diff --git a/CMakeLists.txt b/CMakeLists.txt
index fb39172593e8bff12fee7df453adf7216a607fae..7e89e5f1ac9cf0aa324788bd50a803eb1a33c673 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Pre-requisites about cmake itself
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0005 NEW)
@@ -8,11 +8,12 @@ endif(COMMAND cmake_policy)
 # MAC OSX RPATH
 SET(CMAKE_MACOSX_RPATH 1)
 
-
 # The project name
 PROJECT(bodydynamics)
 set(PLUGIN_NAME wolf${PROJECT_NAME})
 
+MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
+
 SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
 SET(CMAKE_INSTALL_PREFIX /usr/local)
@@ -38,13 +39,22 @@ endif()
 
 if(UNIX)
   # GCC is not strict enough by default, so enable most of the warnings.
-  # set(CMAKE_CXX_FLAGS
-  #   "${CMAKE_CXX_FLAGS} -Werror=all -Werror=extra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
+  set(CMAKE_CXX_FLAGS
+    "${CMAKE_CXX_FLAGS} -Werror=all -Werror=extra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
 endif(UNIX)
 
+IF(NOT BUILD_TESTS)
+  OPTION(BUILD_TESTS "Build Unit tests" ON)
+ENDIF(NOT BUILD_TESTS)
+
+IF(NOT BUILD_DEMOS)
+  OPTION(BUILD_DEMOS "Build demos in demos folder, requires robotpkg-multicontact-api and robotpkg-pinocchio packages" OFF)
+ENDIF(NOT BUILD_DEMOS)
+
+IF(NOT BUILD_DOC)
+  OPTION(BUILD_DOC "Build Documentation" OFF)
+ENDIF(NOT BUILD_DOC)
 
-OPTION(BUILD_TESTS "Build Unit tests" ON)
-OPTION(BUILD_DEMOS "Build demos in demos folder, requires robotpkg-multicontact-api and robotpkg-pinocchio packages" OFF)
 #############
 ## Testing ##
 #############
@@ -57,28 +67,17 @@ if(BUILD_TESTS)
     enable_testing()
 endif()
 
-#+START_SRC --------------------------------------------------------------------------------------------------------------------------------
-#Start WOLF build
-MESSAGE("Starting WOLF CMakeLists ...")
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
-
 #CMAKE modules
-
 SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
 MESSAGE(STATUS ${CMAKE_MODULE_PATH})
 
 # Some wolf compilation options
-
 IF((CMAKE_BUILD_TYPE MATCHES DEBUG) OR (CMAKE_BUILD_TYPE MATCHES debug) OR (CMAKE_BUILD_TYPE MATCHES Debug))
   set(_WOLF_DEBUG true)
 ENDIF()
 
 option(_WOLF_TRACE "Enable wolf tracing macro" ON)
 
-# option(BUILD_EXAMPLES "Build examples" OFF)
-set(BUILD_TESTS true)
-set(BUILD_EXAMPLES false)
-
 # Does this has any other interest
 # but for the examples ?
 # yes, for the tests !
@@ -87,11 +86,8 @@ IF(BUILD_EXAMPLES OR BUILD_TESTS)
   set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
 ENDIF(BUILD_EXAMPLES OR BUILD_TESTS)
 
-message("UPPER_NAME ${UPPER_NAME}")
-
-
 #find dependencies.
-#FIND_PACKAGE(wolfcore REQUIRED)
+FIND_PACKAGE(wolfcore REQUIRED)
 FIND_PACKAGE(wolfimu REQUIRED)
 
 # Define the directory where will be the configured config.h
@@ -110,11 +106,12 @@ ENDIF()
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${WOLF_CONFIG_DIR}/config.h")
 include_directories("${PROJECT_BINARY_DIR}/conf")
 
-include_directories("include")
+#INCLUDES SECTION
+# ==============================
 INCLUDE_DIRECTORIES(${wolfimu_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(BEFORE "include")
 
 #HEADERS
-
 SET(HDRS_MATH
 include/bodydynamics/math/force_torque_delta_tools.h
   )
@@ -135,8 +132,6 @@ include/bodydynamics/feature/feature_force_torque.h
 include/bodydynamics/feature/feature_force_torque_preint.h
 include/bodydynamics/feature/feature_inertial_kinematics.h
   )
-SET(HDRS_LANDMARK
-  )
 SET(HDRS_PROCESSOR
 include/bodydynamics/processor/processor_force_torque_preint.h
 include/bodydynamics/processor/processor_inertial_kinematics.h
@@ -155,15 +150,11 @@ src/capture/capture_inertial_kinematics.cpp
 src/capture/capture_leg_odom.cpp
 src/capture/capture_point_feet_nomove.cpp
 )
-SET(SRCS_FACTOR
-  )
 SET(SRCS_FEATURE
 src/feature/feature_force_torque.cpp
 src/feature/feature_force_torque_preint.cpp
 src/feature/feature_inertial_kinematics.cpp
   )
-SET(SRCS_LANDMARK
-  )
 SET(SRCS_PROCESSOR
 src/processor/processor_force_torque_preint.cpp
 src/processor/processor_inertial_kinematics.cpp
@@ -179,15 +170,11 @@ src/sensor/sensor_point_feet_nomove.cpp
 ADD_LIBRARY(${PLUGIN_NAME}
   SHARED
   ${SRCS_CAPTURE}
-  ${SRCS_FACTOR}
   ${SRCS_FEATURE}
-  ${SRCS_MATH}
   ${SRCS_PROCESSOR}
   ${SRCS_SENSOR}
-  ${SRCS_YAML}
   )
 
-
 # Set compiler options
 # ====================
 if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
@@ -200,9 +187,8 @@ elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
   # using GCC
 endif()
 
-
-
-# Link the library with the required dependencies
+#Link the created libraries
+#===============EXAMPLE=========================
 TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfimu_LIBRARIES})
 
 # Build demos
@@ -219,61 +205,30 @@ IF(BUILD_TESTS)
 ENDIF(BUILD_TESTS)
 
 #install library
-
 #=============================================================
 INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
   RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib/iri-algorithms
-  ARCHIVE DESTINATION lib/iri-algorithms)
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib)
 
 install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
 #install headers
-INSTALL(FILES ${HDRS_MATH}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math)
-INSTALL(FILES ${HDRS_UTILS}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/utils)
-INSTALL(FILES ${HDRS_PROBLEM}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/problem)
-INSTALL(FILES ${HDRS_HARDWARE}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/hardware)
-INSTALL(FILES ${HDRS_TRAJECTORY}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/trajectory)
-INSTALL(FILES ${HDRS_MAP}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/map)
-INSTALL(FILES ${HDRS_FRAME}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/frame)
-INSTALL(FILES ${HDRS_STATE_BLOCK}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/state_block)
-INSTALL(FILES ${HDRS_COMMON}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/common)
-INSTALL(FILES ${HDRS_DTASSC}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/association)
 INSTALL(FILES ${HDRS_CAPTURE}
    DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/capture)
 INSTALL(FILES ${HDRS_FACTOR}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/factor)
 INSTALL(FILES ${HDRS_FEATURE}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/feature)
-INSTALL(FILES ${HDRS_SENSOR}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor)
+INSTALL(FILES ${HDRS_MATH}
+  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math)
 INSTALL(FILES ${HDRS_PROCESSOR}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/processor)
-INSTALL(FILES ${HDRS_LANDMARK}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/landmark)
-INSTALL(FILES ${HDRS_WRAPPER}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/ceres_wrapper)
-INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver_suitesparse)
-INSTALL(FILES ${HDRS_SOLVER}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver)
-INSTALL(FILES ${HDRS_YAML}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/yaml)
+INSTALL(FILES ${HDRS_SENSOR}
+  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor)
 
 FILE(WRITE ${PROJECT_NAME}.found "")
 INSTALL(FILES ${PROJECT_NAME}.found
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME})
-
-
 INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
 DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/internal)
 
@@ -281,7 +236,6 @@ INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake" DES
 
 export(PACKAGE ${PLUGIN_NAME})
 
-#-END_SRC --------------------------------------------------------------------------------------------------------------------------------
 FIND_PACKAGE(Doxygen)
 
 FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
diff --git a/cmake_modules/wolfbodydynamicsConfig.cmake b/cmake_modules/wolfbodydynamicsConfig.cmake
index b7892af3f5a97fde7ce130c0571d340a4929194f..c1eabae603cf15bca171950f3e8f5937506ec80f 100644
--- a/cmake_modules/wolfbodydynamicsConfig.cmake
+++ b/cmake_modules/wolfbodydynamicsConfig.cmake
@@ -12,7 +12,7 @@ ENDIF(wolfbodydynamics_INCLUDE_DIRS)
 FIND_LIBRARY(
     wolfbodydynamics_LIBRARIES
     NAMES libwolfbodydynamics.so
-    PATHS /usr/local/lib/iri-algorithms)
+    PATHS /usr/local/lib)
 IF(wolfbodydynamics_LIBRARIES)
   MESSAGE("Found wolf bodydynamics lib: ${wolfbodydynamics_LIBRARIES}")
 ELSE(wolfbodydynamics_LIBRARIES)
@@ -83,4 +83,9 @@ if(NOT wolf_FOUND)
   list(REVERSE wolfbodydynamics_LIBRARIES)
   list(APPEND wolfbodydynamics_LIBRARIES ${wolfcore_LIBRARIES})
   list(REVERSE wolfbodydynamics_LIBRARIES)
-endif()
\ No newline at end of file
+endif()
+
+# provide both INCLUDE_DIR and INCLUDE_DIRS
+SET(wolfbodydynamics_INCLUDE_DIR ${wolfbodydynamics_INCLUDE_DIRS})
+# provide both LIBRARY and LIBRARIES 
+SET(wolfbodydynamics_LIBRARY ${wolfbodydynamics_LIBRARIES})
\ No newline at end of file