diff --git a/cmake_modules/Findwolf.cmake b/cmake_modules/Findwolf.cmake
index b0352427d7ac9e20d3c9dea85f7aca3547fa2d4c..469f3372a9869fb66b9ffea159ec252b933ece18 100644
--- a/cmake_modules/Findwolf.cmake
+++ b/cmake_modules/Findwolf.cmake
@@ -2,9 +2,9 @@
 FIND_PATH(
     wolf_INCLUDE_DIRS
     NAMES wolf.found
-    PATHS /usr/local/include/iri-algorithms/wolf/base)
+    PATHS /usr/local/include/iri-algorithms/wolf/plugin_core)
 #change INCLUDE_DIRS to its parent directory
-get_filename_component(wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIRS} DIRECTORY)
+# get_filename_component(wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIRS} DIRECTORY)
 MESSAGE("Found wolf include dirs: ${wolf_INCLUDE_DIRS}")
 
 FIND_LIBRARY(
diff --git a/hello_wolf/capture_range_bearing.h b/hello_wolf/capture_range_bearing.h
index 5a7e5a77100b8d98eba73a6f4d371340faf5c2a8..49af84cad89fb9befe2bb2d5b7475e999d602341 100644
--- a/hello_wolf/capture_range_bearing.h
+++ b/hello_wolf/capture_range_bearing.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_CAPTURE_RANGE_BEARING_H_
 #define HELLO_WOLF_CAPTURE_RANGE_BEARING_H_
 
-#include "base/capture/capture_base.h"
+#include "core/capture/capture_base.h"
 
 namespace wolf
 {
diff --git a/hello_wolf/factor_bearing.h b/hello_wolf/factor_bearing.h
index 5c958ba175327d9ae30061ec71605996561505f4..56857fe0a188a5eb3ab30d8f4f6a967102f8b7d0 100644
--- a/hello_wolf/factor_bearing.h
+++ b/hello_wolf/factor_bearing.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_FACTOR_BEARING_H_
 #define HELLO_WOLF_FACTOR_BEARING_H_
 
-#include "base/factor/factor_autodiff.h"
+#include "core/factor/factor_autodiff.h"
 
 namespace wolf
 {
diff --git a/hello_wolf/factor_range_bearing.h b/hello_wolf/factor_range_bearing.h
index 1414d61a20252cd76402af416e4a484812d57c8a..c4a321badc8673aaa8c7ff57c61a90a987d5d831 100644
--- a/hello_wolf/factor_range_bearing.h
+++ b/hello_wolf/factor_range_bearing.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_FACTOR_RANGE_BEARING_H_
 #define HELLO_WOLF_FACTOR_RANGE_BEARING_H_
 
-#include "base/factor/factor_autodiff.h"
+#include "core/factor/factor_autodiff.h"
 
 namespace wolf
 {
diff --git a/hello_wolf/feature_range_bearing.h b/hello_wolf/feature_range_bearing.h
index 9da7215a59095a1d96a4f9e4392e391d4b048513..b68419434b320aa3c2352e833419cb33dbad14aa 100644
--- a/hello_wolf/feature_range_bearing.h
+++ b/hello_wolf/feature_range_bearing.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_FEATURE_RANGE_BEARING_H_
 #define HELLO_WOLF_FEATURE_RANGE_BEARING_H_
 
-#include "base/feature/feature_base.h"
+#include "core/feature/feature_base.h"
 
 namespace wolf
 {
diff --git a/hello_wolf/hello_wolf.cpp b/hello_wolf/hello_wolf.cpp
index 3708f51d3aa1141756dc54c27f76039671bfa42e..feeb6ac129e7ee004957b711ddf673f9c09722da 100644
--- a/hello_wolf/hello_wolf.cpp
+++ b/hello_wolf/hello_wolf.cpp
@@ -12,10 +12,10 @@
  *      \author: jsola
  */
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
 #include "sensor_range_bearing.h"
 #include "processor_range_bearing.h"
 #include "capture_range_bearing.h"
@@ -23,7 +23,7 @@
 #include "factor_range_bearing.h"
 #include "landmark_point_2D.h"
 
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 int main()
  {
diff --git a/hello_wolf/landmark_point_2D.h b/hello_wolf/landmark_point_2D.h
index 1bd845763a3506b4428d13b7da97de5a70ffca08..0d7fe13a00f5112f00b0161350d872a6f59895b2 100644
--- a/hello_wolf/landmark_point_2D.h
+++ b/hello_wolf/landmark_point_2D.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_LANDMARK_POINT_2D_H_
 #define HELLO_WOLF_LANDMARK_POINT_2D_H_
 
-#include "base/landmark/landmark_base.h"
+#include "core/landmark/landmark_base.h"
 
 namespace wolf
 {
diff --git a/hello_wolf/processor_range_bearing.cpp b/hello_wolf/processor_range_bearing.cpp
index 25d7fd4067c2401b46db2c247961b54a8213f71f..f12702ba9ddc09c70d0195d8e9a78410d350c3e3 100644
--- a/hello_wolf/processor_range_bearing.cpp
+++ b/hello_wolf/processor_range_bearing.cpp
@@ -162,7 +162,7 @@ Eigen::Vector2s ProcessorRangeBearing::rect(Scalar range, Scalar bearing) const
 } /* namespace wolf */
 
 // Register in the SensorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
 namespace wolf
 {
 WOLF_REGISTER_PROCESSOR("RANGE BEARING", ProcessorRangeBearing)
diff --git a/hello_wolf/processor_range_bearing.h b/hello_wolf/processor_range_bearing.h
index 6e8c77cd694ac807960c16b8f2fe4e3a7005e4a8..0dd2b7951fb63f0b1e487603f95ae2ff79eaaf2f 100644
--- a/hello_wolf/processor_range_bearing.h
+++ b/hello_wolf/processor_range_bearing.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_PROCESSOR_RANGE_BEARING_H_
 #define HELLO_WOLF_PROCESSOR_RANGE_BEARING_H_
 
-#include "base/processor/processor_base.h"
+#include "core/processor/processor_base.h"
 #include "sensor_range_bearing.h"
 #include "Eigen/Geometry"
 
diff --git a/hello_wolf/sensor_range_bearing.cpp b/hello_wolf/sensor_range_bearing.cpp
index 04d704664e8023826fb0b3faccde05a585a7b47a..dcdd23f1a15fdcbd498af9adf2d5a3112e91a9ee 100644
--- a/hello_wolf/sensor_range_bearing.cpp
+++ b/hello_wolf/sensor_range_bearing.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "sensor_range_bearing.h"
-#include "base/state_angle.h"
+#include "core/state_angle.h"
 
 namespace wolf
 {
@@ -45,7 +45,7 @@ SensorBasePtr SensorRangeBearing::create(const std::string& _unique_name, //
 } /* namespace wolf */
 
 // Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
 namespace wolf
 {
 WOLF_REGISTER_SENSOR("RANGE BEARING", SensorRangeBearing)
diff --git a/hello_wolf/sensor_range_bearing.h b/hello_wolf/sensor_range_bearing.h
index 01ac8d93e50c2795a5a0a702e917238f4ddb27e8..5b60f0bb28ce8ba4a75f00f07a6ef735b770a252 100644
--- a/hello_wolf/sensor_range_bearing.h
+++ b/hello_wolf/sensor_range_bearing.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_SENSOR_RANGE_BEARING_H_
 #define HELLO_WOLF_SENSOR_RANGE_BEARING_H_
 
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
 
 namespace wolf
 {
diff --git a/include/gnss/capture/capture_gnss_fix.h b/include/gnss/capture/capture_gnss_fix.h
index 2a00973a2cfb0e829c53ec48ed71ad30a918b0c2..08af47ba2b24986727b7233e7e33ff7b2f90a68f 100644
--- a/include/gnss/capture/capture_gnss_fix.h
+++ b/include/gnss/capture/capture_gnss_fix.h
@@ -3,7 +3,7 @@
 
 //Wolf includes
 #include "gnss/feature/feature_gnss_fix.h"
-#include "base/capture/capture_base.h"
+#include "core/capture/capture_base.h"
 
 //std includes
 //
diff --git a/include/gnss/capture/capture_gnss_single_diff.h b/include/gnss/capture/capture_gnss_single_diff.h
index b8c080fb0066562d0ef3e74b479fe7722448bc57..3423496bdb5305db6fd4f4fca891546fe9c2c261 100644
--- a/include/gnss/capture/capture_gnss_single_diff.h
+++ b/include/gnss/capture/capture_gnss_single_diff.h
@@ -3,7 +3,7 @@
 
 //Wolf includes
 #include "gnss/feature/feature_gnss_single_diff.h"
-#include "base/capture/capture_base.h"
+#include "core/capture/capture_base.h"
 
 //std includes
 //
diff --git a/include/gnss/factor/factor_gnss_fix_2D.h b/include/gnss/factor/factor_gnss_fix_2D.h
index 3bdaf6fa617ce2a6fdf5c96a520673d99ca78045..0a1e49c45a68d7039e451377ba1f4d7abf3da002 100644
--- a/include/gnss/factor/factor_gnss_fix_2D.h
+++ b/include/gnss/factor/factor_gnss_fix_2D.h
@@ -3,9 +3,9 @@
 #define FACTOR_GNSS_FIX_2D_H_
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
+#include "core/common/wolf.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
 #include "gnss/sensor/sensor_gnss.h"
 
 namespace wolf {
diff --git a/include/gnss/factor/factor_gnss_fix_3D.h b/include/gnss/factor/factor_gnss_fix_3D.h
index 713ec5e26393c2673d39cf78ba451ff9bc0e3c26..89628d4c8e7ba7fe3355f7816ca30bc2ad390892 100644
--- a/include/gnss/factor/factor_gnss_fix_3D.h
+++ b/include/gnss/factor/factor_gnss_fix_3D.h
@@ -3,9 +3,9 @@
 #define FACTOR_GNSS_FIX_3D_H_
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
+#include "core/common/wolf.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
 
 namespace wolf {
     
diff --git a/include/gnss/factor/factor_gnss_single_diff_2D.h b/include/gnss/factor/factor_gnss_single_diff_2D.h
index ed53f0073ed1ac9fcbe02488c33f1df06edce712..1d52171a42388e0030848fe8fd5fa5f28f164d83 100644
--- a/include/gnss/factor/factor_gnss_single_diff_2D.h
+++ b/include/gnss/factor/factor_gnss_single_diff_2D.h
@@ -3,9 +3,9 @@
 #define FACTOR_GNSS_SINGLE_DIFF_2D_H_
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
+#include "core/common/wolf.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
 #include "gnss/sensor/sensor_gnss.h"
 
 namespace wolf {
diff --git a/include/gnss/feature/feature_gnss_fix.h b/include/gnss/feature/feature_gnss_fix.h
index 2f7e8cd995a332aed2a0f91b0a69204bbadcfa12..0184490f96fcda1fcadbb97ffc12ef872a1a65ff 100644
--- a/include/gnss/feature/feature_gnss_fix.h
+++ b/include/gnss/feature/feature_gnss_fix.h
@@ -2,7 +2,7 @@
 #define FEATURE_GNSS_FIX_H_
 
 //Wolf includes
-#include "base/feature/feature_base.h"
+#include "core/feature/feature_base.h"
 
 //std includes
 
diff --git a/include/gnss/feature/feature_gnss_single_diff.h b/include/gnss/feature/feature_gnss_single_diff.h
index f21c634b82fa5cdf5a6ac5258d3033324f6cfe38..903a062ced9817a0de1f297b817ee7d69aadac08 100644
--- a/include/gnss/feature/feature_gnss_single_diff.h
+++ b/include/gnss/feature/feature_gnss_single_diff.h
@@ -2,7 +2,7 @@
 #define FEATURE_GNSS_SINGLE_DIFF_H_
 
 //Wolf includes
-#include "base/feature/feature_base.h"
+#include "core/feature/feature_base.h"
 
 //std includes
 
diff --git a/include/gnss/processor/processor_gnss_fix.h b/include/gnss/processor/processor_gnss_fix.h
index eafeed0ceb5de1d0c7bcbdb750ad682ad8552e43..28d029831ea147a5aed7bcc99e1057081a5991ec 100644
--- a/include/gnss/processor/processor_gnss_fix.h
+++ b/include/gnss/processor/processor_gnss_fix.h
@@ -2,7 +2,7 @@
 #define WOLF_PROCESSOR_GNSS_FIX_H
 
 // Wolf includes
-#include "base/processor/processor_base.h"
+#include "core/processor/processor_base.h"
 #include "gnss/capture/capture_gnss_fix.h"
 
 // Std includes
diff --git a/include/gnss/processor/processor_gnss_single_diff.h b/include/gnss/processor/processor_gnss_single_diff.h
index 3f7a6702fe164c650e3cddb4d8e59d0773021815..ef1cdeb507b73700b9dbfa3aa4354898440549b3 100644
--- a/include/gnss/processor/processor_gnss_single_diff.h
+++ b/include/gnss/processor/processor_gnss_single_diff.h
@@ -2,7 +2,7 @@
 #define WOLF_PROCESSOR_GNSS_SINGLE_DIFF_H
 
 // Wolf includes
-#include "base/processor/processor_base.h"
+#include "core/processor/processor_base.h"
 #include "gnss/capture/capture_gnss_single_diff.h"
 
 // Std includes
diff --git a/include/gnss/sensor/sensor_gnss.h b/include/gnss/sensor/sensor_gnss.h
index fe006440d56ecef2bd971272930c72e470d435c3..c7a147dc1fbb63c5fd1cd5b2c488392444a15d59 100644
--- a/include/gnss/sensor/sensor_gnss.h
+++ b/include/gnss/sensor/sensor_gnss.h
@@ -2,7 +2,7 @@
 #define SENSOR_GPS_H_
 
 //wolf
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
 
 // std
 
diff --git a/serialization/cereal/serialization_local_parametrization_base.h b/serialization/cereal/serialization_local_parametrization_base.h
index 0c38a5a6126723e4e61d0bd15a7616a1b24f7c4c..a398efa6ff472c0e4ec65a5732f571c6bc1fed6e 100644
--- a/serialization/cereal/serialization_local_parametrization_base.h
+++ b/serialization/cereal/serialization_local_parametrization_base.h
@@ -1,7 +1,7 @@
 #ifndef _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_
 #define _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_
 
-#include "base/local_parametrization_base.h"
+#include "core/local_parametrization_base.h"
 
 #include <cereal/cereal.hpp>
 #include <cereal/types/polymorphic.hpp>
diff --git a/serialization/cereal/serialization_local_parametrization_homogeneous.h b/serialization/cereal/serialization_local_parametrization_homogeneous.h
index 2b36232d53cceff76ab2ad5e6c0732f8b449cc0b..9fcc656d5b86c51eb3995d1a11fbdcc80b1e98c4 100644
--- a/serialization/cereal/serialization_local_parametrization_homogeneous.h
+++ b/serialization/cereal/serialization_local_parametrization_homogeneous.h
@@ -1,7 +1,7 @@
 #ifndef _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_HOMOGENEOUS_H_
 #define _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_HOMOGENEOUS_H_
 
-#include "base/local_parametrization_homogeneous.h"
+#include "core/local_parametrization_homogeneous.h"
 
 #include "serialization_local_parametrization_base.h"
 
diff --git a/serialization/cereal/serialization_local_parametrization_quaternion.h b/serialization/cereal/serialization_local_parametrization_quaternion.h
index 95c71f4c288a6010aa50b65a38bea9eecc9b9c4b..66fe30a361f0f1878a9444d9fb487ad2a068ad0d 100644
--- a/serialization/cereal/serialization_local_parametrization_quaternion.h
+++ b/serialization/cereal/serialization_local_parametrization_quaternion.h
@@ -1,7 +1,7 @@
 #ifndef WOLF_IO_SERIALIZATION_LOCAL_PARAMETRIZATION_QUATERNION_H_
 #define WOLF_IO_SERIALIZATION_LOCAL_PARAMETRIZATION_QUATERNION_H_
 
-#include "base/local_parametrization_quaternion.h"
+#include "core/local_parametrization_quaternion.h"
 
 #include "serialization_local_parametrization_base.h"
 
diff --git a/serialization/cereal/serialization_node_base.h b/serialization/cereal/serialization_node_base.h
index 5a0a039a3ca43444f1866563bc3c135eeedaa21e..a2c592d6982485de2aebf189e09e764b68022783 100644
--- a/serialization/cereal/serialization_node_base.h
+++ b/serialization/cereal/serialization_node_base.h
@@ -2,7 +2,7 @@
 #define _WOLF_IO_CEREAL_NODE_BASE_H_
 
 // Wolf includes
-#include "base/node_base.h"
+#include "core/node_base.h"
 
 #include <cereal/cereal.hpp>
 #include <cereal/types/polymorphic.hpp>
diff --git a/serialization/cereal/serialization_processor_odom2d_params.h b/serialization/cereal/serialization_processor_odom2d_params.h
index 2056f6de9eecf0fc3e312b8553fa5cfd030ea942..dc0416b94634ef8415919c26fa972c86edb99a00 100644
--- a/serialization/cereal/serialization_processor_odom2d_params.h
+++ b/serialization/cereal/serialization_processor_odom2d_params.h
@@ -2,7 +2,7 @@
 #define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM2D_PARAMS_H_
 
 // Wolf includes
-#include "base/processor/processor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
 #include "serialization_processor_params_base.h"
 
 namespace cereal {
diff --git a/serialization/cereal/serialization_processor_odom3d_params.h b/serialization/cereal/serialization_processor_odom3d_params.h
index 1556a39e438b0a2b273edded902070cccbd847b5..d2fd7c077d868e4dafcfa209c10767415f092ab8 100644
--- a/serialization/cereal/serialization_processor_odom3d_params.h
+++ b/serialization/cereal/serialization_processor_odom3d_params.h
@@ -2,7 +2,7 @@
 #define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM3D_PARAMS_H_
 
 // Wolf includes
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
 #include "serialization_processor_params_base.h"
 
 namespace cereal {
diff --git a/serialization/cereal/serialization_processor_params_base.h b/serialization/cereal/serialization_processor_params_base.h
index 2c75b85c9a374f6af4bf87d09993cf49da1d50a3..03ea158c07ea0c18516400a6c51618998efb9473 100644
--- a/serialization/cereal/serialization_processor_params_base.h
+++ b/serialization/cereal/serialization_processor_params_base.h
@@ -2,7 +2,7 @@
 #define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_PARAM_BASE_H_
 
 // Wolf includes
-#include "base/processor/processor_base.h"
+#include "core/processor/processor_base.h"
 
 #include <cereal/cereal.hpp>
 #include <cereal/types/polymorphic.hpp>
diff --git a/serialization/cereal/serialization_sensor_intrinsic_base.h b/serialization/cereal/serialization_sensor_intrinsic_base.h
index 3e3b1cdb46e85572cc185232b41bf64a78da10b6..86b2a9b482eb61dd290dd2d2723c41415ca11dae 100644
--- a/serialization/cereal/serialization_sensor_intrinsic_base.h
+++ b/serialization/cereal/serialization_sensor_intrinsic_base.h
@@ -2,7 +2,7 @@
 #define _WOLF_SERIALIZATION_CEREAL_SENSOR_INTRINSIC_BASE_H_
 
 // Wolf includes
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
 
 #include <cereal/cereal.hpp>
 #include <cereal/types/polymorphic.hpp>
diff --git a/serialization/cereal/serialization_sensor_odom2d_intrinsic.h b/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
index ccfe569a72d0b69faf5af9ac01425c7edfabad69..17d4160b3751d0a13f0f28836234b500e6674400 100644
--- a/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
+++ b/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
@@ -2,7 +2,7 @@
 #define _WOLF_SERIALIZATION_CEREAL_SENSOR_ODOM2D_INTRINSIC_H_
 
 // Wolf includes
-#include "base/sensor/sensor_odom_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
 
 #include "serialization_sensor_intrinsic_base.h"
 
diff --git a/serialization/cereal/serialization_time_stamp.h b/serialization/cereal/serialization_time_stamp.h
index 6cc9e29c7f95d4a4ef2254a890737ab2a3f81d54..f0c978d36415be7598f2ba6eb5b83bd9a5cb0a61 100644
--- a/serialization/cereal/serialization_time_stamp.h
+++ b/serialization/cereal/serialization_time_stamp.h
@@ -2,7 +2,7 @@
 #define _WOLF_IO_CEREAL_TIME_STAMP_H_
 
 // Wolf includes
-#include "base/time_stamp.h"
+#include "core/time_stamp.h"
 
 #include <cereal/cereal.hpp>
 
diff --git a/src/examples/solver/test_ccolamd.cpp b/src/examples/solver/test_ccolamd.cpp
index d9eec5b00f275b9ed4fc1fd2f309a73daa8a171e..48831f6511f2d29689ced193e599dc4ae6292a5f 100644
--- a/src/examples/solver/test_ccolamd.cpp
+++ b/src/examples/solver/test_ccolamd.cpp
@@ -6,7 +6,7 @@
  */
 
 // Wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 //std includes
 #include <cstdlib>
diff --git a/src/examples/solver/test_iQR_wolf2.cpp b/src/examples/solver/test_iQR_wolf2.cpp
index dc4094304626dda2d5f044576da3cbaed648d377..9ad57098e8e3671bcf18cd54dc458fc6d776dab4 100644
--- a/src/examples/solver/test_iQR_wolf2.cpp
+++ b/src/examples/solver/test_iQR_wolf2.cpp
@@ -17,9 +17,9 @@
 #include <queue>
 
 //Wolf includes
-#include "base/state_block/state_block.h"
-#include "base/factor/factor_base.h"
-#include "base/sensor/sensor_laser_2D.h"
+#include "core/state_block/state_block.h"
+#include "core/factor/factor_base.h"
+#include "core/sensor/sensor_laser_2D.h"
 #include "wolf_manager.h"
 
 // wolf solver
@@ -35,7 +35,7 @@
 
 //Ceres includes
 #include "glog/logging.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 //laser_scan_utils
 #include "iri-algorithms/laser_scan_utils/corner_detector.h"
diff --git a/src/examples/test_2_lasers_offline.cpp b/src/examples/test_2_lasers_offline.cpp
index 9174dc94f6d30e66ae586d97ecc53896e0f2522a..58e91c6d8a63e81ff0337ee1ec4a7b601cdb9de7 100644
--- a/src/examples/test_2_lasers_offline.cpp
+++ b/src/examples/test_2_lasers_offline.cpp
@@ -1,5 +1,5 @@
 //std includes
-#include "base/sensor/sensor_GPS_fix.h"
+#include "core/sensor/sensor_GPS_fix.h"
 #include <cstdlib>
 #include <iostream>
 #include <fstream>
@@ -17,12 +17,12 @@
 #include "glog/logging.h"
 
 //Wolf includes
-#include "base/problem/problem.h"
-#include "base/processor/processor_tracker_landmark_corner.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_laser_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/problem/problem.h"
+#include "core/processor/processor_tracker_landmark_corner.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_laser_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // laserscanutils
 #include "laser_scan_utils/line_finder_iterative.h"
@@ -31,7 +31,7 @@
 //C includes for sleep, time and main args
 #include "unistd.h"
 
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
 //faramotics includes
 #include "faramotics/dynamicSceneRender.h"
 #include "faramotics/rangeScan2D.h"
diff --git a/src/examples/test_analytic_odom_factor.cpp b/src/examples/test_analytic_odom_factor.cpp
index 344c284e2d4d898106f3fd6d6f3a706cec56abda..32a2cbc64fcac5b0d37052347919f3e308042585 100644
--- a/src/examples/test_analytic_odom_factor.cpp
+++ b/src/examples/test_analytic_odom_factor.cpp
@@ -12,8 +12,8 @@
 
 //Wolf includes
 #include "wolf_manager.h"
-#include "base/capture/capture_void.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // EIGEN
 //#include <Eigen/CholmodSupport>
diff --git a/src/examples/test_autodiff.cpp b/src/examples/test_autodiff.cpp
index a4c75ccde0b6a186ae6923ac98ff8dd741a249a5..6fa1e01edddf6861f52c6c50222be29521ce68a2 100644
--- a/src/examples/test_autodiff.cpp
+++ b/src/examples/test_autodiff.cpp
@@ -17,8 +17,8 @@
 
 //Wolf includes
 #include "wolf_manager.h"
-#include "base/sensor/sensor_laser_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_laser_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 //C includes for sleep, time and main args
 #include "unistd.h"
diff --git a/src/examples/test_capture_laser_2D.cpp b/src/examples/test_capture_laser_2D.cpp
index 8ca0e376b7448bbee9763a48bc76f42fad5b52d1..cd5e40239fd42ca972a0e96405dc609ab707e9ca 100644
--- a/src/examples/test_capture_laser_2D.cpp
+++ b/src/examples/test_capture_laser_2D.cpp
@@ -3,7 +3,7 @@
 #include <random>
 
 //wolf
-#include "base/capture/capture_laser_2D.h"
+#include "core/capture/capture_laser_2D.h"
 
 // Eigen in std vector
 #include <Eigen/StdVector>
diff --git a/src/examples/test_ceres_2_lasers.cpp b/src/examples/test_ceres_2_lasers.cpp
index d12f491de7ce0895ca301498454e7f3d451bbd4e..b090a8a5a4acf010959c4e53bf006855326a5629 100644
--- a/src/examples/test_ceres_2_lasers.cpp
+++ b/src/examples/test_ceres_2_lasers.cpp
@@ -1,5 +1,5 @@
 //std includes
-#include "base/sensor/sensor_GPS_fix.h"
+#include "core/sensor/sensor_GPS_fix.h"
 #include <cstdlib>
 #include <iostream>
 #include <fstream>
@@ -17,12 +17,12 @@
 #include "glog/logging.h"
 
 //Wolf includes
-#include "base/problem/problem.h"
-#include "base/processor/processor_tracker_landmark_corner.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_laser_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/problem/problem.h"
+#include "core/processor/processor_tracker_landmark_corner.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_laser_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // laserscanutils
 #include "laser_scan_utils/line_finder_iterative.h"
@@ -31,7 +31,7 @@
 //C includes for sleep, time and main args
 #include "unistd.h"
 
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
 //faramotics includes
 #include "faramotics/dynamicSceneRender.h"
 #include "faramotics/rangeScan2D.h"
diff --git a/src/examples/test_ceres_2_lasers_polylines.cpp b/src/examples/test_ceres_2_lasers_polylines.cpp
index 136ba285e0d9fb2c62b4801dc75e597dcdd257ff..7e83dec251a85252b14d1014114a1089c912ba27 100644
--- a/src/examples/test_ceres_2_lasers_polylines.cpp
+++ b/src/examples/test_ceres_2_lasers_polylines.cpp
@@ -1,5 +1,5 @@
 //std includes
-#include "base/sensor/sensor_GPS_fix.h"
+#include "core/sensor/sensor_GPS_fix.h"
 #include <cstdlib>
 #include <iostream>
 #include <fstream>
@@ -17,12 +17,12 @@
 #include "glog/logging.h"
 
 //Wolf includes
-#include "base/problem/problem.h"
-#include "base/processor/processor_tracker_landmark_polyline.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_laser_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/problem/problem.h"
+#include "core/processor/processor_tracker_landmark_polyline.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_laser_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // laserscanutils
 #include "laser_scan_utils/line_finder_iterative.h"
@@ -31,7 +31,7 @@
 //C includes for sleep, time and main args
 #include "unistd.h"
 
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
 //faramotics includes
 #include "faramotics/dynamicSceneRender.h"
 #include "faramotics/rangeScan2D.h"
diff --git a/src/examples/test_diff_drive.cpp b/src/examples/test_diff_drive.cpp
index 23980071f58e0e30bc3eeebef8c6d51106e2adf2..21c2a8b9495dc92fa43dfae9dd0c87238971125d 100644
--- a/src/examples/test_diff_drive.cpp
+++ b/src/examples/test_diff_drive.cpp
@@ -6,11 +6,11 @@
  */
 
 //Wolf
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_diff_drive.h"
-#include "base/capture/capture_wheel_joint_position.h"
-#include "base/processor/processor_diff_drive.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_diff_drive.h"
+#include "core/capture/capture_wheel_joint_position.h"
+#include "core/processor/processor_diff_drive.h"
 
 //std
 #include <iostream>
diff --git a/src/examples/test_eigen_quaternion.cpp b/src/examples/test_eigen_quaternion.cpp
index d24a715cbc8d65f2b86d67e3931b9c1199f22398..1e85039d7d5a25c6320c74d0d1914c372a9220f6 100644
--- a/src/examples/test_eigen_quaternion.cpp
+++ b/src/examples/test_eigen_quaternion.cpp
@@ -6,7 +6,7 @@
 #include <eigen3/Eigen/Geometry>
 
 //Wolf
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 int main()
 {
diff --git a/src/examples/test_factor_AHP.cpp b/src/examples/test_factor_AHP.cpp
index 2c92e39d12d6ec6962869eece67bdcfed2d5bc08..03d7791ab0d29531fdfd8b90d2b6fb638de3ad0c 100644
--- a/src/examples/test_factor_AHP.cpp
+++ b/src/examples/test_factor_AHP.cpp
@@ -1,10 +1,10 @@
-#include "base/pinhole_tools.h"
-#include "base/landmark/landmark_AHP.h"
-#include "base/factor/factor_AHP.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/capture/capture_image.h"
+#include "core/pinhole_tools.h"
+#include "core/landmark/landmark_AHP.h"
+#include "core/factor/factor_AHP.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/capture/capture_image.h"
 
 int main()
 {
diff --git a/src/examples/test_factor_imu.cpp b/src/examples/test_factor_imu.cpp
index 3d0483e9647f9e3203ab3bb89036de55e0f9adc9..9d7d73379708fe897e8ec0b7bb00e39fda7f8559 100644
--- a/src/examples/test_factor_imu.cpp
+++ b/src/examples/test_factor_imu.cpp
@@ -1,14 +1,14 @@
 //Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/capture/capture_pose.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/factor/factor_odom_3D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/capture/capture_pose.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 //#define DEBUG_RESULTS
 
diff --git a/src/examples/test_factor_odom_3D.cpp b/src/examples/test_factor_odom_3D.cpp
index 77fa4c80276b07ba875fefd5b4e53756e4424e79..be7a81c4f454a8c3c6a4bc621b9de8cb3ef39a0d 100644
--- a/src/examples/test_factor_odom_3D.cpp
+++ b/src/examples/test_factor_odom_3D.cpp
@@ -5,7 +5,7 @@
  *      Author: jsola
  */
 
-#include "base/factor/factor_odom_3D.h"
+#include "core/factor/factor_odom_3D.h"
 
 namespace wolf
 {
diff --git a/src/examples/test_faramotics_simulation.cpp b/src/examples/test_faramotics_simulation.cpp
index e095e561d3348cb3ff4445c5f874e8f34ca637e9..4414520dc1fc0edf2260ad4cf416ee3ddd2ea56d 100644
--- a/src/examples/test_faramotics_simulation.cpp
+++ b/src/examples/test_faramotics_simulation.cpp
@@ -16,10 +16,10 @@
 #include "unistd.h"
 
 // wolf
-#include "base/common/wolf.h"
-#include "base/feature/feature_base.h"
-#include "base/landmark/landmark_base.h"
-#include "base/state_block/state_block.h"
+#include "core/common/wolf.h"
+#include "core/feature/feature_base.h"
+#include "core/landmark/landmark_base.h"
+#include "core/state_block/state_block.h"
 
 //faramotics includes
 #include "faramotics/dynamicSceneRender.h"
diff --git a/src/examples/test_image.cpp b/src/examples/test_image.cpp
index b2b61f5207d29021982729d795978ba73a42bed4..842a6a14b6e682da3481a7f3bd51d80e819fb857 100644
--- a/src/examples/test_image.cpp
+++ b/src/examples/test_image.cpp
@@ -1,10 +1,10 @@
 // Testing things for the 3D image odometry
 
 //Wolf includes
-#include "base/sensor/sensor_camera.h"
-#include "base/capture/capture_image.h"
-#include "base/processor/processor_tracker_feature_image.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/capture/capture_image.h"
+#include "core/processor/processor_tracker_feature_image.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // Vision utils includes
 #include <vision_utils.h>
diff --git a/src/examples/test_imuDock.cpp b/src/examples/test_imuDock.cpp
index dab6894d7a558cf53502ffc58c6a407a3fa4bbe5..c05fbbf9c4e676c5611c7073b94b9f55385a9267 100644
--- a/src/examples/test_imuDock.cpp
+++ b/src/examples/test_imuDock.cpp
@@ -5,21 +5,21 @@
  *      \author: Dinesh Atchuthan
  */
 
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
 
 //Factors headers
-#include "base/factor/factor_fix_bias.h"
+#include "core/factor/factor_fix_bias.h"
 
 //std
 #include <iostream>
 #include <fstream>
-#include "base/factor/factor_pose_3D.h"
+#include "core/factor/factor_pose_3D.h"
 
 #define OUTPUT_RESULTS
 //#define ADD_KF3
diff --git a/src/examples/test_imuDock_autoKFs.cpp b/src/examples/test_imuDock_autoKFs.cpp
index 43a54d654c1611e7d9c5a42ef326c382f2dd9566..039615445807ab6ef9e1dadab7e273135bc650ef 100644
--- a/src/examples/test_imuDock_autoKFs.cpp
+++ b/src/examples/test_imuDock_autoKFs.cpp
@@ -5,21 +5,21 @@
  *      \author: Dinesh Atchuthan
  */
 
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
 
 //Factors headers
-#include "base/factor/factor_fix_bias.h"
+#include "core/factor/factor_fix_bias.h"
 
 //std
 #include <iostream>
 #include <fstream>
-#include "base/factor/factor_pose_3D.h"
+#include "core/factor/factor_pose_3D.h"
 
 #define OUTPUT_RESULTS
 //#define AUTO_KFS
diff --git a/src/examples/test_imuPlateform_Offline.cpp b/src/examples/test_imuPlateform_Offline.cpp
index 4b923de89990eac72ffc20df61b13e28dbb76b66..e0e4e4778e91090221d70121bd89907ad3756823 100644
--- a/src/examples/test_imuPlateform_Offline.cpp
+++ b/src/examples/test_imuPlateform_Offline.cpp
@@ -1,15 +1,15 @@
 //Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/factor/factor_odom_3D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 //std
 #include <iostream>
diff --git a/src/examples/test_imu_constrained0.cpp b/src/examples/test_imu_constrained0.cpp
index e542e18e0ffac35b9c398ba01ab23bd7fc2e13a1..817b08a14a4c71caf9f9e4807c71cc14cc43d78e 100644
--- a/src/examples/test_imu_constrained0.cpp
+++ b/src/examples/test_imu_constrained0.cpp
@@ -1,15 +1,15 @@
 //Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/factor/factor_odom_3D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 //std
 #include <iostream>
diff --git a/src/examples/test_kf_callback.cpp b/src/examples/test_kf_callback.cpp
index 05bd165977ac79ac6b6b4f61d6a72cb83d6e2eff..ea1079d75c7f11cb3de61fe55df12ce3bd39c441 100644
--- a/src/examples/test_kf_callback.cpp
+++ b/src/examples/test_kf_callback.cpp
@@ -5,10 +5,10 @@
  *      Author: jsola
  */
 
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/processor/processor_tracker_feature_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
+#include "core/capture/capture_void.h"
 
 int main()
 {
diff --git a/src/examples/test_map_yaml.cpp b/src/examples/test_map_yaml.cpp
index aa74ae9e28d8a692694ccc3f1d14c9dcf9dc819a..070300d90efc27cedd05e39cb3d7f100a7ad3db9 100644
--- a/src/examples/test_map_yaml.cpp
+++ b/src/examples/test_map_yaml.cpp
@@ -5,13 +5,13 @@
  *      \author: jsola
  */
 
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/map_base.h"
-#include "base/landmark/landmark_polyline_2D.h"
-#include "base/landmark/landmark_AHP.h"
-#include "base/state_block/state_block.h"
-#include "base/yaml/yaml_conversion.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/map_base.h"
+#include "core/landmark/landmark_polyline_2D.h"
+#include "core/landmark/landmark_AHP.h"
+#include "core/state_block/state_block.h"
+#include "core/yaml/yaml_conversion.h"
 
 #include <iostream>
 using namespace wolf;
diff --git a/src/examples/test_mpu.cpp b/src/examples/test_mpu.cpp
index 1fbed214fb99a53c9c4d509ccc3e47d27c744cb1..f2d5bbade62637c592b5f2dd0cf2341d825dded8 100644
--- a/src/examples/test_mpu.cpp
+++ b/src/examples/test_mpu.cpp
@@ -6,11 +6,11 @@
  */
 
  //Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/capture/capture_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
 #include <iostream>
 #include <fstream>
 #include <iomanip>
@@ -18,8 +18,8 @@
 #include <cmath>
 #include <termios.h>
 #include <fcntl.h>
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
 
 #define DEBUG_RESULTS
 #define FROM_FILE
diff --git a/src/examples/test_processor_imu.cpp b/src/examples/test_processor_imu.cpp
index 33ec4cabb2580353719cf4d50ed14976e626cfaa..ec77aedeee3242daffe10d89c1444fa9ea1bf1f9 100644
--- a/src/examples/test_processor_imu.cpp
+++ b/src/examples/test_processor_imu.cpp
@@ -6,13 +6,13 @@
  */
 
 //Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/capture/capture_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
 #include <iostream>
 #include <fstream>
 #include <iomanip>
diff --git a/src/examples/test_processor_imu_jacobians.cpp b/src/examples/test_processor_imu_jacobians.cpp
index 22c797d6d0726e600427680bd475dede67ebc5b8..988244d1598d3a8a9a1bdebf0144266b6744044b 100644
--- a/src/examples/test_processor_imu_jacobians.cpp
+++ b/src/examples/test_processor_imu_jacobians.cpp
@@ -6,13 +6,13 @@
  */
 
 //Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/sensor/sensor_IMU.h"
+#include "core/capture/capture_IMU.h"
+#include "core/sensor/sensor_IMU.h"
 #include <test/processor_IMU_UnitTester.h>
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
 #include <iostream>
 #include <fstream>
 #include <iomanip>
diff --git a/src/examples/test_processor_odom_3D.cpp b/src/examples/test_processor_odom_3D.cpp
index 3c5bc0afed0a39fe7a9ca1f8560a26410602855a..1be3716509252cb39713d8cbc97209675f438a2c 100644
--- a/src/examples/test_processor_odom_3D.cpp
+++ b/src/examples/test_processor_odom_3D.cpp
@@ -5,13 +5,13 @@
  *      \author: jsola
  */
 
-#include "base/capture/capture_IMU.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/map_base.h"
-#include "base/landmark/landmark_base.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_IMU.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/map_base.h"
+#include "core/landmark/landmark_base.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 #include <cstdlib>
 
diff --git a/src/examples/test_processor_tracker_feature.cpp b/src/examples/test_processor_tracker_feature.cpp
index 89a213f43bdf3a300bf49463a18176f2d1c43737..a5c2476d700e0651bc027787e2b58d6b9e339e78 100644
--- a/src/examples/test_processor_tracker_feature.cpp
+++ b/src/examples/test_processor_tracker_feature.cpp
@@ -9,12 +9,12 @@
 #include <iostream>
 
 //Wolf
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/processor/processor_tracker_feature_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
+#include "core/capture/capture_void.h"
 
 void print_prc(wolf::ProcessorTrackerFeaturePtr _prc)
 {
diff --git a/src/examples/test_processor_tracker_landmark.cpp b/src/examples/test_processor_tracker_landmark.cpp
index 1702229762a5aa413678f6937a8e78d4b7b921df..05eb1a5194b43dadb453120af570ebbc342fb7e3 100644
--- a/src/examples/test_processor_tracker_landmark.cpp
+++ b/src/examples/test_processor_tracker_landmark.cpp
@@ -9,12 +9,12 @@
 #include <iostream>
 
 //Wolf
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/processor/processor_tracker_landmark_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/processor/processor_tracker_landmark_dummy.h"
+#include "core/capture/capture_void.h"
 
 void print_problem_pointers(wolf::ProblemPtr wolf_problem_ptr_)
 {
diff --git a/src/examples/test_processor_tracker_landmark_image.cpp b/src/examples/test_processor_tracker_landmark_image.cpp
index be7df536e971273559252aeff8dc51bd808bb14b..f3c79633d5b27a3ec3fc84bb52124eb080380993 100644
--- a/src/examples/test_processor_tracker_landmark_image.cpp
+++ b/src/examples/test_processor_tracker_landmark_image.cpp
@@ -1,18 +1,18 @@
 //std
 #include <iostream>
 
-#include "base/processor/processor_tracker_landmark_image.h"
+#include "core/processor/processor_tracker_landmark_image.h"
 
 //Wolf
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/state_block/state_block.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/capture/capture_image.h"
-#include "base/capture/capture_pose.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/state_block/state_block.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/capture/capture_image.h"
+#include "core/capture/capture_pose.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // Vision utils includes
 #include <vision_utils.h>
diff --git a/src/examples/test_projection_points.cpp b/src/examples/test_projection_points.cpp
index c24e8904eeaf06490b0fa3283e52cd074f1bcf70..e643489cace9354674274e09a23858614e259fca 100644
--- a/src/examples/test_projection_points.cpp
+++ b/src/examples/test_projection_points.cpp
@@ -6,7 +6,7 @@
 #include <iostream>
 
 //wolf includes
-#include "base/pinhole_tools.h"
+#include "core/pinhole_tools.h"
 
 int main(int argc, char** argv)
 {
diff --git a/src/examples/test_simple_AHP.cpp b/src/examples/test_simple_AHP.cpp
index dd8b88f79643ebc894aa4907f9ec58d4c1159396..b901a0a10514bda807dbade90b14f6f352997ccc 100644
--- a/src/examples/test_simple_AHP.cpp
+++ b/src/examples/test_simple_AHP.cpp
@@ -5,15 +5,15 @@
  *      \author: jtarraso
  */
 
-#include "base/common/wolf.h"
-#include "base/frame/frame_base.h"
-#include "base/pinhole_tools.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/rotations.h"
-#include "base/capture/capture_image.h"
-#include "base/landmark/landmark_AHP.h"
-#include "base/factor/factor_AHP.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/common/wolf.h"
+#include "core/frame/frame_base.h"
+#include "core/pinhole_tools.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/rotations.h"
+#include "core/capture/capture_image.h"
+#include "core/landmark/landmark_AHP.h"
+#include "core/factor/factor_AHP.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // Vision utils
 #include <vision_utils/vision_utils.h>
diff --git a/src/examples/test_sort_keyframes.cpp b/src/examples/test_sort_keyframes.cpp
index c65e17c714f887541f5cfd81409fab4cca02964d..4edc04ea99be9fd5357a57e6e32f4ab6de0bdb4f 100644
--- a/src/examples/test_sort_keyframes.cpp
+++ b/src/examples/test_sort_keyframes.cpp
@@ -6,10 +6,10 @@
  */
 
 // Wolf includes
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/frame/frame_base.h"
-#include "base/trajectory_base.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/frame/frame_base.h"
+#include "core/trajectory_base.h"
 
 // STL includes
 #include <list>
diff --git a/src/examples/test_sparsification.cpp b/src/examples/test_sparsification.cpp
index 7b9e85c085a04dc401097db87be3dcc8ea25e17d..fa577c15b88f05a9f9f94a7f63eb926f493cf2c7 100644
--- a/src/examples/test_sparsification.cpp
+++ b/src/examples/test_sparsification.cpp
@@ -14,10 +14,10 @@
 #include <queue>
 
 //Wolf includes
-#include "base/capture/capture_void.h"
-#include "base/feature/feature_odom_2D.h"
-#include "base/factor/factor_base.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/feature/feature_odom_2D.h"
+#include "core/factor/factor_base.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // EIGEN
 //#include <Eigen/CholmodSupport>
diff --git a/src/examples/test_state_quaternion.cpp b/src/examples/test_state_quaternion.cpp
index 9bdcd7c4a15a6f188c25e9f6bad886ea099a2311..51cf76ffc329a9a3bbc62133ce24d304c26fbc7f 100644
--- a/src/examples/test_state_quaternion.cpp
+++ b/src/examples/test_state_quaternion.cpp
@@ -5,9 +5,9 @@
  *      \author: jsola
  */
 
-#include "base/frame/frame_base.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/time_stamp.h"
+#include "core/frame/frame_base.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/time_stamp.h"
 
 #include <iostream>
 
diff --git a/src/examples/test_tracker_ORB.cpp b/src/examples/test_tracker_ORB.cpp
index 536e06d62b129b0cf7a62a8de84bafd5b7c106f2..89ea1800adf53cd76e7e858ab8c3c1fe1e0fb9ed 100644
--- a/src/examples/test_tracker_ORB.cpp
+++ b/src/examples/test_tracker_ORB.cpp
@@ -11,7 +11,7 @@
 #include <matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h>
 
 //Wolf
-#include "base/processor/processor_tracker_landmark_image.h"
+#include "core/processor/processor_tracker_landmark_image.h"
 
 int main(int argc, char** argv)
 {
diff --git a/src/examples/test_wolf_autodiffwrapper.cpp b/src/examples/test_wolf_autodiffwrapper.cpp
index 1fa76e585e51796e19a0597aac1397ebf19cd954..8d0897956275c596d47782117311784b8ea2828e 100644
--- a/src/examples/test_wolf_autodiffwrapper.cpp
+++ b/src/examples/test_wolf_autodiffwrapper.cpp
@@ -12,8 +12,8 @@
 
 //Wolf includes
 #include "wolf_manager.h"
-#include "base/capture/capture_void.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 int main(int argc, char** argv) 
 {
diff --git a/src/examples/test_wolf_factories.cpp b/src/examples/test_wolf_factories.cpp
index 728e5ef4dee16d107deebb6fbaaba2db0f8e3a55..e4adbd77f32ba90d87443986a62d9ffec24ffa08 100644
--- a/src/examples/test_wolf_factories.cpp
+++ b/src/examples/test_wolf_factories.cpp
@@ -5,21 +5,21 @@
  *      \author: jsola
  */
 
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_GPS_fix.h"
-#include "base/hardware_base.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_GPS_fix.h"
+#include "core/hardware_base.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/sensor/sensor_odom_2D.h"
 #include "../sensor_imu.h"
 //#include "../sensor_gps.h"
 
-#include "base/processor/processor_odom_2D.h"
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/processor/processor_odom_3D.h"
 #include "../processor_image_feature.h"
 
-#include "base/problem/problem.h"
+#include "core/problem/problem.h"
 
-#include "base/factory.h"
+#include "core/factory.h"
 
 #include <iostream>
 #include <iomanip>
diff --git a/src/examples/test_wolf_imported_graph.cpp b/src/examples/test_wolf_imported_graph.cpp
index 1113af8b7f7e9bd40033ed60e182cc2f485eee99..9463399ff7843eca655e702d768a7b62fe383528 100644
--- a/src/examples/test_wolf_imported_graph.cpp
+++ b/src/examples/test_wolf_imported_graph.cpp
@@ -12,8 +12,8 @@
 
 //Wolf includes
 #include "wolf_manager.h"
-#include "base/capture/capture_void.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // EIGEN
 //#include <Eigen/CholmodSupport>
diff --git a/src/examples/test_wolf_logging.cpp b/src/examples/test_wolf_logging.cpp
index e188ff81594c2888e212372e6d945683e8af4703..a4f3eb8a48f33df6234f9767170ca480bc7bbe55 100644
--- a/src/examples/test_wolf_logging.cpp
+++ b/src/examples/test_wolf_logging.cpp
@@ -5,8 +5,8 @@
  * \author: Jeremie Deray
  */
 
-#include "base/common/wolf.h"
-#include "base/logging.h"
+#include "core/common/wolf.h"
+#include "core/logging.h"
 
 int main(int, char*[])
 {
diff --git a/src/examples/test_wolf_prunning.cpp b/src/examples/test_wolf_prunning.cpp
index f3ed29007190ada48bba1758a1ac4e57843ff423..de917e471e6535c626561ab398e8bf00d3637725 100644
--- a/src/examples/test_wolf_prunning.cpp
+++ b/src/examples/test_wolf_prunning.cpp
@@ -12,9 +12,9 @@
 
 //Wolf includes
 #include "wolf_manager.h"
-#include "base/capture/capture_void.h"
-#include "base/factor/factor_base.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/factor/factor_base.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // EIGEN
 //#include <Eigen/CholmodSupport>
diff --git a/src/examples/test_wolf_root.cpp b/src/examples/test_wolf_root.cpp
index ff78c97b0866ab66440ba91d20d8d0db503aed26..4ea048471753a28281c01dc50f3fcda0316f0bd7 100644
--- a/src/examples/test_wolf_root.cpp
+++ b/src/examples/test_wolf_root.cpp
@@ -6,7 +6,7 @@
  */
 
 //Wolf
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 //std
 #include <iostream>
diff --git a/src/examples/test_yaml.cpp b/src/examples/test_yaml.cpp
index cfd03d18d073cb9bb85ccc93f342e3ef9c86f52a..f67833444f5f6818100a0a960f34369b9d0e8338 100644
--- a/src/examples/test_yaml.cpp
+++ b/src/examples/test_yaml.cpp
@@ -5,10 +5,10 @@
  *      \author: jsola
  */
 
-#include "base/pinhole_tools.h"
+#include "core/pinhole_tools.h"
 #include "yaml/yaml_conversion.h"
 #include "processor_image_feature.h"
-#include "base/factory.h"
+#include "core/factory.h"
 
 #include <yaml-cpp/yaml.h>
 
diff --git a/src/examples/test_yaml_conversions.cpp b/src/examples/test_yaml_conversions.cpp
index 78cf30da7db266a24f578dba6c1df27de6df9921..b8e1f41f9c0f8b6ae50e65c4fec943dbb1305a7d 100644
--- a/src/examples/test_yaml_conversions.cpp
+++ b/src/examples/test_yaml_conversions.cpp
@@ -5,7 +5,7 @@
  *      \author: jsola
  */
 
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
 
 #include <yaml-cpp/yaml.h>
 
diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp
index d041d8e01fe1303d2318366b2539bc1e4981943b..dcf08db234a0a4f52a600245b85a6e487b917b35 100644
--- a/src/processor/processor_gnss_fix.cpp
+++ b/src/processor/processor_gnss_fix.cpp
@@ -180,7 +180,7 @@ ProcessorBasePtr ProcessorGnssFix::create(const std::string& _unique_name, const
 
 
 // Register in the SensorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("GNSS FIX",ProcessorGnssFix)
 } // namespace wolf
diff --git a/src/processor/processor_gnss_single_diff.cpp b/src/processor/processor_gnss_single_diff.cpp
index 3263b361e4958086a3e702bf73bb6b64a97b60ba..f9b62fd70dbd9f98d7aceb1adc1b920c240a5ea8 100644
--- a/src/processor/processor_gnss_single_diff.cpp
+++ b/src/processor/processor_gnss_single_diff.cpp
@@ -94,7 +94,7 @@ ProcessorBasePtr ProcessorGnssSingleDiff::create(const std::string& _unique_name
 
 
 // Register in the SensorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("GNSS SINGLE DIFFERENCES",ProcessorGnssSingleDiff)
 } // namespace wolf
diff --git a/src/sensor/sensor_gnss.cpp b/src/sensor/sensor_gnss.cpp
index d91242cc5c9b976ba44b30dc050c7b566fb27f36..9ee0f26f84dd90bedcfd88cfbb9cd4cc820174f3 100644
--- a/src/sensor/sensor_gnss.cpp
+++ b/src/sensor/sensor_gnss.cpp
@@ -1,6 +1,6 @@
 #include "gnss/sensor/sensor_gnss.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
 
 namespace wolf {
 
@@ -212,7 +212,7 @@ SensorBasePtr SensorGnss::create(const std::string& _unique_name, const Eigen::V
 
 
 // Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("GNSS",SensorGnss)
 } // namespace wolf
diff --git a/src/yaml/processor_IMU_yaml.cpp b/src/yaml/processor_IMU_yaml.cpp
index 2cfc70f46321ea3af69d657b47540258b4b17ebd..5304c89f0443e29781d3f4f7780370904438e377 100644
--- a/src/yaml/processor_IMU_yaml.cpp
+++ b/src/yaml/processor_IMU_yaml.cpp
@@ -6,11 +6,11 @@
  */
 
 // wolf yaml
-#include "base/processor/processor_IMU.h"
-#include "base/yaml/yaml_conversion.h"
+#include "core/processor/processor_IMU.h"
+#include "core/yaml/yaml_conversion.h"
 
 // wolf
-#include "base/factory.h"
+#include "core/factory.h"
 
 // yaml-cpp library
 #include <yaml-cpp/yaml.h>
diff --git a/src/yaml/processor_image_yaml.cpp b/src/yaml/processor_image_yaml.cpp
index a02d44208d414294d203661a27da019b94d04afa..9979a7f0420892af662598088d4b33ed60028ea3 100644
--- a/src/yaml/processor_image_yaml.cpp
+++ b/src/yaml/processor_image_yaml.cpp
@@ -6,15 +6,15 @@
  */
 
 // wolf yaml
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
 
 // wolf
-#include "base/factory.h"
+#include "core/factory.h"
 
 // yaml-cpp library
 #include <yaml-cpp/yaml.h>
 
-#include "base/processor/processor_params_image.h"
+#include "core/processor/processor_params_image.h"
 
 namespace wolf
 {
diff --git a/src/yaml/processor_odom_3D_yaml.cpp b/src/yaml/processor_odom_3D_yaml.cpp
index 5c2172ea9f26c3561f7fc48c5c56d4be7695ed1c..2ef1308e5c7f689b34d62063632214b7359f7651 100644
--- a/src/yaml/processor_odom_3D_yaml.cpp
+++ b/src/yaml/processor_odom_3D_yaml.cpp
@@ -6,11 +6,11 @@
  */
 
 // wolf yaml
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
 
 // wolf
-#include "base/processor/processor_odom_3D.h"
-#include "base/factory.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/factory.h"
 
 // yaml-cpp library
 #include <yaml-cpp/yaml.h>
diff --git a/src/yaml/processor_tracker_feature_trifocal_yaml.cpp b/src/yaml/processor_tracker_feature_trifocal_yaml.cpp
index db78505d9a69330770ab7fb693e572f01fb96765..d776e06c748e15f166c5e8562b7053c7da2ac122 100644
--- a/src/yaml/processor_tracker_feature_trifocal_yaml.cpp
+++ b/src/yaml/processor_tracker_feature_trifocal_yaml.cpp
@@ -6,11 +6,11 @@
  */
 
 // wolf yaml
-#include "base/processor/processor_tracker_feature_trifocal.h"
-#include "base/yaml/yaml_conversion.h"
+#include "core/processor/processor_tracker_feature_trifocal.h"
+#include "core/yaml/yaml_conversion.h"
 
 // wolf
-#include "base/factory.h"
+#include "core/factory.h"
 
 // yaml-cpp library
 #include <yaml-cpp/yaml.h>
diff --git a/src/yaml/sensor_IMU_yaml.cpp b/src/yaml/sensor_IMU_yaml.cpp
index cc3dbb649b7d2c14c92ec4e78f2d43c0c343b254..a4ecd3e4eae8ab2f31d550ae19f46dd15b43718c 100644
--- a/src/yaml/sensor_IMU_yaml.cpp
+++ b/src/yaml/sensor_IMU_yaml.cpp
@@ -6,11 +6,11 @@
  */
 
 // wolf yaml
-#include "base/sensor/sensor_IMU.h"
-#include "base/yaml/yaml_conversion.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/yaml/yaml_conversion.h"
 
 // wolf
-#include "base/factory.h"
+#include "core/factory.h"
 
 // yaml-cpp library
 #include <yaml-cpp/yaml.h>
diff --git a/src/yaml/sensor_camera_yaml.cpp b/src/yaml/sensor_camera_yaml.cpp
index 5e5e3df19cd91a8735f6625ecd2d551deb7e7b77..dee2ba9e3ad8e8673802c94235f7f695b2d39417 100644
--- a/src/yaml/sensor_camera_yaml.cpp
+++ b/src/yaml/sensor_camera_yaml.cpp
@@ -6,11 +6,11 @@
  */
 
 // wolf yaml
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
 
 // wolf
-#include "base/sensor/sensor_camera.h"
-#include "base/factory.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/factory.h"
 
 // yaml-cpp library
 #include <yaml-cpp/yaml.h>
diff --git a/src/yaml/sensor_laser_2D_yaml.cpp b/src/yaml/sensor_laser_2D_yaml.cpp
index e687c14463b746d147d791338afc5e34120fe8f3..7ec160f2be75113a99991d11392768f60204b224 100644
--- a/src/yaml/sensor_laser_2D_yaml.cpp
+++ b/src/yaml/sensor_laser_2D_yaml.cpp
@@ -6,12 +6,12 @@
  */
 
 // wolf yaml
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
 
 // wolf
-//#include "base/intrinsics_factory.h"
-#include "base/factory.h"
-#include "base/sensor/sensor_laser_2D.h"
+//#include "core/intrinsics_factory.h"
+#include "core/factory.h"
+#include "core/sensor/sensor_laser_2D.h"
 
 // yaml library
 #include <yaml-cpp/yaml.h>
diff --git a/src/yaml/sensor_odom_3D_yaml.cpp b/src/yaml/sensor_odom_3D_yaml.cpp
index 63a7baa2c4cad96e3ca297950df76611fb4ed7ba..ccc9b3f51dc2b63d07a75be301e2f5ea1700f1a5 100644
--- a/src/yaml/sensor_odom_3D_yaml.cpp
+++ b/src/yaml/sensor_odom_3D_yaml.cpp
@@ -6,11 +6,11 @@
  */
 
 // wolf yaml
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
 
 // wolf
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/factory.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/factory.h"
 
 // yaml-cpp library
 #include <yaml-cpp/yaml.h>
diff --git a/test/gtest_factor_gnss_fix_2D.cpp b/test/gtest_factor_gnss_fix_2D.cpp
index 23983d60685be050ca2c6ad15a3d7621b10a3646..555fb301f7d48618bb783fad0b6b386057fbda39 100644
--- a/test/gtest_factor_gnss_fix_2D.cpp
+++ b/test/gtest_factor_gnss_fix_2D.cpp
@@ -9,11 +9,11 @@
 #include "gnss/factor/factor_gnss_fix_2D.h"
 #include "utils_gtest.h"
 
-#include "base/problem/problem.h"
+#include "core/problem/problem.h"
 #include "gnss/sensor/sensor_gnss.h"
 #include "gnss/processor/processor_gnss_fix.h"
 
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 
 using namespace Eigen;
diff --git a/test/gtest_factor_gnss_single_diff_2D.cpp b/test/gtest_factor_gnss_single_diff_2D.cpp
index 20c14da102bb89a25b81f36fd010f0c7a4a4f037..ca243a4ebb31650005f84c030c8f7ee0d325c34b 100644
--- a/test/gtest_factor_gnss_single_diff_2D.cpp
+++ b/test/gtest_factor_gnss_single_diff_2D.cpp
@@ -9,14 +9,14 @@
 #include "gnss/factor/factor_gnss_single_diff_2D.h"
 #include "utils_gtest.h"
 
-#include "base/capture/capture_motion.h"
-#include "base/problem/problem.h"
+#include "core/capture/capture_motion.h"
+#include "core/problem/problem.h"
 #include "gnss/sensor/sensor_gnss.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
 #include "gnss/processor/processor_gnss_single_diff.h"
 
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 
 using namespace Eigen;
diff --git a/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp b/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp
index ae4a43a3bdd7733931da9b42fb87e279f529a7a2..87cafb4d5f171bafb74670348cd562ad49b1d306 100644
--- a/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp
+++ b/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp
@@ -5,7 +5,7 @@
  *      Author: Jeremie Deray
  */
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 #include "../../utils_gtest.h"
 
 #include "../../../serialization/cereal/serialization_eigen_geometry.h"
diff --git a/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp b/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp
index c7f7249a5747d2e848bf07ea892b8486ee1f2eaa..0b803afdd30778a58b9536343c5ba5248ec8a148 100644
--- a/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp
+++ b/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp
@@ -5,7 +5,7 @@
  *      Author: Jeremie Deray
  */
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 #include "../../utils_gtest.h"
 
 #include "../../../serialization/cereal/serialization_eigen_sparse.h"