diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
deleted file mode 100644
index e89d8025aaac1343b5a0e65710fffe25581ceeea..0000000000000000000000000000000000000000
--- a/demos/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-
-# Building and populating the wolf tree from .graph file (TORO)
-#ADD_EXECUTABLE(test_wolf_imported_graph test_wolf_imported_graph.cpp)
-#TARGET_LINK_LIBRARIES(test_wolf_imported_graph ${PROJECT_NAME})
-
-# Comparing analytic and autodiff odometry factors
-#ADD_EXECUTABLE(test_analytic_autodiff_factor test_analytic_autodiff_factor.cpp)
-#TARGET_LINK_LIBRARIES(test_analytic_autodiff_factor ${PROJECT_NAME})
\ No newline at end of file
diff --git a/demos/input_M3500b_toro.graph b/demos/input_M3500b_toro.graph
deleted file mode 100644
index 21d4f410448f092466196e433705f6a96463e0a1..0000000000000000000000000000000000000000
--- a/demos/input_M3500b_toro.graph
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-EDGE2 1852 1853 0.991010 -0.012132 -0.058195 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1853 1854 1.009470 -0.014518 -0.392079 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1854 1855 1.004860 0.008045 -0.145885 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1855 1856 -0.011021 -0.971943 -1.513945 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1856 1857 1.012640 0.010363 0.265987 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1857 1858 0.964445 0.011772 0.299723 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1858 1859 0.975092 -0.013957 0.040535 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1859 1860 -0.977867 0.027029 3.001742 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1860 1861 1.041070 0.032575 -0.303862 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1861 1862 0.995103 -0.003864 0.178733 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1862 1863 1.023810 0.031081 0.087780 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1863 1864 -0.031269 0.991941 1.488608 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1864 1865 1.010430 -0.022713 -0.064752 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1865 1866 0.961861 -0.023818 0.033868 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1866 1867 0.995316 -0.034185 -0.142311 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1867 1868 0.018653 1.052330 1.444429 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1868 1869 0.971838 0.001451 -0.038159 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1869 1870 1.006330 -0.013311 -0.113792 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1870 1871 1.012280 -0.005593 0.261476 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1871 1872 0.010825 -0.980461 -1.538503 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1872 1873 0.975423 0.003730 0.119267 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1873 1874 0.961301 -0.034868 0.456083 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1874 1875 1.022180 0.005440 -0.048249 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1875 1876 0.013706 0.987050 1.495947 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1876 1877 1.010360 -0.010268 -0.250630 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1877 1878 1.003260 -0.005112 0.063158 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1878 1879 0.940250 -0.037432 -0.088998 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1879 1880 -0.021389 0.988447 1.433996 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1880 1881 1.018190 -0.004343 0.123017 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1881 1882 0.974757 -0.044462 -0.246935 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1882 1883 1.033790 0.011501 -0.520455 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1883 1884 -1.048460 -0.034484 -2.830202 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1884 1885 1.013850 0.016637 0.257996 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1885 1886 1.009910 0.021475 0.130418 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1886 1887 1.007150 0.016675 -0.350608 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1887 1888 0.009653 0.990512 1.469179 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1888 1889 1.048430 -0.008036 0.453577 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1889 1890 0.972008 -0.063256 0.163750 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1890 1891 1.040260 -0.016407 -0.141646 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1891 1892 0.018421 -1.001720 -1.684593 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1892 1893 1.011270 0.022831 -0.048041 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1893 1894 1.004990 -0.012281 -0.029733 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1894 1895 0.998691 -0.049117 -0.209315 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1895 1896 -0.013282 -0.997564 -1.151662 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1896 1897 0.946457 -0.029009 0.219354 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1897 1898 0.994255 0.030064 0.080733 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1898 1899 1.031700 -0.026189 0.259800 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1899 1900 -1.051200 -0.018969 2.971452 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1900 1901 0.968351 0.025239 -0.014441 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1901 1902 1.015020 -0.005390 0.039336 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1902 1903 1.027150 -0.025621 -0.230619 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1903 1904 0.013783 -1.001070 -1.415427 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1904 1905 0.991977 0.002636 -0.055267 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1905 1906 0.970135 -0.014302 0.259618 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1906 1907 1.011100 -0.005782 0.141624 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1907 1908 0.023789 1.065030 1.447238 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1908 1909 0.985849 -0.018981 0.266899 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1909 1910 1.040330 0.039629 0.214176 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1910 1911 0.969525 -0.006903 0.180018 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1911 1912 -0.030946 1.001070 1.756791 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1912 1913 1.006680 -0.003869 -0.086623 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1913 1914 1.012320 -0.008238 -0.324093 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1914 1915 0.981227 0.003851 0.122193 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1915 1916 -0.015771 1.008660 1.767357 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1916 1917 0.995758 -0.005949 0.224644 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1917 1918 1.009090 -0.034097 -0.209034 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1918 1919 0.997316 -0.040255 -0.137525 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1919 1920 0.021714 -1.043370 -1.416988 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1920 1921 1.016470 -0.009130 0.159578 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1921 1922 0.997911 0.029678 0.177186 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1922 1923 0.967911 0.034560 -0.209232 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1923 1924 -0.004873 0.991019 1.691093 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1924 1925 1.017470 0.010660 0.070271 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1925 1926 0.984683 -0.059702 0.182600 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1926 1927 0.964688 0.016487 -0.478114 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1927 1928 -0.023318 -1.003450 -1.764566 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1928 1929 1.026350 -0.033868 0.323388 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1929 1930 1.050260 0.010754 0.196731 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1930 1931 0.961452 0.037439 -0.341709 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1931 1932 0.019849 -0.997366 -1.748855 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1932 1933 1.019590 0.039934 -0.448505 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1933 1934 1.028170 -0.005051 0.007886 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1934 1935 1.008830 0.067951 0.016105 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1935 1936 -0.995970 -0.019982 3.020127 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1936 1937 0.987172 0.032078 -0.160384 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1937 1938 1.038230 0.014006 -0.184382 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1938 1939 0.988626 -0.032983 -0.357966 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1939 1940 1.016620 -0.029160 -0.269567 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1940 1941 0.982077 0.007146 0.108752 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1941 1942 1.001440 0.015425 0.017764 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1942 1943 0.983561 0.018599 0.212219 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1943 1944 0.985794 0.027860 0.133082 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1944 1945 1.018290 0.006961 0.008520 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1945 1946 0.982856 -0.009942 -0.070781 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1946 1947 1.000690 0.004596 -0.313003 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1947 1948 -0.003779 1.050160 1.464678 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1948 1949 0.988862 -0.003627 -0.025085 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1949 1950 1.006900 -0.016227 -0.065576 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1950 1951 1.007820 -0.010573 -0.345004 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1951 1952 0.025756 -0.987220 -1.742651 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1952 1953 0.949943 -0.004763 -0.188084 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1953 1954 0.998962 -0.028612 0.091328 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1954 1955 1.050640 -0.056139 0.007080 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1955 1956 0.038517 0.963756 1.486229 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1956 1957 0.938361 0.026511 -0.212802 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1957 1958 0.997767 0.047833 -0.205033 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1958 1959 0.995216 -0.017076 -0.410634 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1959 1960 0.016038 1.002660 1.873558 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1960 1961 1.051010 0.031449 -0.221647 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1961 1962 1.003100 -0.020270 -0.491363 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1962 1963 0.978209 -0.031376 -0.079308 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1963 1964 -1.003280 0.019054 -2.972433 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1964 1965 0.978539 0.020003 -0.194897 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1965 1966 1.020270 0.033554 -0.043582 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1966 1967 0.990613 -0.005521 0.013500 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1967 1968 -0.014273 -0.964791 -1.579587 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1968 1969 1.005750 -0.016200 0.228404 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1969 1970 1.011880 -0.001514 -0.291818 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1970 1971 0.996474 -0.039021 0.244738 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1971 1972 -0.965259 0.022969 -2.886616 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1972 1973 1.021340 -0.025372 0.078464 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1973 1974 0.989554 -0.024904 -0.182213 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1974 1975 0.997283 0.008209 -0.240998 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1975 1976 0.015782 0.997843 1.441208 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1976 1977 0.996526 0.027942 -0.130582 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1977 1978 1.022830 -0.015197 0.055674 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1978 1979 1.009760 0.025564 0.191706 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1979 1980 -0.006370 -1.024710 -1.347349 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1980 1981 0.981545 0.002806 0.177040 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1981 1982 1.007710 -0.015773 -0.037363 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1982 1983 1.002870 -0.015626 -0.011278 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1983 1984 0.009221 -1.011090 -1.539657 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1984 1985 1.008430 -0.020619 0.122177 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1985 1986 1.018970 -0.014423 -0.170223 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1986 1987 1.011310 -0.021775 0.116236 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1987 1988 1.025120 0.001791 -0.035105 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1988 1989 0.981354 0.016810 -0.375405 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1989 1990 1.016950 -0.014146 -0.147682 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1990 1991 0.971500 -0.024429 0.033105 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1991 1992 -1.020570 0.034192 -3.081870 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1992 1993 0.983384 -0.025637 0.109391 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1993 1994 0.987247 -0.010559 0.082855 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1994 1995 1.004440 0.028290 0.143755 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1995 1996 -0.035746 1.010730 1.646334 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1996 1997 1.010580 0.003843 -0.106504 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1997 1998 0.974704 0.013275 0.184402 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1998 1999 1.030440 0.010950 -0.000187 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1999 2000 0.992546 -0.008772 -0.043576 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2000 2001 0.940349 -0.006631 -0.178748 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2001 2002 1.068410 0.007070 0.164397 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2002 2003 1.042480 -0.007161 -0.161657 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2003 2004 -1.008860 -0.034767 -2.969573 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2004 2005 1.002220 -0.017538 -0.275872 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2005 2006 1.006190 -0.012172 0.005630 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2006 2007 1.014580 0.022707 -0.122760 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2007 2008 -1.015040 -0.016273 3.105569 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2008 2009 1.023270 0.001952 -0.260318 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2009 2010 0.980896 0.040167 -0.117082 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2010 2011 1.015000 -0.023482 0.193494 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2011 2012 -0.981526 -0.020971 -2.664883 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2012 2013 0.979661 0.025197 0.176540 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2013 2014 1.008670 -0.000253 -0.354353 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2014 2015 0.955407 0.043069 -0.118395 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2015 2016 -0.010939 -1.035910 -1.436789 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2016 2017 1.019780 0.013410 -0.121030 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2017 2018 1.012700 0.014139 0.423967 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2018 2019 1.015350 0.038756 -0.029182 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2019 2020 0.029734 -0.943963 -1.322295 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2020 2021 0.993207 0.006947 0.054954 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
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-EDGE2 820 1779 -0.983202 -0.000695 1.603391 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
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-EDGE2 1471 1784 -0.989961 0.007265 -3.085286 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 1362 1786 2.009140 0.032795 3.075949 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1139 1787 0.001433 -0.008966 -1.524864 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1612 1788 0.022436 0.018928 0.571163 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1001 1789 -0.019302 0.015147 -2.922147 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1484 1789 0.981733 -0.005129 0.150756 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1486 1790 0.028622 -0.005728 -0.167395 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1591 1791 0.006511 0.018026 -1.461062 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1614 1792 -0.024319 0.021626 -2.927048 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1488 1792 -0.992041 -0.998031 -2.024344 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1000 1792 0.006321 -0.014589 0.091091 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 997 1793 -0.016293 0.008335 -2.658786 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1003 1795 0.009315 0.016001 -0.175629 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1129 1795 2.019390 -0.027331 2.937017 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1365 1798 0.977791 -0.017884 0.271119 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1614 1798 -0.018596 -0.005947 -0.342599 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1487 1799 -0.013280 -0.007277 -0.086856 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1591 1799 -0.000208 -0.001249 -1.520402 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 1052 1804 -0.000634 0.007816 -0.068406 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1053 1804 -1.015010 0.015333 -0.016009 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1008 1805 0.969076 0.025093 -3.111315 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1716 1810 0.018755 -0.030424 3.042718 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1722 1810 -0.016904 0.023981 -0.002907 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1737 1810 1.996260 1.030150 -1.806696 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1716 1811 -0.977985 0.017115 2.687920 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 799 1814 1.002580 0.011122 -2.912717 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1759 1815 0.038160 0.001372 2.729761 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1816 1821 0.996607 -0.019422 3.017499 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1758 1822 1.039130 1.023740 -1.249996 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1758 1824 -0.001172 -0.039715 2.685083 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 1224 1825 0.971458 0.035688 0.032625 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1822 1830 1.026290 -0.998340 1.727250 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1223 1831 -0.043423 -0.017946 -1.242744 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1819 1834 -0.999430 -0.033842 -0.003715 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1819 1835 -0.010830 -0.004956 -0.012113 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1264 1846 -0.980093 -1.029550 1.154472 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1271 1846 0.006543 0.984734 -1.522313 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1296 1847 -0.980522 0.047472 -1.734997 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1265 1849 0.007324 0.030923 -0.169971 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 667 1851 0.017787 0.033783 -1.520658 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 666 1851 1.000860 -0.006682 -1.613819 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1267 1851 0.014751 -0.031739 -0.133310 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1259 1852 0.987388 0.032652 -0.216412 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1856 1861 1.001410 0.018451 -3.101241 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1857 1861 0.007755 0.019954 2.953910 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1855 1864 -0.980483 -0.000596 3.005600 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1859 1864 -4.047550 -0.989426 -1.458430 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1853 1864 1.009570 -0.050749 -2.939799 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1854 1864 0.017373 -0.000680 3.048692 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 1856 1864 -0.982531 -0.985014 -1.566778 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1852 1865 0.998403 0.000784 3.092807 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1853 1866 -1.012020 -0.054794 3.121047 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1851 1868 1.010120 -0.041438 -0.208496 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1259 1869 0.025435 -2.001580 -1.754617 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 659 1873 2.006550 0.051249 3.050871 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 634 1874 0.976091 -0.987714 1.881122 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 683 1875 -0.003206 0.009378 -1.719856 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 637 1877 -0.015217 -0.005695 -0.091387 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 633 1877 0.004996 0.008405 -2.876661 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 608 1878 -0.991811 -1.001350 1.400317 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 615 1879 0.023068 0.034923 -1.439725 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 648 1886 -1.014960 -1.045130 1.404233 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 615 1888 -0.043234 -0.979152 -1.584862 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 563 1891 -0.018918 0.002471 1.621303 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 562 1891 0.976611 -0.000758 1.659359 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 603 1892 -1.005620 0.007646 3.119605 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 567 1894 -1.029700 -0.026622 -0.124872 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 599 1895 -0.009313 0.022371 1.479171 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 581 1896 0.995625 -0.045115 -2.929635 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 580 1897 1.037560 0.042838 -2.793288 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 581 1897 0.011062 0.012406 -3.120889 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 580 1898 0.007767 -0.000761 -2.904538 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 693 1899 -2.027630 0.019342 -1.778129 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 567 1904 1.006840 0.027757 0.045595 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 582 1904 0.992929 -1.006630 -1.328929 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 714 1907 0.983808 -0.015309 -1.550754 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 716 1907 -1.015100 -0.004468 1.564110 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 714 1908 2.021470 -0.021243 -0.246146 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 415 1909 2.037950 -0.014452 -2.752443 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 414 1911 1.009303 0.021084 -3.123446 134.164079 0.000000 134.164079 23.151158 0.000000 0.000000
-EDGE2 1909 1913 2.001330 2.000770 1.697945 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 595 1914 0.986292 0.004597 -2.777341 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 594 1914 2.011210 0.039655 3.105619 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 594 1915 0.956900 -0.009452 3.044766 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 595 1916 0.027690 -0.969365 -1.595956 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 596 1916 -0.026175 -0.039141 -0.341886 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 597 1917 -0.013807 0.001487 -0.213473 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 598 1917 -1.013653 0.012266 0.047593 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 600 1919 -0.981792 0.016899 1.544339 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 598 1919 0.988610 0.028227 0.318119 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 563 1923 -0.021495 -0.018837 -2.995303 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 572 1924 -0.030230 0.020506 0.025444 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1889 1926 -1.001200 0.022634 -3.028805 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 607 1926 -0.994124 -0.052017 0.063675 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 638 1927 0.973856 0.037990 -3.089009 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1887 1927 0.007841 0.015599 -1.574018 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 639 1927 -0.004398 0.009334 2.942292 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 647 1928 0.986739 0.013357 0.143867 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1886 1928 0.003117 -0.016517 -3.063957 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1881 1928 -0.956658 -0.001364 -0.234112 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1884 1929 0.976082 -0.019474 3.026240 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1881 1929 0.027876 -0.006818 -0.066393 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1884 1931 -0.997972 -0.004057 2.942486 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 519 1935 -0.020380 0.008875 1.624585 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 550 1935 1.060820 0.030482 1.585342 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 559 1936 1.005770 -0.029426 -0.215056 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1933 1937 0.037638 -0.000073 -2.796192 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1932 1937 1.001354 0.007475 2.750356 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 1932 1938 -0.020102 -0.022084 3.026463 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 1883 1938 -0.001480 -0.999908 1.727107 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1883 1939 0.050230 0.005542 1.924135 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1871 1941 1.974070 0.002981 2.944819 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1872 1942 -1.009578 1.014417 -1.687703 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 1871 1942 1.031780 -0.002135 -2.773280 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1868 1946 -0.035733 -0.018844 -3.061054 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 675 1947 0.048119 0.008014 1.381821 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1267 1947 0.046182 -0.020423 -3.083454 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1259 1948 -1.021840 -0.011865 2.832670 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 674 1948 -0.002307 0.008866 2.848049 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1867 1948 0.960130 -0.004011 0.096441 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 662 1949 1.040570 -1.989190 1.171999 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 664 1950 -0.017560 0.000987 3.082596 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 673 1950 -1.007390 -0.008573 -2.871133 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 680 1951 -1.015550 -0.012440 -1.756751 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 671 1952 -0.040135 -1.067720 -1.111398 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1754 1953 1.023490 1.960920 -1.336933 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1227 1953 2.038220 -0.006269 2.828178 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 679 1953 -0.044334 -2.003110 -1.378113 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1828 1955 -1.008380 0.026738 -0.331549 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1838 1959 0.960079 0.022115 -1.798646 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 789 1961 -0.028623 0.026898 -2.784547 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 790 1966 -0.040145 0.007678 0.196528 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 789 1966 1.010740 0.048194 0.351460 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1839 1967 -0.003271 -0.018728 -2.882932 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1827 1971 -0.037287 0.048466 1.630545 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1756 1971 -1.000480 0.001534 -1.267820 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1955 1971 0.020325 0.005030 -1.954811 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1226 1971 0.940694 0.002506 1.650511 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1228 1972 -0.011532 -0.032134 -0.094865 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1841 1973 -0.027176 0.000495 -3.116181 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 793 1973 0.010023 -0.024635 -2.914319 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1838 1975 0.993292 0.007587 -1.207692 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1232 1976 -0.051791 -0.021885 -0.097744 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 771 1978 -0.019719 1.014230 -1.764843 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 771 1979 -0.000206 0.003485 -1.602629 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 770 1980 0.058967 0.020185 -3.006845 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1242 1980 1.013800 0.969365 1.525785 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 767 1983 0.006000 0.036361 -3.104451 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 766 1984 1.024110 0.980924 1.736314 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1835 1991 3.956960 -0.096783 -1.687319 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1988 1993 0.993837 0.011343 -2.963335 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1988 1994 0.035207 0.015742 -3.016082 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1989 1994 -0.970148 -0.027328 3.069607 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1990 1994 -1.996790 -0.020248 -2.839786 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1987 1994 1.001550 0.000319 2.778374 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1988 1996 -0.971028 -0.973356 -1.280513 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1987 1996 -0.052882 -1.019580 -1.560994 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1230 2000 0.021388 0.014343 2.891810 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 1755 2002 0.992975 0.000187 -3.069583 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1955 2003 0.004573 -0.006991 -1.815159 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1968 2005 1.010680 -0.026294 -2.673915 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1230 2005 -0.991952 0.017318 0.144125 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 2000 2006 -0.020501 0.003673 2.740731 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 1840 2006 0.020880 0.017827 3.051711 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 790 2007 1.021550 -0.033538 1.550217 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
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-EDGE2 3084 3308 0.013598 -0.018127 -0.133321 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3069 3309 -0.008321 -0.001467 -0.327944 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3071 3311 0.019599 -0.004642 0.229645 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3076 3316 -0.994708 1.011810 1.673833 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3074 3317 -1.005920 -0.002685 -3.071026 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3087 3319 -0.007770 0.035686 -1.395444 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3311 3320 0.027145 1.000458 1.540250 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3073 3321 -0.018838 0.003350 0.051003 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3317 3321 0.010735 0.000628 -2.979242 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3313 3321 -0.010312 -0.003634 0.047306 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3312 3321 1.016800 0.018472 0.294912 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3074 3322 -0.040914 0.011727 -0.276612 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3075 3323 0.007302 -0.006454 0.137974 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3076 3323 -1.020910 0.016340 -1.792562 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3325 3329 0.000408 -0.026002 2.885658 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3075 3330 0.965454 0.003569 2.973159 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3315 3330 0.978579 0.024351 -3.008190 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3325 3330 -0.990014 0.027186 2.922572 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3323 3331 0.032932 0.022665 -2.910281 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3324 3332 0.001837 0.005469 0.052228 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3323 3332 0.979045 0.016864 -0.138884 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3329 3333 0.018889 0.005700 -2.903031 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3328 3334 -0.022111 0.026929 2.983513 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3326 3334 0.006067 0.052464 -0.067833 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3327 3335 0.040524 0.010327 0.051579 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3327 3339 -0.028995 3.988970 1.593036 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3271 3355 0.011072 -4.006300 1.900256 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3350 3355 1.005680 4.021690 1.441250 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3354 3358 1.016220 -3.039670 -1.305113 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3356 3360 3.007000 -1.035120 -1.492455 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3353 3361 0.003598 -3.991810 -3.067271 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3351 3364 3.008030 -0.006582 3.055560 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3363 3367 0.038822 -3.989280 -1.363153 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3352 3367 -1.027100 -0.006491 1.626817 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3353 3367 -1.991122 0.023337 1.592163 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3365 3369 2.010080 2.024810 1.482178 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3369 3373 0.003175 0.029224 -2.956340 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3368 3374 0.013354 -0.004092 2.830090 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3369 3375 -2.018380 0.024854 2.963117 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3365 3375 1.977720 0.006191 -1.476287 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3355 3376 -3.951720 0.975272 1.679976 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3350 3377 -0.996170 -0.033531 3.108421 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3349 3377 0.004836 0.013466 2.993560 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3345 3378 2.001810 0.975390 -1.870317 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3346 3378 1.039450 1.011150 -0.846462 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3347 3379 -0.011195 -0.010712 -1.731256 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3348 3379 -1.017020 -0.007679 3.134798 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3348 3380 -1.018335 -1.013008 -1.722364 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3347 3380 1.024860 0.001338 0.050522 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3347 3381 2.008740 0.005463 -0.037821 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3378 3382 0.978103 3.012880 1.283611 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3371 3383 -0.025519 -4.014915 -0.330941 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3387 3391 0.031890 3.981140 1.429867 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3388 3392 3.022650 1.026030 1.896932 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3392 3396 2.023940 0.007535 3.014493 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3393 3397 0.001861 0.030085 -3.019711 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3392 3398 0.008989 -0.002512 -3.008608 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3388 3399 2.982340 -0.013834 -1.323184 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3390 3399 1.011153 -0.005544 -1.402955 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3391 3399 0.026188 0.001226 -1.432971 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3391 3400 1.016930 0.032600 0.115186 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3414 3423 1.011640 -0.006550 1.620970 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3425 3430 -0.990564 0.006053 -2.666628 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3418 3434 0.033170 0.015964 0.119233 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3420 3434 -0.000364 -0.006055 3.099049 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3414 3437 0.952499 -1.991030 1.486112 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3415 3438 -0.014616 -0.980767 1.880422 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3423 3438 -1.027110 -0.019608 0.163837 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3431 3438 -0.002667 0.955677 -1.681410 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3415 3439 -0.023824 0.006743 1.538493 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3429 3441 0.009141 0.024752 2.966199 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3426 3442 -0.004190 0.032259 -0.086940 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3429 3442 -0.988224 -0.036270 -3.117034 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3429 3445 0.030241 0.015364 -0.171756 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3425 3445 -0.014296 -0.008301 3.060119 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3440 3446 0.020401 -0.009372 2.950129 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3439 3454 1.000290 0.012275 -3.056232 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3448 3454 0.014237 0.019249 3.108066 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3432 3455 -0.978312 0.032874 -0.303342 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3439 3455 0.023475 -0.002436 -3.028625 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3423 3456 1.006900 0.008129 0.153734 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3448 3457 1.014220 0.019537 -0.309286 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3464 3470 -0.006609 0.018518 2.944143 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3463 3471 -0.008586 0.024989 1.429319 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3464 3471 -1.033940 -0.023548 2.573105 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3462 3471 1.006910 -0.008297 1.638130 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3464 3472 0.021041 -0.005002 0.147376 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3443 3476 -1.024310 -0.018902 -2.870127 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3444 3476 0.013877 -0.002619 0.365290 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3442 3476 -0.012528 -0.053588 2.996099 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3445 3477 -0.001225 0.016374 -0.269513 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3431 3478 -1.022450 0.018633 -0.099748 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3415 3479 0.036866 0.014549 -2.865191 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3416 3480 0.007039 -0.039743 0.098655 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3437 3481 -0.010448 0.001084 3.010846 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3433 3481 0.004163 -0.020544 -0.283537 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3420 3482 0.003153 0.032379 -2.948294 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3419 3483 0.064131 -0.020825 -0.048135 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3435 3484 0.017613 -1.016570 -1.783357 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3436 3485 -1.032430 2.011510 1.629042 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3411 3487 3.993780 0.013439 -1.665790 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3409 3491 1.966110 0.010055 -3.059549 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3412 3491 -0.999288 -0.006317 1.374544 89.442719 0.000000 89.442719 21.073235 0.000000 0.000000
-EDGE2 3404 3496 -1.022640 -3.001550 1.778102 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3403 3497 2.001320 0.041642 3.005657 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3404 3498 -1.010340 -1.019740 1.545056 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3405 3498 -2.018110 -1.032670 1.509127 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3403 3499 -0.031191 0.017659 -2.944473 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
-EDGE2 3402 3499 1.022250 0.034739 3.081548 44.721360 0.000000 44.721360 16.035746 0.000000 0.000000
diff --git a/include/core/math/SE2.h b/include/core/math/SE2.h
index 925359e9bf04758777909d8ae866cb8b2a0919a2..a32254de578f636a696dd91148bbd6cabac2b34f 100644
--- a/include/core/math/SE2.h
+++ b/include/core/math/SE2.h
@@ -22,15 +22,20 @@
 
 namespace wolf
 {
+namespace SO2{
 
 template<typename T>
-Eigen::Matrix<T, 2, 2> exp_SO2(const T theta)
+Eigen::Matrix<T, 2, 2> exp(const T theta)
 {
     return Eigen::Rotation2D<T>(theta).matrix();
 }
+} // namespace SO2
+
+
+namespace SE2{
 
 template<typename T>
-Eigen::Matrix2s V_SE2(const T theta)
+Eigen::Matrix2s V_helper(const T theta)
 {
     T s;   //   sin(theta)   / theta
     T c_1; // (1-cos(theta)) / theta
@@ -52,13 +57,13 @@ Eigen::Matrix2s V_SE2(const T theta)
 }
 
 template<class D1, class D2>
-void exp_SE2(const Eigen::MatrixBase<D1>& _tau, Eigen::MatrixBase<D2>& _delta)
+void exp(const Eigen::MatrixBase<D1>& _tau, Eigen::MatrixBase<D2>& _delta)
 {
     MatrixSizeCheck<3, 1>::check(_tau);
     MatrixSizeCheck<3, 1>::check(_delta);
 
     // [1] eq. 156
-    _delta.head(2) = V_SE2(_tau(2)) * _tau.head(2);
+    _delta.head(2) = V_helper(_tau(2)) * _tau.head(2);
     _delta(2) = pi2pi(_tau(2));
 }
 
@@ -90,7 +95,7 @@ Eigen::Matrix<T, 2, 1> J_Vp_theta(const Eigen::MatrixBase<D>& p, const T theta)
 }
 
 template<class D1, class D2, class D3>
-void exp_SE2(const MatrixBase<D1>& _tau, MatrixBase<D2>& _delta, MatrixBase<D3>& _J_delta_tau)
+void exp(const MatrixBase<D1>& _tau, MatrixBase<D2>& _delta, MatrixBase<D3>& _J_delta_tau)
 {
     MatrixSizeCheck<3, 1>::check(_tau);
     MatrixSizeCheck<3, 1>::check(_delta);
@@ -100,17 +105,18 @@ void exp_SE2(const MatrixBase<D1>& _tau, MatrixBase<D2>& _delta, MatrixBase<D3>&
 
     // [1] eq. 156
     T theta = pi2pi(_tau(2));
-    Eigen::Matrix<T, 2, 2> V = V_SE2(theta);
+    Eigen::Matrix<T, 2, 2> V = V_helper(theta);
     _delta.head(2) = V * _tau.head(2);
     _delta(2) = theta;
 
     // Jacobian is the composite definition [1] eq. 89, with jacobian blocks:
-    //   J_Vp_p = V: see V_SE2 below, eq. 158
-    //   J_Vp_theta: see fcn helper below
+    //   J_Vp_p = V: see V_helper, eq. 158
+    //   J_Vp_theta: see fcn helper
     //   J_theta_theta = 1; eq. 126
     _J_delta_tau << V, J_Vp_theta(_tau.template head<2>(), theta), 0.0, 0.0, 1.0;
 }
 
+} // namespace SE2
 } // namespacs wolf
 
 #endif /* MATH_SE2_H_ */
diff --git a/include/core/math/SE3.h b/include/core/math/SE3.h
index 0515376e459be99732f24d97ea9667d7616a2177..02c67109f0a75224d9e4c36ee24b2cb33a995bec 100644
--- a/include/core/math/SE3.h
+++ b/include/core/math/SE3.h
@@ -35,7 +35,7 @@
 
 namespace wolf
 {
-namespace three_D {
+namespace SE3 {
 using namespace Eigen;
 
 template<typename D1, typename D2>
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index 56e25ef306a5c6a2ef3c79da941968959db59c60..ac2e9e7d58c5a05104559591338020d26a6146f7 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -119,7 +119,7 @@ void ProcessorDiffDrive::computeCurrentDelta(const Eigen::VectorXs& _data,
 
     Matrix3s J_delta_tangent;
 
-    exp_SE2(tangent, _delta, J_delta_tangent);
+    SE2::exp(tangent, _delta, J_delta_tangent);
 
 
     /// 3. delta covariance -----------------------------------------------
diff --git a/test/gtest_SE3.cpp b/test/gtest_SE3.cpp
index c922ae4b0b6e80ddcf75090d09bcf04d58406e1e..357c36f2e90977342fd089e968ea280d12d2d08f 100644
--- a/test/gtest_SE3.cpp
+++ b/test/gtest_SE3.cpp
@@ -13,7 +13,7 @@
 
 using namespace Eigen;
 using namespace wolf;
-using namespace three_D;
+using namespace SE3;
 
 TEST(SE3, exp_0)
 {