ/generated/")   # excludes generated code
+    filter_ct_directories(ALL_CXX_SOURCE_FILES "/QuadrotorWithLoad/generated/")   # excludes generated code
+    filter_ct_directories(ALL_CXX_SOURCE_FILES "transform6d.cpp") #excludes generated inverse kinematics code
+    filter_ct_directories(ALL_CXX_SOURCE_FILES "/ikfast/ikfast.h") #excludes ik fast header
+        
+     #message(FATAL_ERROR "sources list: ${ALL_CXX_SOURCE_FILES}")
+     set(ALL_CXX_SOURCE_FILES ${ALL_CXX_SOURCE_FILES} PARENT_SCOPE)
+endfunction()
+
+
+
+# Adding clang-format target if executable is found
+ct_get_all_srcs(TRUE)
+find_program(CLANG_FORMAT_BIN "clang-format")
+if(NOT CLANG_FORMAT_BIN)
+  find_program(CLANG_FORMAT_BIN "clang-format-3.9")
+endif()
+message(WARNING "CLANG FORMAT IS: " ${CLANG_FORMAT_BIN})
+if(NOT CLANG_FORMAT_BIN)
+    message (WARNING "CLANG-FORMAT not found. You can ignore this message if you are not a CT developer.")
+    add_custom_target(clang-format
+        COMMAND ${CMAKE_COMMAND} -E echo_append "clang-format executable not found"
+        VERBATIM)
+else()
+  message (WARNING "FOUND CLANG-FORMAT")
+  add_custom_target(
+    clang-format
+    COMMAND ${CLANG_FORMAT_BIN}
+    -i
+    -style=file
+    ${ALL_CXX_SOURCE_FILES}
+    VERBATIM
+    )
+endif()
+
+# Adding clang-tidy target if clang-tidy executable is found
+function(ct_configure_clang_tidy TIDY_INC_DIRS)
+
+    ct_get_all_srcs(FALSE)
+
+    set(CURRENT_INC_DIRS "")
+    
+    #message(FATAL_ERROR "Inc dirs: ${${TIDY_INC_DIRS}}")
+    
+    foreach (THIS_INC_DIR ${${TIDY_INC_DIRS}})
+        #message(WARNING "this inc dir: ${THIS_INC_DIR}")
+        list(APPEND CURRENT_INC_DIRS "-I${THIS_INC_DIR}")
+    endforeach()
+    
+    #message(FATAL_ERROR "Current inc dirs: ${CURRENT_INC_DIRS}")
+
+    find_program(CLANG_TIDY_BIN "clang-tidy")
+    if(NOT CLANG_TIDY_BIN)
+      find_program(CLANG_TIDY_BIN "clang-tidy-3.9")
+    endif()
+    if(NOT CLANG_TIDY_BIN)
+      find_program(CLANG_TIDY_BIN "clang_tidy")
+    endif()
+        message(${CLANG_TIDY_BIN})
+    if(NOT CLANG_TIDY_BIN)
+        add_custom_target(clang-tidy
+            COMMAND ${CMAKE_COMMAND} -E echo_append "clang-tidy executable not found"
+            VERBATIM)
+    else()
+        message (WARNING "FOUND CLANG-TIDY")
+        set(CLANG_TIDY_COMMAND COMMAND ${CLANG_TIDY_BIN} ${ALL_CXX_SOURCE_FILES} -config='' -header-filter=\".*\\/ct\\/.*\" -- -std=c++11 -fopenmp ${CURRENT_INC_DIRS})
+            
+        add_custom_target(
+            clang-tidy
+            COMMAND ${CLANG_TIDY_COMMAND}
+            COMMENT "Launching clang-tidy"
+            WORKING_DIRECTORY ${CMAKE_PROJECT_DIR}
+            
+        )
+    endif() #CLANG_TIDY_BIN
+    
+endfunction()