diff --git a/CMakeLists.txt b/CMakeLists.txt
index a72b1a95bbca659863b808346b53d76ec619cf0e..e05b69ceb3c2840724a80df0f68f4b0bb516a9a3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -97,7 +97,7 @@ ENDIF(BUILD_EXAMPLES OR BUILD_TESTS)
 
 #find dependencies.
 # ============EXAMPLE==================
-FIND_PACKAGE(wolf REQUIRED)
+FIND_PACKAGE(wolfcore REQUIRED)
 FIND_PACKAGE(gnss_utils REQUIRED)
 
 #FIND_PATH(
@@ -133,7 +133,7 @@ include_directories("${PROJECT_BINARY_DIR}/conf")
 
 #INCLUDES SECTION
 # ==============================
-INCLUDE_DIRECTORIES(${wolf_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(${wolfcore_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(${gnss_utils_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(BEFORE "include")
 
@@ -270,7 +270,7 @@ endif()
 
 #Link the created libraries
 #===============EXAMPLE=========================
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolf_LIBRARIES})
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES})
 TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${gnss_utils_LIBRARIES})
 
 
diff --git a/cmake_modules/wolfgnssConfig.cmake b/cmake_modules/wolfgnssConfig.cmake
index db8f69e9c49d44c86fd276d850a41cb1bb748408..5d041b978feb32a0dfc114ebc2b93b738dd939fb 100644
--- a/cmake_modules/wolfgnssConfig.cmake
+++ b/cmake_modules/wolfgnssConfig.cmake
@@ -70,14 +70,14 @@ FIND_PACKAGE(gnss_utils REQUIRED)
 list(APPEND wolfgnss_INCLUDE_DIRS ${gnss_utils_INCLUDE_DIRS})
 list(APPEND wolfgnss_LIBRARIES ${gnss_utils_LIBRARY})
 if(NOT wolf_FOUND)
-  FIND_PACKAGE(wolf REQUIRED)
+  FIND_PACKAGE(wolfcore REQUIRED)
 
   #We reverse in order to insert at the start
   list(REVERSE wolfgnss_INCLUDE_DIRS)
-  list(APPEND wolfgnss_INCLUDE_DIRS ${wolf_INCLUDE_DIRS})
+  list(APPEND wolfgnss_INCLUDE_DIRS ${wolfcore_INCLUDE_DIRS})
   list(REVERSE wolfgnss_INCLUDE_DIRS)
 
   list(REVERSE wolfgnss_LIBRARIES)
-  list(APPEND wolfgnss_LIBRARIES ${wolf_LIBRARIES})
+  list(APPEND wolfgnss_LIBRARIES ${wolfcore_LIBRARIES})
   list(REVERSE wolfgnss_LIBRARIES)
 endif()
\ No newline at end of file
diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp
index f4d7fe28399f9315333de0ad140cf1d709418373..b2ad0211aa2cb1ba52b112e8980bb47aa9fcc4cf 100644
--- a/src/processor/processor_gnss_fix.cpp
+++ b/src/processor/processor_gnss_fix.cpp
@@ -84,7 +84,7 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture)
     else if (permittedKeyFrame() && voteForKeyFrame())
     {
         WOLF_DEBUG("PR ", getName()," emplacing KF TS = ", incoming_capture_->getTimeStamp());
-        new_frame = getProblem()->emplaceFrame(KEY, incoming_capture_->getTimeStamp());
+        new_frame = getProblem()->emplaceKeyFrame(incoming_capture_->getTimeStamp());
         KF_created = true;
     }
     // OTHERWISE return
diff --git a/src/processor/processor_gnss_single_diff.cpp b/src/processor/processor_gnss_single_diff.cpp
index fb44cb1d7289a67036ea1dafd5066e65a162ce04..d2b297a730fceccfa43ede5e44d089ef0ba1bcec 100644
--- a/src/processor/processor_gnss_single_diff.cpp
+++ b/src/processor/processor_gnss_single_diff.cpp
@@ -48,7 +48,7 @@ void ProcessorGnssSingleDiff::processCapture(CaptureBasePtr _capture)
     // MAKE KF
     else if (voteForKeyFrame() && permittedKeyFrame())
     {
-        new_frame = getProblem()->emplaceFrame(KEY, incoming_capture_->getTimeStamp());
+        new_frame = getProblem()->emplaceKeyFrame( incoming_capture_->getTimeStamp());
         getProblem()->keyFrameCallback(new_frame, shared_from_this(), params_->time_tolerance);
         WOLF_DEBUG( "PR ",getName()," - capture ", incoming_capture_->id(), " appended to new KF " , new_frame->id() , " TS: ", new_frame->getTimeStamp());
     }
diff --git a/src/processor/processor_gnss_tdcp.cpp b/src/processor/processor_gnss_tdcp.cpp
index 7e5b9d9043437c88ec7866f35deb1baa92f7e216..1734ecf19d6f280e7b895df47f6a8606523712bd 100644
--- a/src/processor/processor_gnss_tdcp.cpp
+++ b/src/processor/processor_gnss_tdcp.cpp
@@ -53,7 +53,7 @@ void ProcessorGnssTdcp::processCapture(CaptureBasePtr _capture)
     // MAKE KF
     else if (voteForKeyFrame() && permittedKeyFrame())
     {
-        new_frame = getProblem()->emplaceFrame(KEY, incoming_capture_->getTimeStamp());
+        new_frame = getProblem()->emplaceKeyFrame( incoming_capture_->getTimeStamp());
         getProblem()->keyFrameCallback(new_frame, shared_from_this(), params_->time_tolerance);
         WOLF_DEBUG( "PR ",getName()," - capture ", incoming_capture_->id(), " appended to new KF " , new_frame->id() , " TS: ", new_frame->getTimeStamp());
     }
@@ -123,8 +123,8 @@ void ProcessorGnssTdcp::processKeyFrame(FrameBasePtr _keyframe, const double& _t
     }
 
     // Iterate over all KF of the trajectory with GNSS captures
-    for (auto KF_it = getProblem()->getTrajectory()->getFrameList().rbegin();
-         KF_it != getProblem()->getTrajectory()->getFrameList().rend();
+    for (auto KF_it = getProblem()->getTrajectory()->rbegin();
+         KF_it != getProblem()->getTrajectory()->rend();
          KF_it++)
     {
         auto KF_ref = *KF_it;
diff --git a/src/processor/processor_tracker_gnss.cpp b/src/processor/processor_tracker_gnss.cpp
index 6da68def38a002947be5e572c615b0d8d961c007..a26e2978a74f63e1d80063545386d1e19c7f76ae 100644
--- a/src/processor/processor_tracker_gnss.cpp
+++ b/src/processor/processor_tracker_gnss.cpp
@@ -266,8 +266,8 @@ void ProcessorTrackerGnss::establishFactors()
         {
             WOLF_DEBUG("TDCP BATCH frame ", last_ptr_->getFrame()->id());
 
-            for (auto KF_rit = getProblem()->getTrajectory()->getFrameList().rbegin();
-                 KF_rit != getProblem()->getTrajectory()->getFrameList().rend();
+            for (auto KF_rit = getProblem()->getTrajectory()->rbegin();
+                 KF_rit != getProblem()->getTrajectory()->rend();
                  KF_rit++)
             {
                 FrameBasePtr KF = (*KF_rit);
diff --git a/test/gtest_factor_gnss_fix_2d.cpp b/test/gtest_factor_gnss_fix_2d.cpp
index 1c048da6e7ed1860c94b98a667b7c3305cbc7cc7..401cd95f9b323146483990de071886a8c9be728d 100644
--- a/test/gtest_factor_gnss_fix_2d.cpp
+++ b/test/gtest_factor_gnss_fix_2d.cpp
@@ -113,7 +113,7 @@ TEST(FactorGnssFix2dTest, configure_tree)
 
     // Emplace a frame (FIXED)
     Vector3d frame_pose = (Vector3d() << t_map_base(0), t_map_base(1), o_map_base(0)).finished();
-    frame_ptr = problem_ptr->emplaceFrame(KEY, TimeStamp(0), frame_pose);
+    frame_ptr = problem_ptr->emplaceKeyFrame( TimeStamp(0), frame_pose);
     problem_ptr->keyFrameCallback(frame_ptr, nullptr, 1.0);
 
     // Create & process GNSS Fix capture
diff --git a/test/gtest_factor_gnss_pseudo_range.cpp b/test/gtest_factor_gnss_pseudo_range.cpp
index 9c7f1e36bbe839e321214d0fbdd37e7aadb14cca..1f2ae8a11753e24140707f7dcebe849b73949405 100644
--- a/test/gtest_factor_gnss_pseudo_range.cpp
+++ b/test/gtest_factor_gnss_pseudo_range.cpp
@@ -104,7 +104,7 @@ void setUpProblem()
     Vector7d frm_state;
     frm_state.head<3>() = t_map_base;
     frm_state.tail<4>() = q_map_base.coeffs();
-    frm = prb->emplaceFrame(KEY, TimeStamp(0), frm_state);
+    frm = prb->emplaceKeyFrame( TimeStamp(0), frm_state);
 
     // capture
     cap = CaptureBase::emplace<CaptureGnss>(frm, TimeStamp(0), gnss_sensor, nullptr);
diff --git a/test/gtest_factor_gnss_tdcp.cpp b/test/gtest_factor_gnss_tdcp.cpp
index 90c5ab964207fccb52a3ed507f2dedf1487abe81..cd51ec56a04bfb97bb3ba42e6a3372b1ed4f0d9c 100644
--- a/test/gtest_factor_gnss_tdcp.cpp
+++ b/test/gtest_factor_gnss_tdcp.cpp
@@ -119,13 +119,13 @@ void setUpProblem()
     Vector7d frm_r_state;
     frm_r_state.head<3>() = t_map_base_r;
     frm_r_state.tail<4>() = q_map_base_r.coeffs();
-    frm_r = prb->emplaceFrame(KEY, TimeStamp(0), frm_r_state);
+    frm_r = prb->emplaceKeyFrame( TimeStamp(0), frm_r_state);
 
     // Frame k
     Vector7d frm_k_state;
     frm_k_state.head<3>() = t_map_base_k;
     frm_k_state.tail<4>() = q_map_base_k.coeffs();
-    frm_k = prb->emplaceFrame(KEY, TimeStamp(1), frm_k_state);
+    frm_k = prb->emplaceKeyFrame( TimeStamp(1), frm_k_state);
 
     // capture r
     cap_r = CaptureBase::emplace<CaptureGnss>(frm_r, TimeStamp(0), gnss_sensor, nullptr);