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 similarity index 100% rename from include/base/factor/factor_pose_2D.h rename to include/core/factor/factor_pose_2D.h diff --git a/include/base/factor/factor_pose_3D.h b/include/core/factor/factor_pose_3D.h similarity index 100% rename from include/base/factor/factor_pose_3D.h rename to include/core/factor/factor_pose_3D.h diff --git a/include/base/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h similarity index 100% rename from include/base/factor/factor_quaternion_absolute.h rename to include/core/factor/factor_quaternion_absolute.h diff --git a/include/base/factor/factor_relative_2D_analytic.h b/include/core/factor/factor_relative_2D_analytic.h similarity index 100% rename from include/base/factor/factor_relative_2D_analytic.h rename to include/core/factor/factor_relative_2D_analytic.h diff --git a/include/base/feature/feature_base.h b/include/core/feature/feature_base.h similarity index 100% rename from include/base/feature/feature_base.h rename to include/core/feature/feature_base.h diff --git a/include/base/feature/feature_diff_drive.h b/include/core/feature/feature_diff_drive.h similarity index 100% rename from include/base/feature/feature_diff_drive.h rename to include/core/feature/feature_diff_drive.h diff --git a/include/base/feature/feature_match.h b/include/core/feature/feature_match.h similarity index 100% rename from include/base/feature/feature_match.h rename to include/core/feature/feature_match.h diff --git a/include/base/feature/feature_motion.h b/include/core/feature/feature_motion.h similarity index 100% rename from include/base/feature/feature_motion.h rename to include/core/feature/feature_motion.h diff --git a/include/base/feature/feature_odom_2D.h b/include/core/feature/feature_odom_2D.h similarity index 100% rename from include/base/feature/feature_odom_2D.h rename to include/core/feature/feature_odom_2D.h diff --git a/include/base/feature/feature_pose.h b/include/core/feature/feature_pose.h similarity index 100% rename from include/base/feature/feature_pose.h rename to include/core/feature/feature_pose.h diff --git a/include/base/frame/frame_base.h b/include/core/frame/frame_base.h similarity index 100% rename from include/base/frame/frame_base.h rename to include/core/frame/frame_base.h diff --git a/include/base/hardware/hardware_base.h b/include/core/hardware/hardware_base.h similarity index 100% rename from include/base/hardware/hardware_base.h rename to include/core/hardware/hardware_base.h diff --git a/include/base/landmark/landmark_base.h b/include/core/landmark/landmark_base.h similarity index 100% rename from include/base/landmark/landmark_base.h rename to include/core/landmark/landmark_base.h diff --git a/include/base/landmark/landmark_match.h b/include/core/landmark/landmark_match.h similarity index 100% rename from include/base/landmark/landmark_match.h rename to include/core/landmark/landmark_match.h diff --git a/include/base/map/map_base.h b/include/core/map/map_base.h similarity index 100% rename from include/base/map/map_base.h rename to include/core/map/map_base.h diff --git a/include/base/math/SE3.h b/include/core/math/SE3.h similarity index 100% rename from include/base/math/SE3.h rename to include/core/math/SE3.h diff --git a/include/base/math/pinhole_tools.h b/include/core/math/pinhole_tools.h similarity index 100% rename from include/base/math/pinhole_tools.h rename to include/core/math/pinhole_tools.h diff --git a/include/base/math/rotations.h b/include/core/math/rotations.h similarity index 100% rename from include/base/math/rotations.h rename to include/core/math/rotations.h diff --git a/include/base/problem/problem.h b/include/core/problem/problem.h similarity index 100% rename from include/base/problem/problem.h rename to include/core/problem/problem.h diff --git a/include/base/processor/diff_drive_tools.h b/include/core/processor/diff_drive_tools.h similarity index 100% rename from include/base/processor/diff_drive_tools.h rename to include/core/processor/diff_drive_tools.h diff --git a/include/base/processor/diff_drive_tools.hpp b/include/core/processor/diff_drive_tools.hpp similarity index 100% rename from include/base/processor/diff_drive_tools.hpp rename to include/core/processor/diff_drive_tools.hpp diff --git a/include/base/processor/motion_buffer.h b/include/core/processor/motion_buffer.h similarity index 100% rename from include/base/processor/motion_buffer.h rename to include/core/processor/motion_buffer.h diff --git a/include/base/processor/processor_base.h b/include/core/processor/processor_base.h similarity index 100% rename from include/base/processor/processor_base.h rename to include/core/processor/processor_base.h diff --git a/include/base/processor/processor_capture_holder.h b/include/core/processor/processor_capture_holder.h similarity index 100% rename from include/base/processor/processor_capture_holder.h rename to include/core/processor/processor_capture_holder.h diff --git a/include/base/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h similarity index 100% rename from include/base/processor/processor_diff_drive.h rename to include/core/processor/processor_diff_drive.h diff --git a/include/base/processor/processor_factory.h b/include/core/processor/processor_factory.h similarity index 100% rename from include/base/processor/processor_factory.h rename to include/core/processor/processor_factory.h diff --git a/include/base/processor/processor_frame_nearest_neighbor_filter.h b/include/core/processor/processor_frame_nearest_neighbor_filter.h similarity index 100% rename from include/base/processor/processor_frame_nearest_neighbor_filter.h rename to include/core/processor/processor_frame_nearest_neighbor_filter.h diff --git a/include/base/processor/processor_logging.h b/include/core/processor/processor_logging.h similarity index 100% rename from include/base/processor/processor_logging.h rename to include/core/processor/processor_logging.h diff --git a/include/base/processor/processor_loopclosure_base.h b/include/core/processor/processor_loopclosure_base.h similarity index 100% rename from include/base/processor/processor_loopclosure_base.h rename to include/core/processor/processor_loopclosure_base.h diff --git a/include/base/processor/processor_motion.h b/include/core/processor/processor_motion.h similarity index 100% rename from include/base/processor/processor_motion.h rename to include/core/processor/processor_motion.h diff --git a/include/base/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h similarity index 100% rename from include/base/processor/processor_odom_2D.h rename to include/core/processor/processor_odom_2D.h diff --git a/include/base/processor/processor_odom_3D.h b/include/core/processor/processor_odom_3D.h similarity index 100% rename from include/base/processor/processor_odom_3D.h rename to include/core/processor/processor_odom_3D.h diff --git a/include/base/processor/processor_tracker.h b/include/core/processor/processor_tracker.h similarity index 100% rename from include/base/processor/processor_tracker.h rename to include/core/processor/processor_tracker.h diff --git a/include/base/processor/processor_tracker_feature.h b/include/core/processor/processor_tracker_feature.h similarity index 100% rename from include/base/processor/processor_tracker_feature.h rename to include/core/processor/processor_tracker_feature.h diff --git a/include/base/processor/processor_tracker_feature_dummy.h b/include/core/processor/processor_tracker_feature_dummy.h similarity index 100% rename from include/base/processor/processor_tracker_feature_dummy.h rename to include/core/processor/processor_tracker_feature_dummy.h diff --git a/include/base/processor/processor_tracker_landmark.h b/include/core/processor/processor_tracker_landmark.h similarity index 100% rename from include/base/processor/processor_tracker_landmark.h rename to include/core/processor/processor_tracker_landmark.h diff --git a/include/base/processor/track_matrix.h b/include/core/processor/track_matrix.h similarity index 100% rename from include/base/processor/track_matrix.h rename to include/core/processor/track_matrix.h diff --git a/include/base/sensor/sensor_base.h b/include/core/sensor/sensor_base.h similarity index 100% rename from include/base/sensor/sensor_base.h rename to include/core/sensor/sensor_base.h diff --git a/include/base/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h similarity index 100% rename from include/base/sensor/sensor_diff_drive.h rename to include/core/sensor/sensor_diff_drive.h diff --git a/include/base/sensor/sensor_factory.h b/include/core/sensor/sensor_factory.h similarity index 100% rename from include/base/sensor/sensor_factory.h rename to include/core/sensor/sensor_factory.h diff --git a/include/base/sensor/sensor_odom_2D.h b/include/core/sensor/sensor_odom_2D.h similarity index 100% rename from include/base/sensor/sensor_odom_2D.h rename to include/core/sensor/sensor_odom_2D.h diff --git a/include/base/sensor/sensor_odom_3D.h b/include/core/sensor/sensor_odom_3D.h similarity index 100% rename from include/base/sensor/sensor_odom_3D.h rename to include/core/sensor/sensor_odom_3D.h diff --git a/include/base/solver/solver_manager.h b/include/core/solver/solver_manager.h similarity index 100% rename from include/base/solver/solver_manager.h rename to include/core/solver/solver_manager.h diff --git a/include/base/solver_suitesparse/ccolamd_ordering.h b/include/core/solver_suitesparse/ccolamd_ordering.h similarity index 100% rename from include/base/solver_suitesparse/ccolamd_ordering.h rename to include/core/solver_suitesparse/ccolamd_ordering.h diff --git a/include/base/solver_suitesparse/cost_function_base.h b/include/core/solver_suitesparse/cost_function_base.h similarity index 100% rename from include/base/solver_suitesparse/cost_function_base.h rename to include/core/solver_suitesparse/cost_function_base.h diff --git a/include/base/solver_suitesparse/cost_function_sparse.h b/include/core/solver_suitesparse/cost_function_sparse.h similarity index 100% rename from include/base/solver_suitesparse/cost_function_sparse.h rename to include/core/solver_suitesparse/cost_function_sparse.h diff --git a/include/base/solver_suitesparse/cost_function_sparse_base.h b/include/core/solver_suitesparse/cost_function_sparse_base.h similarity index 100% rename from include/base/solver_suitesparse/cost_function_sparse_base.h rename to include/core/solver_suitesparse/cost_function_sparse_base.h diff --git a/include/base/solver_suitesparse/qr_solver.h b/include/core/solver_suitesparse/qr_solver.h similarity index 100% rename from include/base/solver_suitesparse/qr_solver.h rename to include/core/solver_suitesparse/qr_solver.h diff --git a/include/base/solver_suitesparse/solver_QR.h b/include/core/solver_suitesparse/solver_QR.h similarity index 100% rename from include/base/solver_suitesparse/solver_QR.h rename to include/core/solver_suitesparse/solver_QR.h diff --git a/include/base/solver_suitesparse/solver_manager.h b/include/core/solver_suitesparse/solver_manager.h similarity index 100% rename from include/base/solver_suitesparse/solver_manager.h rename to include/core/solver_suitesparse/solver_manager.h diff --git a/include/base/solver_suitesparse/sparse_utils.h b/include/core/solver_suitesparse/sparse_utils.h similarity index 100% rename from include/base/solver_suitesparse/sparse_utils.h rename to include/core/solver_suitesparse/sparse_utils.h diff --git a/include/base/state_block/local_parametrization_angle.h b/include/core/state_block/local_parametrization_angle.h similarity index 100% rename from include/base/state_block/local_parametrization_angle.h rename to include/core/state_block/local_parametrization_angle.h diff --git a/include/base/state_block/local_parametrization_base.h b/include/core/state_block/local_parametrization_base.h similarity index 100% rename from include/base/state_block/local_parametrization_base.h rename to include/core/state_block/local_parametrization_base.h diff --git a/include/base/state_block/local_parametrization_homogeneous.h b/include/core/state_block/local_parametrization_homogeneous.h similarity index 100% rename from include/base/state_block/local_parametrization_homogeneous.h rename to include/core/state_block/local_parametrization_homogeneous.h diff --git a/include/base/state_block/local_parametrization_polyline_extreme.h b/include/core/state_block/local_parametrization_polyline_extreme.h similarity index 100% rename from include/base/state_block/local_parametrization_polyline_extreme.h rename to include/core/state_block/local_parametrization_polyline_extreme.h diff --git a/include/base/state_block/local_parametrization_quaternion.h b/include/core/state_block/local_parametrization_quaternion.h similarity index 100% rename from include/base/state_block/local_parametrization_quaternion.h rename to include/core/state_block/local_parametrization_quaternion.h diff --git a/include/base/state_block/state_angle.h b/include/core/state_block/state_angle.h similarity index 100% rename from include/base/state_block/state_angle.h rename to include/core/state_block/state_angle.h diff --git a/include/base/state_block/state_block.h b/include/core/state_block/state_block.h similarity index 100% rename from include/base/state_block/state_block.h rename to include/core/state_block/state_block.h diff --git a/include/base/state_block/state_homogeneous_3D.h b/include/core/state_block/state_homogeneous_3D.h similarity index 100% rename from include/base/state_block/state_homogeneous_3D.h rename to include/core/state_block/state_homogeneous_3D.h diff --git a/include/base/state_block/state_quaternion.h b/include/core/state_block/state_quaternion.h similarity index 100% rename from include/base/state_block/state_quaternion.h rename to include/core/state_block/state_quaternion.h diff --git a/include/base/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h similarity index 100% rename from include/base/trajectory/trajectory_base.h rename to include/core/trajectory/trajectory_base.h diff --git a/include/base/utils/eigen_assert.h b/include/core/utils/eigen_assert.h similarity index 100% rename from include/base/utils/eigen_assert.h rename to include/core/utils/eigen_assert.h diff --git a/include/base/utils/eigen_predicates.h b/include/core/utils/eigen_predicates.h similarity index 100% rename from include/base/utils/eigen_predicates.h rename to include/core/utils/eigen_predicates.h diff --git a/include/base/utils/logging.h b/include/core/utils/logging.h similarity index 100% rename from include/base/utils/logging.h rename to include/core/utils/logging.h diff --git a/include/base/utils/make_unique.h b/include/core/utils/make_unique.h similarity index 100% rename from include/base/utils/make_unique.h rename to include/core/utils/make_unique.h diff --git a/include/base/utils/singleton.h b/include/core/utils/singleton.h similarity index 100% rename from include/base/utils/singleton.h rename to include/core/utils/singleton.h diff --git a/include/base/yaml/yaml_conversion.h b/include/core/yaml/yaml_conversion.h similarity index 100% rename from include/base/yaml/yaml_conversion.h rename to include/core/yaml/yaml_conversion.h