diff --git a/src/examples/test_analytic_odom_constraint.cpp b/src/examples/test_analytic_odom_constraint.cpp
index 6453efe371d91c9bca61ec3002c951f210a8cee7..fcc7a71b40e1bf172b3d3a719b9ef7b39f88d90c 100644
--- a/src/examples/test_analytic_odom_constraint.cpp
+++ b/src/examples/test_analytic_odom_constraint.cpp
@@ -18,6 +18,7 @@
 // EIGEN
 //#include <Eigen/CholmodSupport>
 
+namespace wolf {
 // inserts the sparse matrix 'ins' into the sparse matrix 'original' in the place given by 'row' and 'col' integers
 void insertSparseBlock(const Eigen::SparseMatrix<WolfScalar>& ins, Eigen::SparseMatrix<WolfScalar>& original, const unsigned int& row, const unsigned int& col)
 {
@@ -27,10 +28,13 @@ void insertSparseBlock(const Eigen::SparseMatrix<WolfScalar>& ins, Eigen::Sparse
 
   original.makeCompressed();
 }
+}
 
 
 int main(int argc, char** argv) 
 {
+    using namespace wolf;
+
     //Welcome message
     std::cout << std::endl << " ========= WOLF IMPORTED .graph TEST ===========" << std::endl << std::endl;
 
diff --git a/src/examples/test_autodiff.cpp b/src/examples/test_autodiff.cpp
index 0815cd7ed35f9e00e87c0d9209bdb1fd3e3ce5a2..aae3d005ee426444d856f7beb76e9dd4b3a87cef 100644
--- a/src/examples/test_autodiff.cpp
+++ b/src/examples/test_autodiff.cpp
@@ -33,6 +33,7 @@
 #include "iri-algorithms/laser_scan_utils/corner_detector.h"
 #include "iri-algorithms/laser_scan_utils/entities.h"
 
+namespace wolf {
 //function travel around
 void motionCampus(unsigned int ii, Cpose3d & pose, double& displacement_, double& rotation_)
 {
@@ -49,9 +50,12 @@ void motionCampus(unsigned int ii, Cpose3d & pose, double& displacement_, double
     pose.moveForward(displacement_);
     pose.rt.setEuler(pose.rt.head() + rotation_, pose.rt.pitch(), pose.rt.roll());
 }
+}
 
 int main(int argc, char** argv)
 {
+    using namespace wolf;
+
     std::cout << "\n ========= 2D Robot with odometry and 2 LIDARs ===========\n";
 
     // USER INPUT ============================================================================================
diff --git a/src/examples/test_capture_laser_2D.cpp b/src/examples/test_capture_laser_2D.cpp
index ebf434d972f5921cf7ec4d9b9a8d8a660e2b46ae..64318628898f470bc9e65b951064d0590bb9f3fe 100644
--- a/src/examples/test_capture_laser_2D.cpp
+++ b/src/examples/test_capture_laser_2D.cpp
@@ -8,6 +8,8 @@
 //main
 int main(int argc, char *argv[])
 {
+    using namespace wolf;
+
     std::cout << std::endl << "CaptureLaser2D class test" << std::endl;
     std::cout << "========================================================" << std::endl;
     
diff --git a/src/examples/test_ceres_2_lasers.cpp b/src/examples/test_ceres_2_lasers.cpp
index 697f55df87ca5d50661d38fd20450ea56df0f8da..a1b5c86c8302e1fbc566d568ca321483b0c30d42 100644
--- a/src/examples/test_ceres_2_lasers.cpp
+++ b/src/examples/test_ceres_2_lasers.cpp
@@ -32,6 +32,7 @@
 #include "iri-algorithms/laser_scan_utils/corner_detector.h"
 #include "iri-algorithms/laser_scan_utils/entities.h"
 
+namespace wolf {
 //function travel around
 void motionCampus(unsigned int ii, Cpose3d & pose, double& displacement_, double& rotation_)
 {
@@ -48,9 +49,12 @@ void motionCampus(unsigned int ii, Cpose3d & pose, double& displacement_, double
     pose.moveForward(displacement_);
     pose.rt.setEuler(pose.rt.head() + rotation_, pose.rt.pitch(), pose.rt.roll());
 }
+}
 
 int main(int argc, char** argv)
 {
+    using namespace wolf;
+
     std::cout << "\n ========= 2D Robot with odometry and 2 LIDARs ===========\n";
 
     // USER INPUT ============================================================================================
diff --git a/src/examples/test_eigen_quaternion.cpp b/src/examples/test_eigen_quaternion.cpp
index 0a696a82cbc79fcfb0b32b62e718cb74c8fe8d74..9eca8b910e5717e44fb920114afc550e8dff47fa 100644
--- a/src/examples/test_eigen_quaternion.cpp
+++ b/src/examples/test_eigen_quaternion.cpp
@@ -10,6 +10,8 @@
 
 int main()
 {
+    using namespace wolf;
+
     std::cout << std::endl << "Eigen Quatenrnion test" << std::endl;
     
     WolfScalar q1[4]; 
diff --git a/src/examples/test_image.cpp b/src/examples/test_image.cpp
index 37eee84d29938f7dc0db97110c82b3e652e8d0e0..a7765eab8b4d3e14a388e8a250175072c55d3552 100644
--- a/src/examples/test_image.cpp
+++ b/src/examples/test_image.cpp
@@ -18,6 +18,8 @@
 
 int main(int argc, char** argv)
 {
+    using namespace wolf;
+
     /**
     if (argc != 2 || atoi(argv[1]) < 0 || atoi(argv[1]) > 1)
     {
diff --git a/src/examples/test_local_param.cpp b/src/examples/test_local_param.cpp
index 03eec4fd0456c3efa9b3d7eb607cf0afdec43c52..d355cb0193815aa4f927c55c475f6f35bc1ab657 100644
--- a/src/examples/test_local_param.cpp
+++ b/src/examples/test_local_param.cpp
@@ -17,6 +17,7 @@ int main(){
 
     using namespace Eigen;
     using namespace std;
+    using namespace wolf;
 
     VectorXs x(22);
     MatrixXs M(1,12); // matrix dimensions do not matter, just storage size.
diff --git a/src/examples/test_motion.cpp b/src/examples/test_motion.cpp
index 45bc90ace487acaaa8408c62f4ee2c2e7b733743..5596972148e314d272429a7f7df5d2af129a3482 100644
--- a/src/examples/test_motion.cpp
+++ b/src/examples/test_motion.cpp
@@ -25,6 +25,8 @@
 
 int main()
 {
+    using namespace wolf;
+
     // time
     TimeStamp t0, t;
     t0.setToNow();
diff --git a/src/examples/test_node_linked.cpp b/src/examples/test_node_linked.cpp
index 9a67615b036df8a098f144e2e1582e59cd29b565..cd12c5bf9f90ab932f2178c3a66bef62ceb1e647 100644
--- a/src/examples/test_node_linked.cpp
+++ b/src/examples/test_node_linked.cpp
@@ -4,6 +4,7 @@
 #include "wolf_problem.h"
 
 //namespaces
+namespace wolf {
 using namespace std;
 
 //id count init
@@ -92,9 +93,12 @@ class MeasurementN : public NodeLinked<FrameN,NodeTerminus>
         
 };
 
+} // namespace wolf
 
 int main()
 {
+    using namespace wolf;
+
     cout << endl << "Node class test" << endl;
     cout << "========================================================" << endl;
 
diff --git a/src/examples/test_state_quaternion.cpp b/src/examples/test_state_quaternion.cpp
index 3aba4fcbf3a6725d1743e983f491ce007d9b353c..3ddef2d5d79d5ce505407e66d578eb76ef663144 100644
--- a/src/examples/test_state_quaternion.cpp
+++ b/src/examples/test_state_quaternion.cpp
@@ -14,6 +14,8 @@
 
 int main (void)
 {
+    using namespace wolf;
+
     // 3D
     StateBlock* pp = new StateBlock(3);
     StateQuaternion* op = new StateQuaternion;
diff --git a/src/examples/test_virtual_hierarchy.cpp b/src/examples/test_virtual_hierarchy.cpp
index 2d2e4848e00829c50558500c6e7d6d2d44b05623..c6adba5120ca16980c2c4abc75958dd4c25ef27a 100644
--- a/src/examples/test_virtual_hierarchy.cpp
+++ b/src/examples/test_virtual_hierarchy.cpp
@@ -7,7 +7,9 @@
 
 #include <list>
 
+namespace wolf{
 
+}
 // BASE CLASSES
 
 /**
@@ -230,11 +232,15 @@ class SenNode : public Sen, public ChildOf<VehNode>, public Bot
         virtual ~SenNode() { }
 };
 
+} // namespace wolf
+
 /////////////////////
 // IMPLEMENTATIONS, here to avoid incomplete types and unwanted #includes
 /////////////////////
 
 #include <iostream>
+
+namespace wolf {
 using namespace std;
 
 template<class Child>
@@ -291,8 +297,12 @@ void VehNode::print()
 
 unsigned int N::id_count_ = 0;
 
+} // namespace wolf
+
 int main()
 {
+    using namespace wolf;
+
     // Create all nodes with up-pointers already set up
     VehNode V;
     SenNode S0(&V), S1(&V);
diff --git a/src/examples/test_wolf_autodiffwrapper.cpp b/src/examples/test_wolf_autodiffwrapper.cpp
index c351db56af1476c71a2f3de77c230cf73a1d80d8..93fd4f8de63a0c949ca70740a8de89029b5dbe8f 100644
--- a/src/examples/test_wolf_autodiffwrapper.cpp
+++ b/src/examples/test_wolf_autodiffwrapper.cpp
@@ -17,6 +17,8 @@
 
 int main(int argc, char** argv) 
 {
+    using namespace wolf;
+
     //Welcome message
     std::cout << std::endl << " ========= WOLF IMPORTED .graph TEST ===========" << std::endl << std::endl;
 
diff --git a/src/examples/test_wolf_imported_graph.cpp b/src/examples/test_wolf_imported_graph.cpp
index 1731d4385e3cf61440491d944f95a9b268c07757..b0bc70a6b390ecf20f008435959ed638e69fb572 100644
--- a/src/examples/test_wolf_imported_graph.cpp
+++ b/src/examples/test_wolf_imported_graph.cpp
@@ -18,6 +18,7 @@
 // EIGEN
 //#include <Eigen/CholmodSupport>
 
+namespace wolf{
 // inserts the sparse matrix 'ins' into the sparse matrix 'original' in the place given by 'row' and 'col' integers
 void insertSparseBlock(const Eigen::SparseMatrix<WolfScalar>& ins, Eigen::SparseMatrix<WolfScalar>& original, const unsigned int& row, const unsigned int& col)
 {
@@ -27,10 +28,12 @@ void insertSparseBlock(const Eigen::SparseMatrix<WolfScalar>& ins, Eigen::Sparse
 
   original.makeCompressed();
 }
-
+}
 
 int main(int argc, char** argv) 
 {
+    using namespace wolf;
+
     //Welcome message
     std::cout << std::endl << " ========= WOLF IMPORTED .graph TEST ===========" << std::endl << std::endl;
 
diff --git a/src/examples/test_wolf_prunning.cpp b/src/examples/test_wolf_prunning.cpp
index f3329dcfd623dd43bdc4ab778893e7fcaf1e1fa7..065709f7caf6120f70f6da21879c5920d5bea372 100644
--- a/src/examples/test_wolf_prunning.cpp
+++ b/src/examples/test_wolf_prunning.cpp
@@ -18,7 +18,9 @@
 // EIGEN
 //#include <Eigen/CholmodSupport>
 
+namespace wolf{
 // inserts the sparse matrix 'ins' into the sparse matrix 'original' in the place given by 'row' and 'col' integers
+}
 void insertSparseBlock(const Eigen::SparseMatrix<WolfScalar>& ins, Eigen::SparseMatrix<WolfScalar>& original, const unsigned int& row, const unsigned int& col)
 {
   for (int k=0; k<ins.outerSize(); ++k)
@@ -27,10 +29,12 @@ void insertSparseBlock(const Eigen::SparseMatrix<WolfScalar>& ins, Eigen::Sparse
 
   original.makeCompressed();
 }
-
+}
 
 int main(int argc, char** argv) 
 {
+    using namespace wolf;
+
     //Welcome message
     std::cout << std::endl << " ========= WOLF IMPORTED .graph TEST ===========" << std::endl << std::endl;
 
diff --git a/src/examples/test_wolf_tree.cpp b/src/examples/test_wolf_tree.cpp
index 9e273a3999e8b295c397e4ab2f69b85683d46518..b215cd2034bb26b4f1e3d9fb7c9571a3e519506a 100644
--- a/src/examples/test_wolf_tree.cpp
+++ b/src/examples/test_wolf_tree.cpp
@@ -10,10 +10,10 @@
 //Wolf includes
 #include "wolf_manager.h"
 
-namespace wolf {
-
 int main(int argc, char** argv) 
 {
+    using namespace wolf;
+
     //Welcome message
     std::cout << std::endl << " ========= WOLF TREE test ===========" << std::endl << std::endl;
 
@@ -57,4 +57,3 @@ int main(int argc, char** argv)
     return 0;
 }
 
-} // namespace wolf