diff --git a/.travis.yml b/.travis.yml
index 7bb8d5b12..501405b33 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -5,45 +5,156 @@ language: cpp
 os:
   - linux
 
-matrix:
-  include:
-    # Enable a job for building the documentation
-    - os: linux
-      env:
-        TRAVIS_BUILD_DOCS=true
-        GIT_COMMITTER_USERNAME=LOC2Bot
-        GIT_COMMITTER_NAME=LOC2Bot
-        GIT_COMMITTER_EMAIL=locomotion.control@gmail.com
-        DOXYGEN_INPUT_FOLDER=$TRAVIS_BUILD_DIR/doc/doxygen
-        MKDOCS_INPUT_FOLDER=$TRAVIS_BUILD_DIR/doc/mkdocs
-      addons:
-        apt:
-          packages:
-            - doxygen
-            - doxygen-doc
-            - doxygen-gui
-            - graphviz
-            - python3-pip
-
-before_install:
-  # Install documentation dependencies
+cache:
+  directories:
+    - $HOME/cache
+    - $HOME/.ccache
+
+stages:
+  - prepare
+  - test
+  #- deploy
+    #if: (branch IS master) AND (type IS NOT pull_request)
+  #templates:
+    #- &template_test
+      #env:
+
+compiler:
+  - gcc
+  - clang
+
+env:
+  global:
+    - DEPENDENCY_BRANCH="master"
+  matrix:
+    - TRAVIS_CMAKE_GENERATOR="Unix Makefiles", TRAVIS_BUILD_TYPE="Release"
+    - TRAVIS_CMAKE_GENERATOR="Unix Makefiles", TRAVIS_BUILD_TYPE="Debug"
+
+addons:
+  apt:
+    packages:
+      # YARP
+      - libace-dev
+      - libeigen3-dev
+      - libgsl0-dev
+      - libedit-dev
+      # iDynTree
+      - coinor-libipopt-dev
+
+#jobs:
+  #include:
+    #- stage: test
+      #os: osx
+      #env: TRAVIS_CMAKE_GENERATOR="Xcode", TRAVIS_BUILD_TYPE="Release"
+    #- stage: test
+      #os: osx
+      #env: TRAVIS_CMAKE_GENERATOR="Xcode", TRAVIS_BUILD_TYPE="Debug"
+
+# ==============
+# STAGE: prepare
+# ==============
+
+before_install_prepare: &before_install_prepare
+  - if [ "$TRAVIS_OS_NAME" == "osx" ] ; brew install ccache ; fi
+
+install_prepare: &install_prepare
+  # Prepare ccache
+  - mkdir -p $HOME/.local/bin
+  - ln -s $(which ccache) $HOME/.local/bin/$CC
+  - ln -s $(which ccache) $HOME/.local/bin/$CXX
+  - export PATH=/$HOME/.local/bin:$PATH
+  # Remove cache from previous builds (ccache is instead kept)
+  - rm -rf $HOME/cache
+  # Create the cache directory for dependencies
+  - export DEPS_CACHE=$HOME/cache/$TRAVIS_OS_NAME/$TRAVIS_BUILD_TYPE
+  - mkdir -p $DEPS_CACHE
+  # Setup ccache
+  - if [ "$TRAVIS_OS_NAME" == "linux" ] ; then export PATH=/usr/lib/ccache:$PATH ; fi
+  - if [ "$TRAVIS_OS_NAME" == "linux" ] ; then  ; fi
+
+
+  # Install dependencies
+  # --------------------
+
+  - mkdir $HOME/git && cd $HOME/git
+
+  # Install yarp
+  - git clone https://github.com/robotology/yarp
+  - cd yarp
+  - mkdir build && cd build
   - >-
-    if [[ "$TRAVIS_BRANCH" = "master" && -n "$TRAVIS_BUILD_DOCS" && "$TRAVIS_PULL_REQUEST" = "false" ]] ; then
-      pip3 install --user Pygments mkdocs mkdocs-material || travis_terminate 1
-      export PATH=$HOME/.local/bin:$PATH
-    fi
+    cmake .. \
+      -G"${TRAVIS_CMAKE_GENERATOR}" \
+      -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} \
+      -DCMAKE_INSTALL_PREFIX=$DEPS_CACHE \
+      -DCREATE_LIB_MATH=ON
+  - cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install
+
+  # Install icub-main
+  - git clone https://github.com/robotology/icub-main
+  - cd icub-main
+  - mkdir build && cd build
+  - >-
+    cmake .. \
+      -G"${TRAVIS_CMAKE_GENERATOR}" \
+      -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} \
+      -DCMAKE_INSTALL_PREFIX=$DEPS_CACHE
+  - cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install
+
+jobs:
+  include:
+    - stage: prepare
+      before_install: &before_install_prepare
+      install: &install_prepare
+      script: skip
+
+# ===========
+# STAGE: test
+# ===========
 
-# before_script:
 script:
-  # Right now Travis only builds the documentation
-  - true
+  # Setup the dependencies cache
+  - export DEPS_CACHE=$HOME/cache/$TRAVIS_OS_NAME/$TRAVIS_BUILD_TYPE
+  - export PATH=$PATH:$DEPS_CACHE/bin
+  - export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$DEPS_CACHE/lib
+  # Build the project
+  - cd $TRAVIS_BUILD_DIR
+  - mkdir build && cd build
+  - cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} ..
+  - cmake --build . --config ${TRAVIS_BUILD_TYPE}
 
-after_success:
-  # Generate the docs only if master, the TRAVIS_BUILD_DOCS is true and we can use secure variables
-  - >-
-    if [[ "$TRAVIS_BRANCH" = "master" && -n "$TRAVIS_BUILD_DOCS" && "$TRAVIS_PULL_REQUEST" = "false" ]] ; then
-      ./$PROJECT_DIR_ABS/.ci/generateDocumentation.sh || travis_terminate 1
-    fi
+# =============
+# STAGE: deploy
+# =============
+
+#stage_deploy:
+  #before_install: &before_install_deploy
+    #- pip3 install --user Pygments mkdocs mkdocs-material
+    #- export PATH=$HOME/.local/bin:$PATH
+  #after_success: &after_success_deploy
+    #- ./$PROJECT_DIR_ABS/.ci/generateDocumentation.sh || travis_terminate 1
+
+#jobs:
+  #include:
+    #- stage: deploy
+      #before_install: &before_install_deploy
+      #script: skip
+      #after_success: &after_success_deploy
+      #env:
+        #TRAVIS_BUILD_DOCS=true
+        #GIT_COMMITTER_USERNAME=LOC2Bot
+        #GIT_COMMITTER_NAME=LOC2Bot
+        #GIT_COMMITTER_EMAIL=locomotion.control@gmail.com
+        #DOXYGEN_INPUT_FOLDER=$TRAVIS_BUILD_DIR/doc/doxygen
+        #MKDOCS_INPUT_FOLDER=$TRAVIS_BUILD_DIR/doc/mkdocs
+      #addons:
+        #apt:
+          #packages:
+            #- doxygen
+            #- doxygen-doc
+            #- doxygen-gui
+            #- graphviz
+            #- python3-pip
 
 # notifications:
 #  email: