diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index be64828ccbcd7b061730ed1347c1ceb902f5cff3..aaee75976cfa352a8dcbc082bd17406db91f78c6 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -148,39 +148,39 @@ TARGET_LINK_LIBRARIES(test_processor_imu ${PROJECT_NAME})
# TARGET_LINK_LIBRARIES(test_capture_laser_2D ${PROJECT_NAME})
#ENDIF (laser_scan_utils_FOUND)
-IF(faramotics_FOUND)
- IF (laser_scan_utils_FOUND)
- ADD_EXECUTABLE(test_ceres_2_lasers test_ceres_2_lasers.cpp)
- TARGET_LINK_LIBRARIES(test_ceres_2_lasers
- ${pose_state_time_LIBRARIES}
- ${faramotics_LIBRARIES}
- ${PROJECT_NAME})
- ADD_EXECUTABLE(test_ceres_2_lasers_polylines test_ceres_2_lasers_polylines.cpp)
- TARGET_LINK_LIBRARIES(test_ceres_2_lasers_polylines
- ${pose_state_time_LIBRARIES}
- ${faramotics_LIBRARIES}
- ${PROJECT_NAME})
- ADD_EXECUTABLE(test_2_lasers_offline test_2_lasers_offline.cpp)
- TARGET_LINK_LIBRARIES(test_2_lasers_offline
- ${pose_state_time_LIBRARIES}
- ${faramotics_LIBRARIES}
- ${PROJECT_NAME})
- ADD_EXECUTABLE(test_faramotics_simulation test_faramotics_simulation.cpp)
- TARGET_LINK_LIBRARIES(test_faramotics_simulation
- ${pose_state_time_LIBRARIES}
- ${faramotics_LIBRARIES}
- ${PROJECT_NAME})
-# ADD_EXECUTABLE(test_autodiff test_autodiff.cpp)
-# TARGET_LINK_LIBRARIES(test_autodiff
-# ${pose_state_time_LIBRARIES}
-# ${faramotics_LIBRARIES}
-# ${PROJECT_NAME})
-# IF(Suitesparse_FOUND)
-# ADD_EXECUTABLE(test_iQR_wolf2 solver/test_iQR_wolf2.cpp)
-# TARGET_LINK_LIBRARIES(test_iQR_wolf2
-# ${pose_state_time_LIBRARIES}
-# ${faramotics_LIBRARIES}
-# ${PROJECT_NAME})
-# ENDIF(Suitesparse_FOUND)
- ENDIF (laser_scan_utils_FOUND)
-ENDIF(faramotics_FOUND)
+# IF(faramotics_FOUND)
+# IF (laser_scan_utils_FOUND)
+# ADD_EXECUTABLE(test_ceres_2_lasers test_ceres_2_lasers.cpp)
+# TARGET_LINK_LIBRARIES(test_ceres_2_lasers
+# ${pose_state_time_LIBRARIES}
+# ${faramotics_LIBRARIES}
+# ${PROJECT_NAME})
+# ADD_EXECUTABLE(test_ceres_2_lasers_polylines test_ceres_2_lasers_polylines.cpp)
+# TARGET_LINK_LIBRARIES(test_ceres_2_lasers_polylines
+# ${pose_state_time_LIBRARIES}
+# ${faramotics_LIBRARIES}
+# ${PROJECT_NAME})
+# ADD_EXECUTABLE(test_2_lasers_offline test_2_lasers_offline.cpp)
+# TARGET_LINK_LIBRARIES(test_2_lasers_offline
+# ${pose_state_time_LIBRARIES}
+# ${faramotics_LIBRARIES}
+# ${PROJECT_NAME})
+# ADD_EXECUTABLE(test_faramotics_simulation test_faramotics_simulation.cpp)
+# TARGET_LINK_LIBRARIES(test_faramotics_simulation
+# ${pose_state_time_LIBRARIES}
+# ${faramotics_LIBRARIES}
+# ${PROJECT_NAME})
+# # ADD_EXECUTABLE(test_autodiff test_autodiff.cpp)
+# # TARGET_LINK_LIBRARIES(test_autodiff
+# # ${pose_state_time_LIBRARIES}
+# # ${faramotics_LIBRARIES}
+# # ${PROJECT_NAME})
+# # IF(Suitesparse_FOUND)
+# # ADD_EXECUTABLE(test_iQR_wolf2 solver/test_iQR_wolf2.cpp)
+# # TARGET_LINK_LIBRARIES(test_iQR_wolf2
+# # ${pose_state_time_LIBRARIES}
+# # ${faramotics_LIBRARIES}
+# # ${PROJECT_NAME})
+# # ENDIF(Suitesparse_FOUND)
+# # ENDIF (laser_scan_utils_FOUND)
+# # ENDIF(faramotics_FOUND)
diff --git a/src/landmark_match.h b/src/landmark_match.h
new file mode 100644
index 0000000000000000000000000000000000000000..26b0b6f9206a1b479bd833a5a214b58bff4f0ab2
--- /dev/null
+++ b/src/landmark_match.h
@@ -0,0 +1,38 @@
+#ifndef LANDMARK_MATCH_H_
+#define LANDMARK_MATCH_H_
+
+// Wolf includes
+#include "wolf.h"
+
+//wolf nampseace
+namespace wolf {
+
+/** \brief Match between a feature and a landmark
+ *
+ * Match between a feature and a landmark
+ *
+ **/
+struct LandmarkMatch
+{
+ LandmarkBasePtr landmark_ptr_;
+ Scalar normalized_score_;
+
+ LandmarkMatch() :
+ landmark_ptr_(nullptr), normalized_score_(0)
+ {
+
+ }
+ LandmarkMatch(LandmarkBasePtr _landmark_ptr, Scalar _normalized_score) :
+ landmark_ptr_(_landmark_ptr), normalized_score_(_normalized_score)
+ {
+
+ }
+};
+
+// Map of Feature - Landmark matches
+typedef std::shared_ptr<LandmarkMatch> LandmarkMatchPtr;
+typedef std::map<FeatureBasePtr, LandmarkMatchPtr> LandmarkMatchMap;
+
+}//end namespace
+
+#endif
diff --git a/src/processor_tracker_landmark.h b/src/processor_tracker_landmark.h
index 96d7c2cbd9fefada97840dd8c1a010369e21260c..5e758c76d4dc1bb324ac600decf1aee696c54518 100644
--- a/src/processor_tracker_landmark.h
+++ b/src/processor_tracker_landmark.h
@@ -8,8 +8,10 @@
#ifndef PROCESSOR_TRACKER_LANDMARK_H_
#define PROCESSOR_TRACKER_LANDMARK_H_
+//wolf includes
#include "processor_tracker.h"
#include "capture_base.h"
+#include "landmark_match.h"
namespace wolf
{
diff --git a/src/wolf.h b/src/wolf.h
index a700a7f90a873873bf8d1f2e4f4eabc37235ce02..a25a14955155a1e0745220f4b7ff0525b59ee470 100644
--- a/src/wolf.h
+++ b/src/wolf.h
@@ -377,28 +377,6 @@ typedef std::shared_ptr<StateQuaternion> StateQuaternionPtr;
// - - Local Parametrization
typedef std::shared_ptr<LocalParametrizationBase> LocalParametrizationBasePtr;
-// - - Match Feature - Landmark
-struct LandmarkMatch
-{
- LandmarkBasePtr landmark_ptr_;
- Scalar normalized_score_;
- LandmarkMatch() :
- landmark_ptr_(nullptr), normalized_score_(0)
- {
-
- }
- LandmarkMatch(LandmarkBasePtr _landmark_ptr, Scalar _normalized_score) :
- landmark_ptr_(_landmark_ptr), normalized_score_(_normalized_score)
- {
-
- }
-};
-
-// Match map Feature - Landmark
-typedef std::shared_ptr<LandmarkMatch> LandmarkMatchPtr;
-typedef std::map<FeatureBasePtr, LandmarkMatchPtr> LandmarkMatchMap;
-
-
// Feature-Feature correspondence
struct FeatureMatch
{