diff --git a/doc/main.dox b/doc/main.dox
index 62090c8648315200e0ba9b726d55048d74406425..efde8f91eab56973935fe8efa85d64e6dd558b48 100644
--- a/doc/main.dox
+++ b/doc/main.dox
@@ -1,258 +1,29 @@
 // EDIT CAPS TEXTS
 /*! \mainpage WOLF
-
-    \section Description
     
-    WOLF (Windowed Localization Frames) is a software library ...
-
-    \section Main Main Features
+    WOLF (Windowed Localization Frames) is a C++ framework for state estimation based on factor graphs.
     
-    - Uses Eigen3.2. as an algebra engine
-    - Suited for Filtering and Optimization approaches
-    - Allows different state spaces configurations
-    - Minimizes read/write of state vectors and matrix to memory
-
-    \section Contents
-
-    - \link Installation Installation       \endlink
-    - \link how_to       How To             \endlink
-    - \link Performance  Performance		\endlink
-    - \link faq          FAQ                \endlink
-    - \link todo         To Do              \endlink
-    - \link other        OTHER STUFF FTW 	\endlink
-  .
-
-
-  \section Authors
-    Joan Solà (jsola (_at_) iri.upc.edu)
-  
-    Andreu Corominas (acorominas (_at_) iri.upc.edu)
-
-    Faust Terrado  (fterrado (_at_) iri.upc.edu)
+    This is the Doxygen documentation of the  **WOLF core**  library.
     
-    Àngel Santamaria  (asantamaria (_at_) iri.upc.edu)
-
-    Joan Vallvé  (jvallve (_at_) iri.upc.edu)
-   
-    \section License
-
-    TO BE DISCUSSED :
-    This package is licensed under a
-    <a href="http://www.gnu.org/licenses/lgpl.html" target=”_blank”>
-    LGPL 3.0 License</a>.
-
-    \section Disclaimer
-
-    This is free software: you can redistribute it and/or modify
-    it under the terms of the GNU Lesser General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    at your option) any later version.
-
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU Lesser General Public License for more details.
-
-    You should have received a copy of the GNU Lesser General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-    \section References References and External Documentation
+    If you are looking for one of the following:
     
-    ... Nothing written here yet ...
-
-*/
-
-
-
-// HERE STARTS THE FUN (THE DIFFERENT PAGES)
-
-// TITLE
-// MINI PAGES MENU
-// CONTENT (SECTIONS...)
-
-// ADDING PAGES:
-//  - add the new page in the menus of each page
-//  - current page is bold "\b", not a \link!
-
-
-/*! \page Installation Installation
-\b Installation | \link how_to How To \endlink | \link Performance \endlink | \link faq FAQ \endlink | \link todo To Do \endlink | \link other OTHER STUFF FTW \endlink
-
-
-To install the WOLF library, please follow the steps below: 
-
-\section Download
-
-Checkout the source code from the IRI public repository
-\code
-cd <your_developing_folder>
-svn checkout https://devel.iri.upc.edu/labrobotica/algorithms/wolf wolf
-\endcode
-
-\section Compilation
-
-After downloading, change directory to wolf/build and execute cmake, 
-\code
-cd build
-cmake ..
-\endcode
-compile the shared library (wolf.so) and the example programs, 
-\code
-make
-\endcode
-
-<!--
-The <em>cmake</em> only need to be executed once (make will automatically call
-<em>cmake</em> if you modify one of the <em>CMakeList.txt</em> files).
--->
-
-Optionally, if you want to generate this documentation in your local machine (uses doxygen default style type), 
-\code
-make doc
-\endcode <!--OTHER-->
-<!-- 
-- To generate this documentation with IRI-DOC style type
-\code
-cd doc
-svn checkout https://devel.iri.upc.edu/labrobotica/tools/iri_doc
-cd ../build; rm -rf *; cmake ..; make; make doc
-\endcode
--->
-
-Please note that the files in the <em>build</em> directory are genetated by <em>cmake</em>
-and <em>make</em> and can be safely removed.
-After doing so you will need to call cmake manually again.
-
-\section Installing_subsec Installing 
-
-In order to be able to use the library, it is necessary to copy it into the system.
-To do that, execute, from the build directory
-\code
-sudo make install
-\endcode
-
-as root and the shared libraries will be copied to <em>/usr/local/lib/iridrivers</em> directory
-and the header files will be copied to <em>/usr/local/include/iridrivers</em> dierctory. At
-this point, the library may be used by any user.
-
-To remove the library from the system, execute
-\code
-sudo make uninstall
-\endcode
-as root, and all the associated files will be removed from the system.
-OTHER
-
-\section Configuration
-
-The default build mode is DEBUG. That is, objects and executables
-include debug information.
-
-The RELEASE build mode optimizes for speed. To build in this mode
-execute
-\code
-cmake .. -DCMAKE_BUILD_TYPE=RELEASE
-\endcode
-The release mode will be kept until next time cmake is executed.
-
-*/
-
-
-
-/*! \page how_to How to use this library
-\link Installation \endlink | \b How \b To | \link Performance \endlink | \link faq FAQ \endlink | \link todo To Do \endlink | \link other OTHER STUFF FTW \endlink
-
-You can use only the functions provided by the library after \link Installation install this library \endlink.
-
-If you need to use this library in your code, you'll have to add these lines into your CMakeLists.txt file.
-
-- first it is necessary to locate if required libraries have been installed or not using the following command (TO DO)
-\code
-FIND_PACKAGE(wolf REQUIRED)
-\endcode
-- In the case that the packages are present, it is necessary to add the header files directory to
-the include directory path by using
-\code
-INCLUDE_DIRECTORIES(${wolf_INCLUDE_DIR})
-\endcode
-- Finally, it is also necessary to link with the desired libraries by using the following command
-\code
-TARGET_LINK_LIBRARIES(<executable name> ${wolf_LIBRARY})
-\endcode
-.
-
-<!-- 
-All these steps are automatically done when the new project is created following the instructions
-in <A href="http://wikiri.upc.es/index.php/Create_a_new_development_project" target=”_blank”>here</a>
--->
-
-From the programming point of view the following example illustrates how to use wolf:
-\code
-#include "state_pvq.h"
-int main()
-{
-    VectorXd storage(20);
-    unsigned int index = 0, bsize = 4;
-
-    //set storage vector
-    storage << 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19;
-
-    VectorXd vec_pvq(StatePVQ::SIZE_);
-    vec_pvq << 20, 21, 22, 23, 24, 25, 26, 27, 28, 29;
-
-    StatePVQ pvq(storage, index + bsize, vec_pvq);
-    cout << "storage   : " << storage.transpose() << endl;
-    cout << "pvq  state: " << pvq.x().transpose() << endl;
-    cout << "pvq  pos  : " << pvq.p().transpose() << endl;
-    cout << "pvq  vel  : " << pvq.v().transpose() << endl;
-    cout << "pvq  quat : " << pvq.q().coeffs().transpose() << endl;
-
-    VectorXd vec_pvq2(StatePVQ::SIZE_);
-    vec_pvq2 << 30, 31, 32, 33, 34, 35, 36, 37, 38, 39;
-    pvq.x(vec_pvq2);
-    cout << "storage   : " << storage.transpose() << endl;
-    cout << "pvq  state: " << pvq.x().transpose() << endl;
-
-
-    return 0;
-}
-\endcode
-
-For further code examples, please see the files at src/examples where there are some "main()" instances that make use of the library in different useful ways.
-
-*/
-
-/*! \page Performance Performance
-\link Installation \endlink | \link how_to How To \endlink | \b Performance | \link faq FAQ \endlink | \link todo To Do \endlink | \link other OTHER STUFF FTW \endlink
-
-The following plot shows the processing time spent to compute ...
-
- <!-- \image html "images/xxx.png" -->
-*/ 
-
-/*! \page faq Frequently Asked Questions
-\link Installation \endlink | \link how_to How To \endlink | \link Performance \endlink | \b FAQ | \link todo To Do \endlink | \link other OTHER STUFF FTW \endlink
-
-Do I need some extra libraries to compile WOLF ?
-- Yes, please take a look at the \link Installation \endlink page.
-
-*/
-
-
-// THIS IS SHOWN BEFORE THE TO DO AUTOMATIC PAGE
-
-/*! \page todo To Do
-\link Installation \endlink | \link how_to How To \endlink | \link Performance \endlink | \link faq FAQ \endlink| \b To \b Do | \link other OTHER STUFF FTW \endlink
-- some to do 
-- another to do
-*/
-
-
-
-
-/*! \page other OTHER STUFF FTW
-\link Installation \endlink | \link how_to How To \endlink | \link Performance \endlink | \link faq FAQ \endlink | \link todo To Do \endlink | \b OTHER \b STUFF \b FTW
-
-HERE IS YOUR CONTENT FOR THE WIN
-
-
+    - full documentation
+    - installation instructions
+    - access to the repositories
+    - WOLF plugins
+    - ROS packages
+     
+    please visit the main WOLF page at http://www.iri.upc.edu/wolf.
+    
+    WOLF is copyright 2015--2022
+    
+    - Joan Solà
+    - Joan Vallvé
+    - Joaquim Casals, 
+    - Jérémie Deray,
+    - Médéric Fourmy, 
+    - Dinesh Atchuthan, 
+    - Andreu Corominas-Murtra
+    
+    at IRI-CSIC-UPC.
 */