diff --git a/codetemplates eclipse.xml b/codetemplates eclipse.xml
index a83cc56bd43bb272eff012dd89a401c33283610f..85f43146f9e51b952d6bc33e75bcda962262dd0a 100644
--- a/codetemplates eclipse.xml
+++ b/codetemplates eclipse.xml
@@ -23,7 +23,7 @@ ${declarations}
${namespace_end}</template><template autoinsert="false" context="org.eclipse.cdt.core.cxxSource.contenttype_context" deleted="false" description="Default template for newly created C++ test files" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.cpptestfile" name="Default C++ test template">${filecomment}
-#include "utils_gtest.h"
+#include <core/utils/utils_gtest.h>
${includes}
diff --git a/test/gtest_IMU.cpp b/test/gtest_IMU.cpp
index 4f2f6025e6b73a16770dc49a1159c004b7cefe8c..78244fd32dbe1c510c3fa2b64c87a6c3697b2b8b 100644
--- a/test/gtest_IMU.cpp
+++ b/test/gtest_IMU.cpp
@@ -13,7 +13,7 @@
#include "core/processor/processor_odom_3D.h"
#include "core/ceres_wrapper/ceres_manager.h"
-#include "utils_gtest.h"
+#include <core/utils/utils_gtest.h>
#include "core/utils/logging.h"
// make my life easier
diff --git a/test/gtest_IMU_tools.cpp b/test/gtest_IMU_tools.cpp
index 7faf06fde2baf5f3cf0c810cca1c1f070a0a3c1d..c1b438d68d3471f5439730ab50c015cd0260f8fa 100644
--- a/test/gtest_IMU_tools.cpp
+++ b/test/gtest_IMU_tools.cpp
@@ -6,7 +6,7 @@
*/
#include "IMU/math/IMU_tools.h"
-#include "utils_gtest.h"
+#include <core/utils/utils_gtest.h>
using namespace Eigen;
using namespace wolf;
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 0cadea4ffe640770290f82ea4b5e17542468d404..140792d538ab5ae568ba7743fbc49bce0bb6d9f2 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,4 +1,4 @@
-#include "utils_gtest.h"
+#include <core/utils/utils_gtest.h>
TEST(TestTest, DummyTestExample)
{
diff --git a/test/gtest_factor_IMU.cpp b/test/gtest_factor_IMU.cpp
index 49ff47590f31c2a49e67117e4dd1f727a14500cb..6224c83f27b594c23234449b781b5cf3f56bae77 100644
--- a/test/gtest_factor_IMU.cpp
+++ b/test/gtest_factor_IMU.cpp
@@ -13,7 +13,7 @@
#include "core/processor/processor_odom_3D.h"
#include "ceres_wrapper/ceres_manager.h"
-#include "utils_gtest.h"
+#include <core/utils/utils_gtest.h>
#include "core/utils/logging.h"
#include <iostream>
diff --git a/test/gtest_feature_IMU.cpp b/test/gtest_feature_IMU.cpp
index 15b39b3fc66d0aa4eb5df1a23c114ed7869145f9..04946583e0df53ced27e92e6406bc9c5defe4020 100644
--- a/test/gtest_feature_IMU.cpp
+++ b/test/gtest_feature_IMU.cpp
@@ -6,7 +6,7 @@
#include "core/problem/problem.h"
#include "core/state_block/state_block.h"
#include "core/state_block/state_quaternion.h"
-#include "utils_gtest.h"
+#include <core/utils/utils_gtest.h>
#include "core/utils/logging.h"
class FeatureIMU_test : public testing::Test
diff --git a/test/gtest_processor_IMU.cpp b/test/gtest_processor_IMU.cpp
index 5dbd53a11144e37663cbef6d4dfbfa20542ac205..4029c0f60a76d7b4e231897ce73d3bd02934b209 100644
--- a/test/gtest_processor_IMU.cpp
+++ b/test/gtest_processor_IMU.cpp
@@ -10,7 +10,7 @@
#include "IMU/sensor/sensor_IMU.h"
#include "core/common/wolf.h"
-#include "utils_gtest.h"
+#include <core/utils/utils_gtest.h>
#include "core/utils/logging.h"
#include "core/math/rotations.h"
diff --git a/test/gtest_processor_IMU_jacobians.cpp b/test/gtest_processor_IMU_jacobians.cpp
index 369233724601924e9c402ae3f0ba621e8eda7882..422972ea078fc1cce80297009e7d2e4edbf9e243 100644
--- a/test/gtest_processor_IMU_jacobians.cpp
+++ b/test/gtest_processor_IMU_jacobians.cpp
@@ -20,7 +20,7 @@
#include <cmath>
//google test
-#include "utils_gtest.h"
+#include <core/utils/utils_gtest.h>
//#define DEBUG_RESULTS
//#define WRITE_RESULTS
diff --git a/test/utils_gtest.h b/test/utils_gtest.h
deleted file mode 100644
index 9cb2166e8429cd236f77c502891c14880e57ec30..0000000000000000000000000000000000000000
--- a/test/utils_gtest.h
+++ /dev/null
@@ -1,146 +0,0 @@
-/**
- * \file utils_gtest.h
- * \brief Some utils for gtest
- * \author Jeremie Deray
- * Created on: 26/09/2016
- * Eigen macros extension by: Joan Sola on 26/04/2017
- */
-
-#ifndef WOLF_UTILS_GTEST_H
-#define WOLF_UTILS_GTEST_H
-
-#include <gtest/gtest.h>
-
-// Macros for testing equalities and inequalities.
-//
-// * {ASSERT|EXPECT}_EQ(expected, actual): Tests that expected == actual
-// * {ASSERT|EXPECT}_NE(v1, v2): Tests that v1 != v2
-// * {ASSERT|EXPECT}_LT(v1, v2): Tests that v1 < v2
-// * {ASSERT|EXPECT}_LE(v1, v2): Tests that v1 <= v2
-// * {ASSERT|EXPECT}_GT(v1, v2): Tests that v1 > v2
-// * {ASSERT|EXPECT}_GE(v1, v2): Tests that v1 >= v2
-//
-// C String Comparisons. All tests treat NULL and any non-NULL string
-// as different. Two NULLs are equal.
-//
-// * {ASSERT|EXPECT}_STREQ(s1, s2): Tests that s1 == s2
-// * {ASSERT|EXPECT}_STRNE(s1, s2): Tests that s1 != s2
-// * {ASSERT|EXPECT}_STRCASEEQ(s1, s2): Tests that s1 == s2, ignoring case
-// * {ASSERT|EXPECT}_STRCASENE(s1, s2): Tests that s1 != s2, ignoring case
-//
-// Macros for comparing floating-point numbers.
-//
-// * {ASSERT|EXPECT}_FLOAT_EQ(expected, actual):
-// Tests that two float values are almost equal.
-// * {ASSERT|EXPECT}_DOUBLE_EQ(expected, actual):
-// Tests that two double values are almost equal.
-// * {ASSERT|EXPECT}_NEAR(v1, v2, abs_error):
-// Tests that v1 and v2 are within the given distance to each other.
-//
-// These predicate format functions work on floating-point values, and
-// can be used in {ASSERT|EXPECT}_PRED_FORMAT2*(), e.g.
-//
-// EXPECT_PRED_FORMAT2(testing::DoubleLE, Foo(), 5.0);
-//
-// Macros that execute statement and check that it doesn't generate new fatal
-// failures in the current thread.
-//
-// * {ASSERT|EXPECT}_NO_FATAL_FAILURE(statement);
-
-// http://stackoverflow.com/a/29155677
-
-namespace testing
-{
-namespace internal
-{
-enum GTestColor
-{
- COLOR_DEFAULT,
- COLOR_RED,
- COLOR_GREEN,
- COLOR_YELLOW
-};
-
-extern void ColoredPrintf(GTestColor color, const char* fmt, ...);
-
-#define PRINTF(...) \
- do { testing::internal::ColoredPrintf(testing::internal::COLOR_GREEN,\
- "[ ] "); \
- testing::internal::ColoredPrintf(testing::internal::COLOR_YELLOW, __VA_ARGS__); } \
- while(0)
-
-#define PRINT_TEST_FINISHED \
-{ \
- const ::testing::TestInfo* const test_info = \
- ::testing::UnitTest::GetInstance()->current_test_info(); \
- PRINTF(std::string("Finished test case ").append(test_info->test_case_name()).\
- append(" of test ").append(test_info->name()).append(".\n").c_str()); \
-}
-
-// C++ stream interface
-class TestCout : public std::stringstream
-{
-public:
- ~TestCout()
- {
- PRINTF("%s\n", str().c_str());
- }
-};
-
-/* Usage :
-
-TEST(Test, Foo)
-{
- // the following works but prints default stream
- EXPECT_TRUE(false) << "Testing Stream.";
-
- // or you can play with AINSI color code
- EXPECT_TRUE(false) << "\033[1;31m" << "Testing Stream.";
-
- // or use the above defined macros
-
- PRINTF("Hello world");
-
- // or
-
- TEST_COUT << "Hello world";
-}
-
-*/
-#define TEST_COUT testing::internal::TestCout()
-
-} // namespace internal
-
-/* Macros related to testing Eigen classes:
- */
-#define EXPECT_MATRIX_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXs lhs, const Eigen::MatrixXs rhs) { \
- return (lhs - rhs).isMuchSmallerThan(1, precision); \
- }, \
- C_expect, C_actual);
-
-#define ASSERT_MATRIX_APPROX(C_expect, C_actual, precision) ASSERT_PRED2([](const Eigen::MatrixXs lhs, const Eigen::MatrixXs rhs) { \
- return (lhs - rhs).isMuchSmallerThan(1, precision); \
- }, \
- C_expect, C_actual);
-
-#define EXPECT_QUATERNION_APPROX(C_expect, C_actual, precision) EXPECT_MATRIX_APPROX((C_expect).coeffs(), (C_actual).coeffs(), precision)
-
-#define ASSERT_QUATERNION_APPROX(C_expect, C_actual, precision) ASSERT_MATRIX_APPROX((C_expect).coeffs(), (C_actual).coeffs(), precision)
-
-#define EXPECT_POSE2D_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXs lhs, const Eigen::MatrixXs rhs) { \
- MatrixXs er = lhs - rhs; \
- er(2) = pi2pi((Scalar)er(2)); \
- return er.isMuchSmallerThan(1, precision); \
- }, \
- C_expect, C_actual);
-
-#define ASSERT_POSE2D_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXs lhs, const Eigen::MatrixXs rhs) { \
- MatrixXs er = lhs - rhs; \
- er(2) = pi2pi((Scalar)er(2)); \
- return er.isMuchSmallerThan(1, precision); \
- }, \
- C_expect, C_actual);
-
-} // namespace testing
-
-#endif /* WOLF_UTILS_GTEST_H */