diff --git a/include/laser/capture/capture_laser_2D.h b/include/laser/capture/capture_laser_2D.h
index 28e5f766aa4262c42600598bc039b430f3c884e0..03faa523dec2a7290aa05b448a80c9dedf28d136 100644
--- a/include/laser/capture/capture_laser_2D.h
+++ b/include/laser/capture/capture_laser_2D.h
@@ -8,7 +8,7 @@ class SensorLaser2D;
 }
 
 //wolf includes
-#include "base/capture/capture_base.h"
+#include "core/capture/capture_base.h"
 #include "laser/sensor/sensor_laser_2D.h"
 
 //laserscanutils includes
diff --git a/include/laser/factor/factor_point_2D.h b/include/laser/factor/factor_point_2D.h
index a9428ca5328ac562b9e49331c195da95e36721a4..5d8525a4a902a4d124d065779c17fd99942af3a4 100644
--- a/include/laser/factor/factor_point_2D.h
+++ b/include/laser/factor/factor_point_2D.h
@@ -2,7 +2,7 @@
 #define FACTOR_POINT_2D_THETA_H_
 
 //Wolf includes
-#include "base/factor/factor_autodiff.h"
+#include "core/factor/factor_autodiff.h"
 #include "laser/feature/feature_polyline_2D.h"
 #include "laser/landmark/landmark_polyline_2D.h"
 
diff --git a/include/laser/factor/factor_point_to_line_2D.h b/include/laser/factor/factor_point_to_line_2D.h
index 097a3a3cfb2b6092ae9a93f8a1274c123c25626c..561526c67af7f4b5d2a27671f26c1f4289c6d508 100644
--- a/include/laser/factor/factor_point_to_line_2D.h
+++ b/include/laser/factor/factor_point_to_line_2D.h
@@ -2,7 +2,7 @@
 #define FACTOR_POINT_TO_LINE_2D_H_
 
 //Wolf includes
-#include "base/factor/factor_autodiff.h"
+#include "core/factor/factor_autodiff.h"
 #include "laser/feature/feature_polyline_2D.h"
 #include "laser/landmark/landmark_polyline_2D.h"
 
diff --git a/include/laser/feature/feature_match_polyline_2D.h b/include/laser/feature/feature_match_polyline_2D.h
index d71d915880dea205904150535acb21b0acebd070..cbf21ad893abc55184014902d2352b184b7289e2 100644
--- a/include/laser/feature/feature_match_polyline_2D.h
+++ b/include/laser/feature/feature_match_polyline_2D.h
@@ -2,8 +2,8 @@
 #define FEATURE_MATCH_POLYLINE_2D_H_
 
 // Wolf includes
-#include "base/common/wolf.h"
-#include "base/feature/feature_match.h"
+#include "core/common/wolf.h"
+#include "core/feature/feature_match.h"
 
 //wolf nampseace
 namespace wolf {
diff --git a/include/laser/feature/feature_polyline_2D.h b/include/laser/feature/feature_polyline_2D.h
index 071f46be51102ca3384cc1ba967d3817e4f8731e..4dff63dcd8609768b7ea00d965921139be400301 100644
--- a/include/laser/feature/feature_polyline_2D.h
+++ b/include/laser/feature/feature_polyline_2D.h
@@ -8,7 +8,7 @@
 #ifndef FEATURE_POLYLINE_2D_H_
 #define FEATURE_POLYLINE_2D_H_
 
-#include "base/feature/feature_base.h"
+#include "core/feature/feature_base.h"
 
 namespace wolf
 {
diff --git a/include/laser/landmark/landmark_match_polyline_2D.h b/include/laser/landmark/landmark_match_polyline_2D.h
index 8ab4d52ddcad4d807da6635d78c943c48c8a933a..4e846418e5aae970f93d62def47a7f96a15ff0af 100644
--- a/include/laser/landmark/landmark_match_polyline_2D.h
+++ b/include/laser/landmark/landmark_match_polyline_2D.h
@@ -2,8 +2,8 @@
 #define LANDMARK_MATCH_POLYLINE_2D_H_
 
 // Wolf includes
-#include "base/common/wolf.h"
-#include "base/landmark/landmark_match.h"
+#include "core/common/wolf.h"
+#include "core/landmark/landmark_match.h"
 
 //wolf nampseace
 namespace wolf {
diff --git a/include/laser/landmark/landmark_polyline_2D.h b/include/laser/landmark/landmark_polyline_2D.h
index 4c1e5084dde82a767489c02cb8984fcbb8c9ce82..16dcdb9c5a65d4aee4a5d0fd9486312e68b4a5d6 100644
--- a/include/laser/landmark/landmark_polyline_2D.h
+++ b/include/laser/landmark/landmark_polyline_2D.h
@@ -9,7 +9,7 @@
 #define LANDMARK_POLYLINE_2D_H_
 
 // Wolf
-#include "base/landmark/landmark_base.h"
+#include "core/landmark/landmark_base.h"
 #include "laser/processor/polyline_2D_utils.h"
 
 // STL
diff --git a/include/laser/processor/polyline_2D_utils.h b/include/laser/processor/polyline_2D_utils.h
index f4adb3d670afe8aa8af74344b8f9b6cc36b41527..4c08d4af17d5572e1f0bbe1ddcf76090be01e4c2 100644
--- a/include/laser/processor/polyline_2D_utils.h
+++ b/include/laser/processor/polyline_2D_utils.h
@@ -8,12 +8,12 @@
 #ifndef POLYLINE_2D_UTILS_H_
 #define POLYLINE_2D_UTILS_H_
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 #include "laser/landmark/landmark_match_polyline_2D.h"
 #include "laser/landmark/landmark_polyline_2D.h"
 #include "laser/feature/feature_match_polyline_2D.h"
 #include "laser/feature/feature_polyline_2D.h"
-#include "base/math/rotations.h"
+#include "core/math/rotations.h"
 
 namespace wolf {
 
diff --git a/include/laser/processor/processor_polyline.h b/include/laser/processor/processor_polyline.h
index 3615dcf35f39b131f071fb843833edeb0d24786e..954b0e5e6767333d8e6851cd5ebdf28872abf5da 100644
--- a/include/laser/processor/processor_polyline.h
+++ b/include/laser/processor/processor_polyline.h
@@ -12,12 +12,12 @@
 #include "laser/sensor/sensor_laser_2D.h"
 #include "laser/capture/capture_laser_2D.h"
 #include "laser/feature/feature_polyline_2D.h"
-#include "base/landmark/landmark_match.h"
+#include "core/landmark/landmark_match.h"
 #include "laser/landmark/landmark_polyline_2D.h"
 #include "laser/factor/factor_point_2D.h"
 #include "laser/factor/factor_point_to_line_2D.h"
-#include "base/state_block/state_block.h"
-#include "base/processor/processor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/processor/processor_base.h"
 
 //laser_scan_utils
 #include "laser_scan_utils/laser_scan.h"
diff --git a/include/laser/processor/processor_tracker_feature_polyline_2D.h b/include/laser/processor/processor_tracker_feature_polyline_2D.h
index 286e5750bbeb51375943e135621d0929a834ebf4..add094f3d876d2a5bffe8c5288fde811672dc97d 100644
--- a/include/laser/processor/processor_tracker_feature_polyline_2D.h
+++ b/include/laser/processor/processor_tracker_feature_polyline_2D.h
@@ -9,7 +9,7 @@
 #define PROCESSOR_TRACKER_FEATURE_POLYLINE_2D_H_
 
 #include "laser/processor/polyline_2D_utils.h"
-#include "base/processor/processor_tracker_feature.h"
+#include "core/processor/processor_tracker_feature.h"
 #include "laser/landmark/landmark_polyline_2D.h"
 #include "laser/landmark/landmark_match_polyline_2D.h"
 #include "laser/sensor/sensor_laser_2D.h"
diff --git a/include/laser/sensor/sensor_laser_2D.h b/include/laser/sensor/sensor_laser_2D.h
index 6b927c5b4bbbdc23a05cad52cc9f1be4a8590733..89d3ce7687247615237b4bfcd0f1055d047c3ce7 100644
--- a/include/laser/sensor/sensor_laser_2D.h
+++ b/include/laser/sensor/sensor_laser_2D.h
@@ -4,7 +4,7 @@
 #define SENSOR_LASER_2D_H_
 
 //wolf
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
 
 //laser_scan_utils
 #include "laser_scan_utils/laser_scan.h"
diff --git a/include/laser/state_block/local_parametrization_polyline_extreme.h b/include/laser/state_block/local_parametrization_polyline_extreme.h
index 0e0cc29cd9ab50b54cb09cde36a12d278e1a846a..ce025e7404b0cde7f67a3521255b3f6597302b36 100644
--- a/include/laser/state_block/local_parametrization_polyline_extreme.h
+++ b/include/laser/state_block/local_parametrization_polyline_extreme.h
@@ -8,7 +8,7 @@
 #ifndef LOCAL_PARAMETRIZATION_POLYLINE_EXTREME_H_
 #define LOCAL_PARAMETRIZATION_POLYLINE_EXTREME_H_
 
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
 
 namespace wolf {
 
diff --git a/serialization/cereal/serialization_local_parametrization_base.h b/serialization/cereal/serialization_local_parametrization_base.h
index 1385e1af088678e853c0ab0ecb4f5d6a34f103a0..b43c35673ae05e9088c045c167fa9a02a3139c8a 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/state_block/local_parametrization_base.h"
+#include "core/state_block/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 75031dff808230fb6ff00b8633699960a6e361e6..10c7610ca7c523cd56689896aeaf4549e155a58b 100644
--- a/src/examples/test_factor_AHP.cpp
+++ b/src/examples/test_factor_AHP.cpp
@@ -1,10 +1,10 @@
-#include "base/math/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/math/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 2dd5ab64d964e3621eb671d03ef5e8cf179256cc..c4ba44c55669a60a9d188a0217f537be30e31fce 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/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/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 79798150de9d17ece60fbcec7020e5693080d6b6..8103a7ff39f3e1dc55788230bcbded86b56927cc 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/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/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 b9f01912d4341df33d3fd270ef8d66c9e15f4477..6d6f943ab4b3ee11ea03965f8a872fc3454a9f7b 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/math/pinhole_tools.h"
+#include "core/math/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 6bd1805dc78a0c65bd27ca022fbb46bd272cf6d4..290e0915cb85612c6c310eb898b7da42badd7104 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/math/pinhole_tools.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/math/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/math/pinhole_tools.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/math/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 56982c9dc7c6fda44b594a04f92a33f911b8ca49..b27e1c0070ef55f91a4ddcb592dc30f0e6c0ac77 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/trajectory_base.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/frame/frame_base.h"
+#include "core/trajectory/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 0fabac44e3252fafad9e940e9bcfd1b62b0e8ec0..6528a2b3935e488c7534c44f031a7cff22a112ed 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/common/time_stamp.h"
+#include "core/frame/frame_base.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/common/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 b608bb9583320b361d88ea2a8c48ff973e85c08d..ce7db15c8ee5a986d8d4ed469efd9ee57dbf3351 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/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/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/common/factory.h"
+#include "core/common/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 3b7bdfab70281f10e27b17891564a9b633ac92e1..ee3b9b5763037355fcf24ec813a79199067eb227 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/utils/logging.h"
+#include "core/common/wolf.h"
+#include "core/utils/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 5181d73acd049da2469ae0cf6a61296317b865df..5768f4b50ce0963ba4974baa10d27c4ffc1e2382 100644
--- a/src/examples/test_yaml.cpp
+++ b/src/examples/test_yaml.cpp
@@ -5,10 +5,10 @@
  *      \author: jsola
  */
 
-#include "base/math/pinhole_tools.h"
+#include "core/math/pinhole_tools.h"
 #include "yaml/yaml_conversion.h"
 #include "processor_image_feature.h"
-#include "base/common/factory.h"
+#include "core/common/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/landmark/landmark_polyline_2D.cpp b/src/landmark/landmark_polyline_2D.cpp
index 4ac703d00ff2bc62c41f3c1be05d8e0fd73e24ad..ab06878f1eab0a8501f56cba1b639ced9cdb337f 100644
--- a/src/landmark/landmark_polyline_2D.cpp
+++ b/src/landmark/landmark_polyline_2D.cpp
@@ -10,9 +10,9 @@
 #include "laser/state_block/local_parametrization_polyline_extreme.h"
 #include "laser/factor/factor_point_2D.h"
 #include "laser/factor/factor_point_to_line_2D.h"
-#include "base/state_block/state_block.h"
-#include "base/common/factory.h"
-#include "base/yaml/yaml_conversion.h"
+#include "core/state_block/state_block.h"
+#include "core/common/factory.h"
+#include "core/yaml/yaml_conversion.h"
 
 namespace wolf
 {
diff --git a/src/processor/processor_polyline.cpp b/src/processor/processor_polyline.cpp
index aa4fbca7a4f5fe60c188829bed28f14f8bb9ad45..52208cbaabaa8a9cb9bddaaa337a09a0b916121a 100644
--- a/src/processor/processor_polyline.cpp
+++ b/src/processor/processor_polyline.cpp
@@ -919,7 +919,7 @@ ProcessorBasePtr ProcessorPolyline::create(const std::string& _unique_name, cons
 } /* namespace wolf */
 
 // Register in the SensorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("POLYLINE", ProcessorPolyline)
 } /* namespace wolf */
diff --git a/src/processor/processor_tracker_feature_polyline_2D.cpp b/src/processor/processor_tracker_feature_polyline_2D.cpp
index 3c17f3294a456f5e83de0a6d47397f4c3c65782a..ec39aa406a4b930d1c03c5ac99ab2320eaf53a8d 100644
--- a/src/processor/processor_tracker_feature_polyline_2D.cpp
+++ b/src/processor/processor_tracker_feature_polyline_2D.cpp
@@ -1134,7 +1134,7 @@ ProcessorBasePtr ProcessorTrackerFeaturePolyline2D::create(const std::string& _u
 } /* namespace wolf */
 
 // Register in the SensorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("TRACKER FEATURE POLYLINE", ProcessorTrackerFeaturePolyline2D)
 } /* namespace wolf */
diff --git a/src/sensor/sensor_GPS.cpp b/src/sensor/sensor_GPS.cpp
index f6c1eace8819cd0cbf16b3fa568eddfec1ddde4b..666788225c5c7b3c1a35ae8004569f38053e1573 100644
--- a/src/sensor/sensor_GPS.cpp
+++ b/src/sensor/sensor_GPS.cpp
@@ -1,7 +1,7 @@
 
-#include "base/sensor/sensor_GPS.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/sensor/sensor_GPS.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
 
 namespace wolf {
 
@@ -50,7 +50,7 @@ SensorBasePtr SensorGPS::create(const std::string& _unique_name, const Eigen::Ve
 } // namespace wolf
 
 // Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("GPS",SensorGPS)
 } // namespace wolf
diff --git a/src/sensor/sensor_GPS_fix.cpp b/src/sensor/sensor_GPS_fix.cpp
index 3c781095f36faffe087c4f98426497bbbe37bb69..ca204f36449afda97c38c4e5278859a3e752a036 100644
--- a/src/sensor/sensor_GPS_fix.cpp
+++ b/src/sensor/sensor_GPS_fix.cpp
@@ -1,6 +1,6 @@
-#include "base/sensor/sensor_GPS_fix.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/sensor/sensor_GPS_fix.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
 
 namespace wolf {
 
@@ -37,7 +37,7 @@ SensorBasePtr SensorGPSFix::create(const std::string& _unique_name, const Eigen:
 } // namespace wolf
 
 // Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("GPS FIX", SensorGPSFix)
 } // namespace wolf
diff --git a/src/sensor/sensor_IMU.cpp b/src/sensor/sensor_IMU.cpp
index d5b6841636a9d9a06d1cebb5a81aecd8cb455647..de0146784289081c2adb55bd272982d9c86bd797 100644
--- a/src/sensor/sensor_IMU.cpp
+++ b/src/sensor/sensor_IMU.cpp
@@ -1,6 +1,6 @@
-#include "base/sensor/sensor_IMU.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
 
 namespace wolf {
 
@@ -43,7 +43,7 @@ SensorBasePtr SensorIMU::create(const std::string& _unique_name, const Eigen::Ve
 } // namespace wolf
 
 // Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("IMU", SensorIMU)
 } // namespace wolf
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 209dc12e04ed770ec797f2d10b27173b17fe0458..26238eb8dcdf059a440b82ce149f5daef8ae20d7 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -1,8 +1,8 @@
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/factor/factor_block_absolute.h"
-#include "base/factor/factor_quaternion_absolute.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/factor/factor_block_absolute.h"
+#include "core/factor/factor_quaternion_absolute.h"
 
 
 namespace wolf {
diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index 30c7e434f1cbc099212543faa4c04fdb6a356e1e..3e07aea5750b77c76f3abdb2bddab92ddb69d2f9 100644
--- a/src/sensor/sensor_diff_drive.cpp
+++ b/src/sensor/sensor_diff_drive.cpp
@@ -1,7 +1,7 @@
-#include "base/sensor/sensor_diff_drive.h"
-#include "base/state_block/state_block.h"
-#include "base/capture/capture_motion.h"
-#include "base/utils/eigen_assert.h"
+#include "core/sensor/sensor_diff_drive.h"
+#include "core/state_block/state_block.h"
+#include "core/capture/capture_motion.h"
+#include "core/utils/eigen_assert.h"
 
 namespace wolf {
 
@@ -127,7 +127,7 @@ SensorBasePtr SensorDiffDrive::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("DIFF DRIVE", SensorDiffDrive)
 } // namespace wolf
diff --git a/src/sensor/sensor_laser_2D.cpp b/src/sensor/sensor_laser_2D.cpp
index 0c92ffc3921d782e83d2c211136df566cefed15e..41c5fb00058dacf4172dc1ed8ee741a1dde50768 100644
--- a/src/sensor/sensor_laser_2D.cpp
+++ b/src/sensor/sensor_laser_2D.cpp
@@ -1,5 +1,5 @@
 #include "laser/sensor/sensor_laser_2D.h"
-#include "base/state_block/state_block.h"
+#include "core/state_block/state_block.h"
 
 namespace wolf {
 
@@ -82,7 +82,7 @@ SensorBasePtr SensorLaser2D::create(const std::string& _unique_name, const Eigen
 } // namespace wolf
 
 // Register in the SensorFactory and the ParameterFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
 //#include "intrinsics_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("LASER 2D", SensorLaser2D)
diff --git a/src/sensor/sensor_odom_2D.cpp b/src/sensor/sensor_odom_2D.cpp
index dc3772d7b250183d99a153acf6f22e04a089e1f4..e3e5d860f2960f8775a292c371b345d51d2dd70f 100644
--- a/src/sensor/sensor_odom_2D.cpp
+++ b/src/sensor/sensor_odom_2D.cpp
@@ -1,6 +1,6 @@
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_angle.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_angle.h"
 
 namespace wolf {
 
@@ -61,7 +61,7 @@ SensorBasePtr SensorOdom2D::create(const std::string& _unique_name, const Eigen:
 } // namespace wolf
 
 // Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("ODOM 2D", SensorOdom2D)
 } // namespace wolf
diff --git a/src/sensor/sensor_odom_3D.cpp b/src/sensor/sensor_odom_3D.cpp
index 5a3736d5e7e111ffbe20359b29c0d562f71a35e4..cf6431489efb45c0e0bf4599899bc9c850ebf902 100644
--- a/src/sensor/sensor_odom_3D.cpp
+++ b/src/sensor/sensor_odom_3D.cpp
@@ -5,10 +5,10 @@
  *      \author: jsola
  */
 
-#include "base/sensor/sensor_odom_3D.h"
+#include "core/sensor/sensor_odom_3D.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 {
 
@@ -57,7 +57,7 @@ SensorBasePtr SensorOdom3D::create(const std::string& _unique_name, const Eigen:
 } // namespace wolf
 
 // Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("ODOM 3D", SensorOdom3D)
 }
diff --git a/src/solver_suitesparse/solver_manager.cpp b/src/solver_suitesparse/solver_manager.cpp
index 2ba7af7081a64abec0149777e790c6fc355b6c49..05d89142a35cc740c69c29712565d132d69fbe93 100644
--- a/src/solver_suitesparse/solver_manager.cpp
+++ b/src/solver_suitesparse/solver_manager.cpp
@@ -1,4 +1,4 @@
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 SolverManager::SolverManager()
 {
diff --git a/src/state_block/local_parametrization_polyline_extreme.cpp b/src/state_block/local_parametrization_polyline_extreme.cpp
index eab8a7dfc05fe086a2715f629671e439cc23d0e3..4116f5c031a64b9b54c331de31582ad881594b47 100644
--- a/src/state_block/local_parametrization_polyline_extreme.cpp
+++ b/src/state_block/local_parametrization_polyline_extreme.cpp
@@ -1,6 +1,6 @@
 #include "laser/state_block/local_parametrization_polyline_extreme.h"
-#include "base/state_block/state_block.h"
-#include "base/math/rotations.h"
+#include "core/state_block/state_block.h"
+#include "core/math/rotations.h"
 
 namespace wolf {
 
diff --git a/src/yaml/sensor_laser_2D_yaml.cpp b/src/yaml/sensor_laser_2D_yaml.cpp
index 592fd20745f7d013991f90c758840bd40716f5ad..d741f365f3c12239074fb5350e4b269d0a23cfc2 100644
--- a/src/yaml/sensor_laser_2D_yaml.cpp
+++ b/src/yaml/sensor_laser_2D_yaml.cpp
@@ -6,11 +6,11 @@
  */
 
 // wolf yaml
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
 
 // wolf
-//#include "base/intrinsics_factory.h"
-#include "base/common/factory.h"
+//#include "core/intrinsics_factory.h"
+#include "core/common/factory.h"
 #include "laser/sensor/sensor_laser_2D.h"
 
 // yaml library
diff --git a/test/gtest_processor_tracker_feature_polyline_2D.cpp b/test/gtest_processor_tracker_feature_polyline_2D.cpp
index 7aed00d56b9d90e93c8be5af9b34fbe0dd146598..fdda00d566df60a04e27f8b1cc60f157f5943900 100644
--- a/test/gtest_processor_tracker_feature_polyline_2D.cpp
+++ b/test/gtest_processor_tracker_feature_polyline_2D.cpp
@@ -6,12 +6,12 @@
  */
 
 #include "laser/processor/processor_tracker_feature_polyline_2D.h"
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 #include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
 
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 #include <cmath>
 #include <iostream>