diff --git a/CMakeLists.txt b/CMakeLists.txt
index fc9c1786832ed0f9ac0db70ae5bf0cc7d5528cf5..fa269c2bd26bf859635b63e87b76127bc9da0f83 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -227,126 +227,126 @@ ENDIF(GLOG_FOUND)
 
 
 SET(HDRS_COMMON
-  include/base/common/factory.h
-  include/base/common/node_base.h
-  include/base/common/time_stamp.h
-  include/base/common/wolf.h
+  include/core/common/factory.h
+  include/core/common/node_base.h
+  include/core/common/time_stamp.h
+  include/core/common/wolf.h
   )
 SET(HDRS_MATH
-  include/base/math/SE3.h
-  include/base/math/pinhole_tools.h
-  include/base/math/rotations.h
+  include/core/math/SE3.h
+  include/core/math/pinhole_tools.h
+  include/core/math/rotations.h
   )
 SET(HDRS_UTILS
-  include/base/utils/eigen_assert.h
-  include/base/utils/eigen_predicates.h
-  include/base/utils/logging.h
-  include/base/utils/make_unique.h
-  include/base/utils/singleton.h
+  include/core/utils/eigen_assert.h
+  include/core/utils/eigen_predicates.h
+  include/core/utils/logging.h
+  include/core/utils/make_unique.h
+  include/core/utils/singleton.h
   )
 SET(HDRS_PROBLEM
-  include/base/problem/problem.h
+  include/core/problem/problem.h
   )
 SET(HDRS_HARDWARE
-  include/base/hardware/hardware_base.h
+  include/core/hardware/hardware_base.h
   )
 SET(HDRS_TRAJECTORY
-  include/base/trajectory/trajectory_base.h
+  include/core/trajectory/trajectory_base.h
   )
 SET(HDRS_MAP
-  include/base/map/map_base.h
+  include/core/map/map_base.h
   )
 SET(HDRS_FRAME
-  include/base/frame/frame_base.h
+  include/core/frame/frame_base.h
   )
 SET(HDRS_STATE_BLOCK
-  include/base/state_block/local_parametrization_angle.h
-  include/base/state_block/local_parametrization_base.h
-  include/base/state_block/local_parametrization_homogeneous.h
-  include/base/state_block/local_parametrization_polyline_extreme.h
-  include/base/state_block/local_parametrization_quaternion.h
-  include/base/state_block/state_angle.h
-  include/base/state_block/state_block.h
-  include/base/state_block/state_homogeneous_3D.h
-  include/base/state_block/state_quaternion.h
+  include/core/state_block/local_parametrization_angle.h
+  include/core/state_block/local_parametrization_base.h
+  include/core/state_block/local_parametrization_homogeneous.h
+  include/core/state_block/local_parametrization_polyline_extreme.h
+  include/core/state_block/local_parametrization_quaternion.h
+  include/core/state_block/state_angle.h
+  include/core/state_block/state_block.h
+  include/core/state_block/state_homogeneous_3D.h
+  include/core/state_block/state_quaternion.h
   )
 
 SET(HDRS_CAPTURE
-  include/base/capture/capture_base.h
-  include/base/capture/capture_buffer.h
-  include/base/capture/capture_motion.h
-  include/base/capture/capture_odom_2D.h
-  include/base/capture/capture_odom_3D.h
-  include/base/capture/capture_pose.h
-  include/base/capture/capture_velocity.h
-  include/base/capture/capture_void.h
-  include/base/capture/capture_wheel_joint_position.h
+  include/core/capture/capture_base.h
+  include/core/capture/capture_buffer.h
+  include/core/capture/capture_motion.h
+  include/core/capture/capture_odom_2D.h
+  include/core/capture/capture_odom_3D.h
+  include/core/capture/capture_pose.h
+  include/core/capture/capture_velocity.h
+  include/core/capture/capture_void.h
+  include/core/capture/capture_wheel_joint_position.h
   )
 SET(HDRS_FACTOR
-  include/base/factor/factor_analytic.h
-  include/base/factor/factor_autodiff.h
-  include/base/factor/factor_autodiff_distance_3D.h
-  include/base/factor/factor_base.h
-  include/base/factor/factor_block_absolute.h
-  include/base/factor/factor_diff_drive.h
-  include/base/factor/factor_epipolar.h
-  include/base/factor/factor_fix_bias.h
-  include/base/factor/factor_odom_2D.h
-  include/base/factor/factor_odom_2D_analytic.h
-  include/base/factor/factor_odom_3D.h
-  include/base/factor/factor_pose_2D.h
-  include/base/factor/factor_pose_3D.h
-  include/base/factor/factor_quaternion_absolute.h
-  include/base/factor/factor_relative_2D_analytic.h
+  include/core/factor/factor_analytic.h
+  include/core/factor/factor_autodiff.h
+  include/core/factor/factor_autodiff_distance_3D.h
+  include/core/factor/factor_base.h
+  include/core/factor/factor_block_absolute.h
+  include/core/factor/factor_diff_drive.h
+  include/core/factor/factor_epipolar.h
+  include/core/factor/factor_fix_bias.h
+  include/core/factor/factor_odom_2D.h
+  include/core/factor/factor_odom_2D_analytic.h
+  include/core/factor/factor_odom_3D.h
+  include/core/factor/factor_pose_2D.h
+  include/core/factor/factor_pose_3D.h
+  include/core/factor/factor_quaternion_absolute.h
+  include/core/factor/factor_relative_2D_analytic.h
   )
 SET(HDRS_FEATURE
-  include/base/feature/feature_base.h
-  include/base/feature/feature_diff_drive.h
-  include/base/feature/feature_match.h
-  include/base/feature/feature_odom_2D.h
-  include/base/feature/feature_pose.h
+  include/core/feature/feature_base.h
+  include/core/feature/feature_diff_drive.h
+  include/core/feature/feature_match.h
+  include/core/feature/feature_odom_2D.h
+  include/core/feature/feature_pose.h
   )
 SET(HDRS_LANDMARK
-  include/base/landmark/landmark_base.h
-  include/base/landmark/landmark_match.h
+  include/core/landmark/landmark_base.h
+  include/core/landmark/landmark_match.h
   )
 SET(HDRS_PROCESSOR
-  include/base/processor/diff_drive_tools.h
-  include/base/processor/diff_drive_tools.hpp
-  include/base/processor/motion_buffer.h
-  include/base/processor/processor_base.h
-  include/base/processor/processor_capture_holder.h
-  include/base/processor/processor_diff_drive.h
-  include/base/processor/processor_factory.h
-  include/base/processor/processor_frame_nearest_neighbor_filter.h
-  include/base/processor/processor_logging.h
-  include/base/processor/processor_loopclosure_base.h
-  include/base/processor/processor_motion.h
-  include/base/processor/processor_odom_2D.h
-  include/base/processor/processor_odom_3D.h
-  include/base/processor/processor_tracker.h
-  include/base/processor/processor_tracker_feature.h
-  include/base/processor/processor_tracker_feature_dummy.h
-  include/base/processor/processor_tracker_landmark.h
-  # include/base/processor/processor_tracker_landmark_dummy.h
-  include/base/processor/track_matrix.h
+  include/core/processor/diff_drive_tools.h
+  include/core/processor/diff_drive_tools.hpp
+  include/core/processor/motion_buffer.h
+  include/core/processor/processor_base.h
+  include/core/processor/processor_capture_holder.h
+  include/core/processor/processor_diff_drive.h
+  include/core/processor/processor_factory.h
+  include/core/processor/processor_frame_nearest_neighbor_filter.h
+  include/core/processor/processor_logging.h
+  include/core/processor/processor_loopclosure_base.h
+  include/core/processor/processor_motion.h
+  include/core/processor/processor_odom_2D.h
+  include/core/processor/processor_odom_3D.h
+  include/core/processor/processor_tracker.h
+  include/core/processor/processor_tracker_feature.h
+  include/core/processor/processor_tracker_feature_dummy.h
+  include/core/processor/processor_tracker_landmark.h
+  # include/core/processor/processor_tracker_landmark_dummy.h
+  include/core/processor/track_matrix.h
   )
 SET(HDRS_SENSOR
-  include/base/sensor/sensor_base.h
-  include/base/sensor/sensor_diff_drive.h
-  include/base/sensor/sensor_factory.h
-  include/base/sensor/sensor_odom_2D.h
-  include/base/sensor/sensor_odom_3D.h
+  include/core/sensor/sensor_base.h
+  include/core/sensor/sensor_diff_drive.h
+  include/core/sensor/sensor_factory.h
+  include/core/sensor/sensor_odom_2D.h
+  include/core/sensor/sensor_odom_3D.h
   )
 SET(HDRS_SOLVER
-  include/base/solver/solver_manager.h
+  include/core/solver/solver_manager.h
   )
 
 SET(HDRS_DTASSC
-  include/base/association/association_node.h
-  include/base/association/association_solver.h
-  include/base/association/association_tree.h
-  include/base/association/matrix.h
+  include/core/association/association_node.h
+  include/core/association/association_solver.h
+  include/core/association/association_tree.h
+  include/core/association/matrix.h
   )
 
 #SOURCES
@@ -443,12 +443,12 @@ SET(SRCS_YAML
 IF (Ceres_FOUND)
     SET(HDRS_WRAPPER
       #ceres_wrapper/qr_manager.h
-      include/base/ceres_wrapper/ceres_manager.h
-      include/base/ceres_wrapper/cost_function_wrapper.h
-      include/base/ceres_wrapper/create_numeric_diff_cost_function.h
-      include/base/ceres_wrapper/local_parametrization_wrapper.h 
-      include/base/solver/solver_manager.h
-      include/base/solver_suitesparse/sparse_utils.h
+      include/core/ceres_wrapper/ceres_manager.h
+      include/core/ceres_wrapper/cost_function_wrapper.h
+      include/core/ceres_wrapper/create_numeric_diff_cost_function.h
+      include/core/ceres_wrapper/local_parametrization_wrapper.h 
+      include/core/solver/solver_manager.h
+      include/core/solver_suitesparse/sparse_utils.h
       )
     SET(SRCS_WRAPPER
       #ceres_wrapper/qr_manager.cpp
@@ -475,7 +475,7 @@ ENDIF(Suitesparse_FOUND)
 IF(YAMLCPP_FOUND)
   # headers
   SET(HDRS_YAML ${HDRS_YAML}
-    include/base/yaml/yaml_conversion.h
+    include/core/yaml/yaml_conversion.h
     )
   # sources
   SET(SRCS_YAML ${SRCS_YAML}
@@ -552,47 +552,47 @@ INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets
 install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/cmake/${PROJECT_NAME})
 #install headers
 INSTALL(FILES ${HDRS_MATH}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/math)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/math)
 INSTALL(FILES ${HDRS_UTILS}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/utils)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/utils)
 INSTALL(FILES ${HDRS_PROBLEM}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/problem)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/problem)
 INSTALL(FILES ${HDRS_HARDWARE}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/hardware)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/hardware)
 INSTALL(FILES ${HDRS_TRAJECTORY}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/trajectory)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/trajectory)
 INSTALL(FILES ${HDRS_MAP}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/map)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/map)
 INSTALL(FILES ${HDRS_FRAME}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/frame)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/frame)
 INSTALL(FILES ${HDRS_STATE_BLOCK}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/state_block)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/state_block)
 INSTALL(FILES ${HDRS_COMMON}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/common)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/common)
 INSTALL(FILES ${HDRS_DTASSC}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/association)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/association)
 INSTALL(FILES ${HDRS_CAPTURE}
-   DESTINATION include/iri-algorithms/wolf/plugin_core/base/capture)
+   DESTINATION include/iri-algorithms/wolf/plugin_core/core/capture)
 INSTALL(FILES ${HDRS_FACTOR}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/factor)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/factor)
 INSTALL(FILES ${HDRS_FEATURE}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/feature)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/feature)
 INSTALL(FILES ${HDRS_SENSOR}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/sensor)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/sensor)
 INSTALL(FILES ${HDRS_PROCESSOR}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/processor)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/processor)
 INSTALL(FILES ${HDRS_LANDMARK}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/landmark)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/landmark)
 INSTALL(FILES ${HDRS_WRAPPER}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/ceres_wrapper)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/ceres_wrapper)
 INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/solver_suitesparse)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/solver_suitesparse)
 INSTALL(FILES ${HDRS_SOLVER}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/solver)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/solver)
 INSTALL(FILES ${HDRS_SERIALIZATION}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/serialization)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/serialization)
 INSTALL(FILES ${HDRS_YAML}
-  DESTINATION include/iri-algorithms/wolf/plugin_core/base/yaml)
+  DESTINATION include/iri-algorithms/wolf/plugin_core/core/yaml)
 INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/Findwolf.cmake"
   DESTINATION "lib/cmake/${PROJECT_NAME}")
 
diff --git a/include/base/association/association_nnls.h b/include/core/association/association_nnls.h
similarity index 100%
rename from include/base/association/association_nnls.h
rename to include/core/association/association_nnls.h
diff --git a/include/base/association/association_node.h b/include/core/association/association_node.h
similarity index 100%
rename from include/base/association/association_node.h
rename to include/core/association/association_node.h
diff --git a/include/base/association/association_solver.h b/include/core/association/association_solver.h
similarity index 100%
rename from include/base/association/association_solver.h
rename to include/core/association/association_solver.h
diff --git a/include/base/association/association_tree.h b/include/core/association/association_tree.h
similarity index 100%
rename from include/base/association/association_tree.h
rename to include/core/association/association_tree.h
diff --git a/include/base/association/matrix.h b/include/core/association/matrix.h
similarity index 100%
rename from include/base/association/matrix.h
rename to include/core/association/matrix.h
diff --git a/include/base/capture/capture_base.h b/include/core/capture/capture_base.h
similarity index 100%
rename from include/base/capture/capture_base.h
rename to include/core/capture/capture_base.h
diff --git a/include/base/capture/capture_buffer.h b/include/core/capture/capture_buffer.h
similarity index 100%
rename from include/base/capture/capture_buffer.h
rename to include/core/capture/capture_buffer.h
diff --git a/include/base/capture/capture_motion.h b/include/core/capture/capture_motion.h
similarity index 100%
rename from include/base/capture/capture_motion.h
rename to include/core/capture/capture_motion.h
diff --git a/include/base/capture/capture_odom_2D.h b/include/core/capture/capture_odom_2D.h
similarity index 100%
rename from include/base/capture/capture_odom_2D.h
rename to include/core/capture/capture_odom_2D.h
diff --git a/include/base/capture/capture_odom_3D.h b/include/core/capture/capture_odom_3D.h
similarity index 100%
rename from include/base/capture/capture_odom_3D.h
rename to include/core/capture/capture_odom_3D.h
diff --git a/include/base/capture/capture_pose.h b/include/core/capture/capture_pose.h
similarity index 100%
rename from include/base/capture/capture_pose.h
rename to include/core/capture/capture_pose.h
diff --git a/include/base/capture/capture_velocity.h b/include/core/capture/capture_velocity.h
similarity index 100%
rename from include/base/capture/capture_velocity.h
rename to include/core/capture/capture_velocity.h
diff --git a/include/base/capture/capture_void.h b/include/core/capture/capture_void.h
similarity index 100%
rename from include/base/capture/capture_void.h
rename to include/core/capture/capture_void.h
diff --git a/include/base/capture/capture_wheel_joint_position.h b/include/core/capture/capture_wheel_joint_position.h
similarity index 100%
rename from include/base/capture/capture_wheel_joint_position.h
rename to include/core/capture/capture_wheel_joint_position.h
diff --git a/include/base/ceres_wrapper/ceres_manager.h b/include/core/ceres_wrapper/ceres_manager.h
similarity index 100%
rename from include/base/ceres_wrapper/ceres_manager.h
rename to include/core/ceres_wrapper/ceres_manager.h
diff --git a/include/base/ceres_wrapper/cost_function_wrapper.h b/include/core/ceres_wrapper/cost_function_wrapper.h
similarity index 100%
rename from include/base/ceres_wrapper/cost_function_wrapper.h
rename to include/core/ceres_wrapper/cost_function_wrapper.h
diff --git a/include/base/ceres_wrapper/create_numeric_diff_cost_function.h b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
similarity index 100%
rename from include/base/ceres_wrapper/create_numeric_diff_cost_function.h
rename to include/core/ceres_wrapper/create_numeric_diff_cost_function.h
diff --git a/include/base/ceres_wrapper/local_parametrization_wrapper.h b/include/core/ceres_wrapper/local_parametrization_wrapper.h
similarity index 100%
rename from include/base/ceres_wrapper/local_parametrization_wrapper.h
rename to include/core/ceres_wrapper/local_parametrization_wrapper.h
diff --git a/include/base/ceres_wrapper/qr_manager.h b/include/core/ceres_wrapper/qr_manager.h
similarity index 100%
rename from include/base/ceres_wrapper/qr_manager.h
rename to include/core/ceres_wrapper/qr_manager.h
diff --git a/include/base/ceres_wrapper/solver_manager.h b/include/core/ceres_wrapper/solver_manager.h
similarity index 100%
rename from include/base/ceres_wrapper/solver_manager.h
rename to include/core/ceres_wrapper/solver_manager.h
diff --git a/include/base/ceres_wrapper/sparse_utils.h b/include/core/ceres_wrapper/sparse_utils.h
similarity index 100%
rename from include/base/ceres_wrapper/sparse_utils.h
rename to include/core/ceres_wrapper/sparse_utils.h
diff --git a/include/base/common/factory.h b/include/core/common/factory.h
similarity index 100%
rename from include/base/common/factory.h
rename to include/core/common/factory.h
diff --git a/include/base/common/node_base.h b/include/core/common/node_base.h
similarity index 100%
rename from include/base/common/node_base.h
rename to include/core/common/node_base.h
diff --git a/include/base/common/time_stamp.h b/include/core/common/time_stamp.h
similarity index 100%
rename from include/base/common/time_stamp.h
rename to include/core/common/time_stamp.h
diff --git a/include/base/common/wolf.h b/include/core/common/wolf.h
similarity index 100%
rename from include/base/common/wolf.h
rename to include/core/common/wolf.h
diff --git a/include/base/factor/factor_analytic.h b/include/core/factor/factor_analytic.h
similarity index 100%
rename from include/base/factor/factor_analytic.h
rename to include/core/factor/factor_analytic.h
diff --git a/include/base/factor/factor_autodiff.h b/include/core/factor/factor_autodiff.h
similarity index 100%
rename from include/base/factor/factor_autodiff.h
rename to include/core/factor/factor_autodiff.h
diff --git a/include/base/factor/factor_autodiff_distance_3D.h b/include/core/factor/factor_autodiff_distance_3D.h
similarity index 100%
rename from include/base/factor/factor_autodiff_distance_3D.h
rename to include/core/factor/factor_autodiff_distance_3D.h
diff --git a/include/base/factor/factor_base.h b/include/core/factor/factor_base.h
similarity index 100%
rename from include/base/factor/factor_base.h
rename to include/core/factor/factor_base.h
diff --git a/include/base/factor/factor_block_absolute.h b/include/core/factor/factor_block_absolute.h
similarity index 100%
rename from include/base/factor/factor_block_absolute.h
rename to include/core/factor/factor_block_absolute.h
diff --git a/include/base/factor/factor_container.h b/include/core/factor/factor_container.h
similarity index 100%
rename from include/base/factor/factor_container.h
rename to include/core/factor/factor_container.h
diff --git a/include/base/factor/factor_diff_drive.h b/include/core/factor/factor_diff_drive.h
similarity index 100%
rename from include/base/factor/factor_diff_drive.h
rename to include/core/factor/factor_diff_drive.h
diff --git a/include/base/factor/factor_epipolar.h b/include/core/factor/factor_epipolar.h
similarity index 100%
rename from include/base/factor/factor_epipolar.h
rename to include/core/factor/factor_epipolar.h
diff --git a/include/base/factor/factor_fix_bias.h b/include/core/factor/factor_fix_bias.h
similarity index 100%
rename from include/base/factor/factor_fix_bias.h
rename to include/core/factor/factor_fix_bias.h
diff --git a/include/base/factor/factor_odom_2D.h b/include/core/factor/factor_odom_2D.h
similarity index 100%
rename from include/base/factor/factor_odom_2D.h
rename to include/core/factor/factor_odom_2D.h
diff --git a/include/base/factor/factor_odom_2D_analytic.h b/include/core/factor/factor_odom_2D_analytic.h
similarity index 100%
rename from include/base/factor/factor_odom_2D_analytic.h
rename to include/core/factor/factor_odom_2D_analytic.h
diff --git a/include/base/factor/factor_odom_3D.h b/include/core/factor/factor_odom_3D.h
similarity index 100%
rename from include/base/factor/factor_odom_3D.h
rename to include/core/factor/factor_odom_3D.h
diff --git a/include/base/factor/factor_pose_2D.h b/include/core/factor/factor_pose_2D.h
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rename from include/base/factor/factor_pose_2D.h
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diff --git a/include/base/factor/factor_pose_3D.h b/include/core/factor/factor_pose_3D.h
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rename from include/base/factor/factor_pose_3D.h
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diff --git a/include/base/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h
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rename from include/base/factor/factor_quaternion_absolute.h
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diff --git a/include/base/factor/factor_relative_2D_analytic.h b/include/core/factor/factor_relative_2D_analytic.h
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diff --git a/include/base/feature/feature_base.h b/include/core/feature/feature_base.h
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diff --git a/include/base/feature/feature_diff_drive.h b/include/core/feature/feature_diff_drive.h
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diff --git a/include/base/feature/feature_match.h b/include/core/feature/feature_match.h
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diff --git a/include/base/feature/feature_motion.h b/include/core/feature/feature_motion.h
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rename from include/base/feature/feature_motion.h
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diff --git a/include/base/feature/feature_odom_2D.h b/include/core/feature/feature_odom_2D.h
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rename from include/base/feature/feature_odom_2D.h
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diff --git a/include/base/feature/feature_pose.h b/include/core/feature/feature_pose.h
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rename from include/base/feature/feature_pose.h
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diff --git a/include/base/frame/frame_base.h b/include/core/frame/frame_base.h
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diff --git a/include/base/hardware/hardware_base.h b/include/core/hardware/hardware_base.h
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diff --git a/include/base/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
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diff --git a/include/base/landmark/landmark_match.h b/include/core/landmark/landmark_match.h
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diff --git a/include/base/map/map_base.h b/include/core/map/map_base.h
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diff --git a/include/base/math/SE3.h b/include/core/math/SE3.h
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diff --git a/include/base/math/pinhole_tools.h b/include/core/math/pinhole_tools.h
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rename from include/base/math/pinhole_tools.h
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diff --git a/include/base/math/rotations.h b/include/core/math/rotations.h
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rename from include/base/math/rotations.h
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diff --git a/include/base/problem/problem.h b/include/core/problem/problem.h
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diff --git a/include/base/processor/diff_drive_tools.h b/include/core/processor/diff_drive_tools.h
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rename from include/base/processor/diff_drive_tools.h
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diff --git a/include/base/processor/diff_drive_tools.hpp b/include/core/processor/diff_drive_tools.hpp
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rename from include/base/processor/diff_drive_tools.hpp
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diff --git a/include/base/processor/motion_buffer.h b/include/core/processor/motion_buffer.h
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rename from include/base/processor/motion_buffer.h
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diff --git a/include/base/processor/processor_base.h b/include/core/processor/processor_base.h
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rename from include/base/processor/processor_base.h
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diff --git a/include/base/processor/processor_capture_holder.h b/include/core/processor/processor_capture_holder.h
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rename from include/base/processor/processor_capture_holder.h
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diff --git a/include/base/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
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diff --git a/include/base/processor/processor_factory.h b/include/core/processor/processor_factory.h
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rename from include/base/processor/processor_factory.h
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diff --git a/include/base/processor/processor_frame_nearest_neighbor_filter.h b/include/core/processor/processor_frame_nearest_neighbor_filter.h
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rename from include/base/processor/processor_frame_nearest_neighbor_filter.h
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diff --git a/include/base/processor/processor_logging.h b/include/core/processor/processor_logging.h
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rename from include/base/processor/processor_logging.h
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diff --git a/include/base/processor/processor_loopclosure_base.h b/include/core/processor/processor_loopclosure_base.h
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rename from include/base/processor/processor_loopclosure_base.h
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diff --git a/include/base/processor/processor_motion.h b/include/core/processor/processor_motion.h
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rename from include/base/processor/processor_motion.h
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diff --git a/include/base/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
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rename from include/base/processor/processor_odom_2D.h
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diff --git a/include/base/processor/processor_odom_3D.h b/include/core/processor/processor_odom_3D.h
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rename from include/base/processor/processor_odom_3D.h
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diff --git a/include/base/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
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rename from include/base/processor/processor_tracker.h
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diff --git a/include/base/processor/processor_tracker_feature.h b/include/core/processor/processor_tracker_feature.h
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rename from include/base/processor/processor_tracker_feature.h
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diff --git a/include/base/processor/processor_tracker_feature_dummy.h b/include/core/processor/processor_tracker_feature_dummy.h
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rename from include/base/processor/processor_tracker_feature_dummy.h
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diff --git a/include/base/processor/processor_tracker_landmark.h b/include/core/processor/processor_tracker_landmark.h
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rename from include/base/processor/processor_tracker_landmark.h
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diff --git a/include/base/processor/track_matrix.h b/include/core/processor/track_matrix.h
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rename from include/base/processor/track_matrix.h
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diff --git a/include/base/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
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rename from include/base/sensor/sensor_base.h
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diff --git a/include/base/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
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rename from include/base/sensor/sensor_diff_drive.h
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diff --git a/include/base/sensor/sensor_factory.h b/include/core/sensor/sensor_factory.h
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rename from include/base/sensor/sensor_factory.h
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diff --git a/include/base/sensor/sensor_odom_2D.h b/include/core/sensor/sensor_odom_2D.h
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rename from include/base/sensor/sensor_odom_2D.h
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diff --git a/include/base/sensor/sensor_odom_3D.h b/include/core/sensor/sensor_odom_3D.h
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rename from include/base/sensor/sensor_odom_3D.h
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diff --git a/include/base/solver/solver_manager.h b/include/core/solver/solver_manager.h
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rename from include/base/solver/solver_manager.h
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diff --git a/include/base/solver_suitesparse/ccolamd_ordering.h b/include/core/solver_suitesparse/ccolamd_ordering.h
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diff --git a/include/base/solver_suitesparse/cost_function_base.h b/include/core/solver_suitesparse/cost_function_base.h
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diff --git a/include/base/solver_suitesparse/cost_function_sparse.h b/include/core/solver_suitesparse/cost_function_sparse.h
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diff --git a/include/base/solver_suitesparse/cost_function_sparse_base.h b/include/core/solver_suitesparse/cost_function_sparse_base.h
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rename from include/base/solver_suitesparse/cost_function_sparse_base.h
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diff --git a/include/base/solver_suitesparse/qr_solver.h b/include/core/solver_suitesparse/qr_solver.h
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rename from include/base/solver_suitesparse/qr_solver.h
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diff --git a/include/base/solver_suitesparse/solver_QR.h b/include/core/solver_suitesparse/solver_QR.h
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rename from include/base/solver_suitesparse/solver_QR.h
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diff --git a/include/base/solver_suitesparse/solver_manager.h b/include/core/solver_suitesparse/solver_manager.h
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diff --git a/include/base/solver_suitesparse/sparse_utils.h b/include/core/solver_suitesparse/sparse_utils.h
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rename from include/base/solver_suitesparse/sparse_utils.h
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diff --git a/include/base/state_block/local_parametrization_angle.h b/include/core/state_block/local_parametrization_angle.h
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rename from include/base/state_block/local_parametrization_angle.h
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diff --git a/include/base/state_block/local_parametrization_base.h b/include/core/state_block/local_parametrization_base.h
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diff --git a/include/base/state_block/local_parametrization_homogeneous.h b/include/core/state_block/local_parametrization_homogeneous.h
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diff --git a/include/base/state_block/local_parametrization_polyline_extreme.h b/include/core/state_block/local_parametrization_polyline_extreme.h
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diff --git a/include/base/state_block/local_parametrization_quaternion.h b/include/core/state_block/local_parametrization_quaternion.h
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diff --git a/include/base/state_block/state_angle.h b/include/core/state_block/state_angle.h
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diff --git a/include/base/state_block/state_block.h b/include/core/state_block/state_block.h
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diff --git a/include/base/state_block/state_homogeneous_3D.h b/include/core/state_block/state_homogeneous_3D.h
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diff --git a/include/base/state_block/state_quaternion.h b/include/core/state_block/state_quaternion.h
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rename from include/base/state_block/state_quaternion.h
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diff --git a/include/base/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
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diff --git a/include/base/utils/eigen_assert.h b/include/core/utils/eigen_assert.h
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diff --git a/include/base/utils/eigen_predicates.h b/include/core/utils/eigen_predicates.h
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diff --git a/include/base/utils/logging.h b/include/core/utils/logging.h
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diff --git a/include/base/utils/make_unique.h b/include/core/utils/make_unique.h
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diff --git a/include/base/yaml/yaml_conversion.h b/include/core/yaml/yaml_conversion.h
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