diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index ea18e433486117e2e4c16376e11c0cdfaf016e5d..f0af0c5e33fcb88a97fe39cb8255122fe66059f9 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -173,7 +173,7 @@ FactorBasePtr ProcessorDiffDrive::emplaceFactor(FeatureBasePtr _feature,
 } /* namespace wolf */
 
 
-// Register in the ProcessorFactory
+// Register in the FactoryProcessor
 #include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ProcessorDiffDrive", ProcessorDiffDrive);
diff --git a/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index b5814ab2a685357eb5fc58f06aa79dba2ae5775b..e66cf3d81b224eabd4590e5de62ea95fde5eac04 100644
--- a/src/processor/processor_odom_2d.cpp
+++ b/src/processor/processor_odom_2d.cpp
@@ -170,7 +170,7 @@ FeatureBasePtr ProcessorOdom2d::emplaceFeature(CaptureMotionPtr _capture_motion)
 
 } /* namespace wolf */
 
-// Register in the ProcessorFactory
+// Register in the FactoryProcessor
 #include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ProcessorOdom2d", ProcessorOdom2d);
diff --git a/src/processor/processor_odom_3d.cpp b/src/processor/processor_odom_3d.cpp
index 4ed5bbc0e5b55cdc7af7068f000e69d2b5ca7930..95582a657129aa5c4aa4168745671bd6c033ed22 100644
--- a/src/processor/processor_odom_3d.cpp
+++ b/src/processor/processor_odom_3d.cpp
@@ -246,7 +246,7 @@ FactorBasePtr ProcessorOdom3d::emplaceFactor(FeatureBasePtr _feature_motion, Cap
 
 }
 
-// Register in the SensorFactory
+// Register in the FactorySensor
 #include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ProcessorOdom3d", ProcessorOdom3d);
diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index 6655edcd46708e459e9f7d8bde4ee3a23a1511e9..8f61afa405a0e316c9b3f60fc59392ae741b3068 100644
--- a/src/sensor/sensor_diff_drive.cpp
+++ b/src/sensor/sensor_diff_drive.cpp
@@ -47,7 +47,7 @@ SensorDiffDrive::~SensorDiffDrive()
 
 } /* namespace wolf */
 
-// Register in the SensorFactory
+// Register in the FactorySensor
 #include "core/sensor/factory_sensor.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("SensorDiffDrive", SensorDiffDrive);
diff --git a/src/sensor/sensor_odom_2d.cpp b/src/sensor/sensor_odom_2d.cpp
index 7b019ae7dbda9b3d76f9518699824cae211af854..f63b0d3c111d292ba965e484d34d569f54bfc9e9 100644
--- a/src/sensor/sensor_odom_2d.cpp
+++ b/src/sensor/sensor_odom_2d.cpp
@@ -36,7 +36,7 @@ double SensorOdom2d::getRotVarToRotNoiseFactor() const
 
 }
 
-// Register in the SensorFactory
+// Register in the FactorySensor
 #include "core/sensor/factory_sensor.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("SensorOdom2d", SensorOdom2d);
diff --git a/src/sensor/sensor_odom_3d.cpp b/src/sensor/sensor_odom_3d.cpp
index 179b55e455f3d4b5c1d0b8f8989dd51aee453003..2ffa6328950e374ac828b045049ebcc93ec3ea58 100644
--- a/src/sensor/sensor_odom_3d.cpp
+++ b/src/sensor/sensor_odom_3d.cpp
@@ -39,7 +39,7 @@ SensorOdom3d::~SensorOdom3d()
 
 } // namespace wolf
 
-// Register in the SensorFactory
+// Register in the FactorySensor
 #include "core/sensor/factory_sensor.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("SensorOdom3d", SensorOdom3d);
diff --git a/test/dummy/processor_tracker_feature_dummy.cpp b/test/dummy/processor_tracker_feature_dummy.cpp
index d7eb625c2717769099d4de48dea2b5c30e43cf7c..f8ff2b35b86e17cb4e5065cdf77c1a7e71cbc70d 100644
--- a/test/dummy/processor_tracker_feature_dummy.cpp
+++ b/test/dummy/processor_tracker_feature_dummy.cpp
@@ -95,7 +95,7 @@ FactorBasePtr ProcessorTrackerFeatureDummy::emplaceFactor(FeatureBasePtr _featur
 
 } // namespace wolf
 
-// Register in the ProcessorFactory
+// Register in the FactoryProcessor
 #include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ProcessorTrackerFeatureDummy", ProcessorTrackerFeatureDummy)
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index ee8fa4c5bcf8765004c3eb07f940708832249817..c6f651ea013d2fac02164e0d3ea2cb96182fb6b2 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -41,7 +41,7 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
         virtual ~ProcessorTrackerFeatureDummy();
 
         // Factory method for high level API
-        WOLF_PROCESSOR_CREATE(ProcessorTrackerFeatureDummy, ProcessorParamsTrackerFeatureDummy);
+        WOLF_PROCESSOR_CREATE(ProcessorTrackerFeatureDummy, ParamsProcessorTrackerFeatureDummy);
 
         virtual void configure(SensorBasePtr _sensor) { };
 
diff --git a/test/dummy/processor_tracker_landmark_dummy.cpp b/test/dummy/processor_tracker_landmark_dummy.cpp
index 43ba3d8d407b741b5089935c1df37e5bdee41c03..dafb4e6226ab72d818a6e244aec251681c707785 100644
--- a/test/dummy/processor_tracker_landmark_dummy.cpp
+++ b/test/dummy/processor_tracker_landmark_dummy.cpp
@@ -114,8 +114,8 @@ FactorBasePtr ProcessorTrackerLandmarkDummy::emplaceFactor(FeatureBasePtr _featu
 
 } // namespace wolf
 
-// Register in the ProcessorFactory
-#include "core/processor/processor_factory.h"
+// Register in the FactoryProcessor
+#include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ProcessorTrackerLandmarkDummy", ProcessorTrackerLandmarkDummy)
 WOLF_REGISTER_PROCESSOR_AUTO("ProcessorTrackerLandmarkDummy", ProcessorTrackerLandmarkDummy)
diff --git a/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index 3261481365ebbdba04957d149a165be62368bd41..b9485b3378e7644aa9206213dc3466fd41b83340 100644
--- a/test/dummy/processor_tracker_landmark_dummy.h
+++ b/test/dummy/processor_tracker_landmark_dummy.h
@@ -36,7 +36,7 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
         virtual ~ProcessorTrackerLandmarkDummy();
 
         // Factory method for high level API
-        WOLF_PROCESSOR_CREATE(ProcessorTrackerLandmarkDummy, ProcessorParamsTrackerLandmarkDummy);
+        WOLF_PROCESSOR_CREATE(ProcessorTrackerLandmarkDummy, ParamsProcessorTrackerLandmarkDummy);
 
         virtual void configure(SensorBasePtr _sensor) { };
 
diff --git a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
index 547b4c9b7402a9b17eb695ea0e555869fb748a58..32cff2bd79a00fdcf18850c5f871493584e27865 100644
--- a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
@@ -24,7 +24,7 @@ CeresManager ceres_mgr(problem_ptr);
 
 // Sensor
 auto sensor_odom2d = problem_ptr->installSensor("SensorOdom2d", "odom", Vector3d(0,0,0), wolf_root + "/test/yaml/sensor_odom_2d.yaml");
-auto processor_odom2d = problem_ptr->installProcessor("ProcessorOdom2d", "odom", sensor_odom2d, std::make_shared<ProcessorParamsOdom2d>());
+auto processor_odom2d = problem_ptr->installProcessor("ProcessorOdom2d", "odom", sensor_odom2d, std::make_shared<ParamsProcessorOdom2d>());
 
 // Two frames
 FrameBasePtr frm0 = problem_ptr->emplaceFrame(KEY, Vector3d::Zero(), TimeStamp(0));
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 187c0994b10a60820eb009e7de5366a354bea62d..840ea093df7953f25025d1afc2d02197cea1978a 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -31,7 +31,7 @@ using namespace wolf;
 using namespace Eigen;
 
 
-// Register in the ProcessorFactory
+// Register in the FactoryProcessor
 #include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("TRACKER FEATURE DUMMY", ProcessorTrackerFeatureDummy)
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index cf7cd9d0998b278a74d6f29fc8fcd9d6998fb37a..22b957b1b2026bf91546bd7a3a863a37b8037266 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -80,7 +80,7 @@ TEST(ProcessorBase, KeyFrameCallback)
                                                     std::make_shared<StateBlock>(Eigen::VectorXd::Zero(2)),
                                                     std::make_shared<StateBlock>(Eigen::VectorXd::Zero(1)),
                                                     std::make_shared<StateBlock>(Eigen::VectorXd::Zero(2)), 2);
-    auto proc_trk_params = make_shared<ProcessorParamsTrackerFeatureDummy>();
+    auto proc_trk_params = make_shared<ParamsProcessorTrackerFeatureDummy>();
     proc_trk_params->time_tolerance = dt/2;
     auto proc_trk = problem->installProcessor("ProcessorTrackerFeatureDummy",  "dummy", sens_trk, proc_trk_params);