diff --git a/hello_wolf/capture_range_bearing.h b/hello_wolf/capture_range_bearing.h
index 5a7e5a77100b8d98eba73a6f4d371340faf5c2a8..49af84cad89fb9befe2bb2d5b7475e999d602341 100644
--- a/hello_wolf/capture_range_bearing.h
+++ b/hello_wolf/capture_range_bearing.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_CAPTURE_RANGE_BEARING_H_
 #define HELLO_WOLF_CAPTURE_RANGE_BEARING_H_
 
-#include "base/capture/capture_base.h"
+#include "core/capture/capture_base.h"
 
 namespace wolf
 {
diff --git a/hello_wolf/factor_bearing.h b/hello_wolf/factor_bearing.h
index 5c958ba175327d9ae30061ec71605996561505f4..56857fe0a188a5eb3ab30d8f4f6a967102f8b7d0 100644
--- a/hello_wolf/factor_bearing.h
+++ b/hello_wolf/factor_bearing.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_FACTOR_BEARING_H_
 #define HELLO_WOLF_FACTOR_BEARING_H_
 
-#include "base/factor/factor_autodiff.h"
+#include "core/factor/factor_autodiff.h"
 
 namespace wolf
 {
diff --git a/hello_wolf/factor_range_bearing.h b/hello_wolf/factor_range_bearing.h
index 1414d61a20252cd76402af416e4a484812d57c8a..c4a321badc8673aaa8c7ff57c61a90a987d5d831 100644
--- a/hello_wolf/factor_range_bearing.h
+++ b/hello_wolf/factor_range_bearing.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_FACTOR_RANGE_BEARING_H_
 #define HELLO_WOLF_FACTOR_RANGE_BEARING_H_
 
-#include "base/factor/factor_autodiff.h"
+#include "core/factor/factor_autodiff.h"
 
 namespace wolf
 {
diff --git a/hello_wolf/feature_range_bearing.h b/hello_wolf/feature_range_bearing.h
index 9da7215a59095a1d96a4f9e4392e391d4b048513..b68419434b320aa3c2352e833419cb33dbad14aa 100644
--- a/hello_wolf/feature_range_bearing.h
+++ b/hello_wolf/feature_range_bearing.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_FEATURE_RANGE_BEARING_H_
 #define HELLO_WOLF_FEATURE_RANGE_BEARING_H_
 
-#include "base/feature/feature_base.h"
+#include "core/feature/feature_base.h"
 
 namespace wolf
 {
diff --git a/hello_wolf/hello_wolf.cpp b/hello_wolf/hello_wolf.cpp
index 3708f51d3aa1141756dc54c27f76039671bfa42e..feeb6ac129e7ee004957b711ddf673f9c09722da 100644
--- a/hello_wolf/hello_wolf.cpp
+++ b/hello_wolf/hello_wolf.cpp
@@ -12,10 +12,10 @@
  *      \author: jsola
  */
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
 #include "sensor_range_bearing.h"
 #include "processor_range_bearing.h"
 #include "capture_range_bearing.h"
@@ -23,7 +23,7 @@
 #include "factor_range_bearing.h"
 #include "landmark_point_2D.h"
 
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 int main()
  {
diff --git a/hello_wolf/landmark_point_2D.h b/hello_wolf/landmark_point_2D.h
index 1bd845763a3506b4428d13b7da97de5a70ffca08..0d7fe13a00f5112f00b0161350d872a6f59895b2 100644
--- a/hello_wolf/landmark_point_2D.h
+++ b/hello_wolf/landmark_point_2D.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_LANDMARK_POINT_2D_H_
 #define HELLO_WOLF_LANDMARK_POINT_2D_H_
 
-#include "base/landmark/landmark_base.h"
+#include "core/landmark/landmark_base.h"
 
 namespace wolf
 {
diff --git a/hello_wolf/processor_range_bearing.cpp b/hello_wolf/processor_range_bearing.cpp
index 25d7fd4067c2401b46db2c247961b54a8213f71f..f12702ba9ddc09c70d0195d8e9a78410d350c3e3 100644
--- a/hello_wolf/processor_range_bearing.cpp
+++ b/hello_wolf/processor_range_bearing.cpp
@@ -162,7 +162,7 @@ Eigen::Vector2s ProcessorRangeBearing::rect(Scalar range, Scalar bearing) const
 } /* namespace wolf */
 
 // Register in the SensorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
 namespace wolf
 {
 WOLF_REGISTER_PROCESSOR("RANGE BEARING", ProcessorRangeBearing)
diff --git a/hello_wolf/processor_range_bearing.h b/hello_wolf/processor_range_bearing.h
index 6e8c77cd694ac807960c16b8f2fe4e3a7005e4a8..0dd2b7951fb63f0b1e487603f95ae2ff79eaaf2f 100644
--- a/hello_wolf/processor_range_bearing.h
+++ b/hello_wolf/processor_range_bearing.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_PROCESSOR_RANGE_BEARING_H_
 #define HELLO_WOLF_PROCESSOR_RANGE_BEARING_H_
 
-#include "base/processor/processor_base.h"
+#include "core/processor/processor_base.h"
 #include "sensor_range_bearing.h"
 #include "Eigen/Geometry"
 
diff --git a/hello_wolf/sensor_range_bearing.cpp b/hello_wolf/sensor_range_bearing.cpp
index 591800ae63b6a2a19ed05e6d35358747ba6fc8b1..ef2c5900a21aa44c885937f65a4f48dfb4974683 100644
--- a/hello_wolf/sensor_range_bearing.cpp
+++ b/hello_wolf/sensor_range_bearing.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "sensor_range_bearing.h"
-#include "base/state_block/state_angle.h"
+#include "core/state_block/state_angle.h"
 
 namespace wolf
 {
@@ -45,7 +45,7 @@ SensorBasePtr SensorRangeBearing::create(const std::string& _unique_name, //
 } /* namespace wolf */
 
 // Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
 namespace wolf
 {
 WOLF_REGISTER_SENSOR("RANGE BEARING", SensorRangeBearing)
diff --git a/hello_wolf/sensor_range_bearing.h b/hello_wolf/sensor_range_bearing.h
index 01ac8d93e50c2795a5a0a702e917238f4ddb27e8..5b60f0bb28ce8ba4a75f00f07a6ef735b770a252 100644
--- a/hello_wolf/sensor_range_bearing.h
+++ b/hello_wolf/sensor_range_bearing.h
@@ -8,7 +8,7 @@
 #ifndef HELLO_WOLF_SENSOR_RANGE_BEARING_H_
 #define HELLO_WOLF_SENSOR_RANGE_BEARING_H_
 
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
 
 namespace wolf
 {
diff --git a/include/core/association/association_nnls.h b/include/core/association/association_nnls.h
index 6563a1f66a513f6359200813e095e446e91327fc..c3030f7493cc3e9117a6433bf8e0521fc6fb8ecf 100644
--- a/include/core/association/association_nnls.h
+++ b/include/core/association/association_nnls.h
@@ -7,7 +7,7 @@
 #include <vector>
 
 //pipol tracker
-#include "base/association/association_solver.h"
+#include "core/association/association_solver.h"
 
 namespace wolf
 {
diff --git a/include/core/association/association_node.h b/include/core/association/association_node.h
index c652ba6c48878fb43801cfc546733f7abc0790bb..50e2f67d07ba42a5fe08d7178ac9746934753bdd 100644
--- a/include/core/association/association_node.h
+++ b/include/core/association/association_node.h
@@ -9,7 +9,7 @@
 #include <algorithm> //find()
 
 //pipol tracker
-#include "base/association/matrix.h"
+#include "core/association/matrix.h"
 
 //constants
 const double PROB_ZERO_ = 1e-3;
diff --git a/include/core/association/association_solver.h b/include/core/association/association_solver.h
index 6ac986e073d7419514e174301426ad83b9e7b4d5..7a1ff70ef3876eb75d0b469f581784118aac2f43 100644
--- a/include/core/association/association_solver.h
+++ b/include/core/association/association_solver.h
@@ -7,7 +7,7 @@
 #include <vector>
 
 //matrix class
-#include "base/association/matrix.h"
+#include "core/association/matrix.h"
 
 namespace wolf
 {
diff --git a/include/core/association/association_tree.h b/include/core/association/association_tree.h
index b6566a60459986d19434492b1f5603b78fd40fe9..e910183b011d485f03368c77578a8d0cdc53f8d5 100644
--- a/include/core/association/association_tree.h
+++ b/include/core/association/association_tree.h
@@ -9,9 +9,9 @@
 //#include <memory>
 
 //pipol tracker
-#include "base/association/matrix.h"
-#include "base/association/association_solver.h"
-#include "base/association/association_node.h"
+#include "core/association/matrix.h"
+#include "core/association/association_solver.h"
+#include "core/association/association_node.h"
 #include <map>
 
 namespace wolf
diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index b3adeb9be3d09e55c8727e687d75569bc408cd0a..31a2738cf42b3e0c81de51b6ce24ea67f5dd8974 100644
--- a/include/core/capture/capture_base.h
+++ b/include/core/capture/capture_base.h
@@ -8,9 +8,9 @@ class FeatureBase;
 }
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
-#include "base/common/time_stamp.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
+#include "core/common/time_stamp.h"
 
 //std includes
 
@@ -109,10 +109,10 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
 
 }
 
-#include "base/sensor/sensor_base.h"
-#include "base/frame/frame_base.h"
-#include "base/feature/feature_base.h"
-#include "base/state_block/state_block.h"
+#include "core/sensor/sensor_base.h"
+#include "core/frame/frame_base.h"
+#include "core/feature/feature_base.h"
+#include "core/state_block/state_block.h"
 
 namespace wolf{
 
diff --git a/include/core/capture/capture_buffer.h b/include/core/capture/capture_buffer.h
index 393d7fc2489a5035b168b2684788b835a772ab6e..6ecabc34ea5d62b3055c84b7cbf0d5cb4a94efed 100644
--- a/include/core/capture/capture_buffer.h
+++ b/include/core/capture/capture_buffer.h
@@ -8,8 +8,8 @@
 #ifndef _WOLF_CAPTURE_BUFFER_H_
 #define _WOLF_CAPTURE_BUFFER_H_
 
-#include "base/common/wolf.h"
-#include "base/common/time_stamp.h"
+#include "core/common/wolf.h"
+#include "core/common/time_stamp.h"
 
 #include <list>
 #include <algorithm>
diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index 0f84eb72d1737c8e208d25ceb9cacd224b3627b3..c6cb1ef9ee2ca0bf96cabc0641e4f21937489280 100644
--- a/include/core/capture/capture_motion.h
+++ b/include/core/capture/capture_motion.h
@@ -9,8 +9,8 @@
 #define SRC_CAPTURE_MOTION_H_
 
 // Wolf includes
-#include "base/capture/capture_base.h"
-#include "base/processor/motion_buffer.h"
+#include "core/capture/capture_base.h"
+#include "core/processor/motion_buffer.h"
 
 // STL includes
 #include <list>
diff --git a/include/core/capture/capture_odom_2D.h b/include/core/capture/capture_odom_2D.h
index ff532803c44cbe2857eae956152742560a34e270..7fedfde3aeafc06ffa8fb652e34c4df67127990f 100644
--- a/include/core/capture/capture_odom_2D.h
+++ b/include/core/capture/capture_odom_2D.h
@@ -8,9 +8,9 @@
 #ifndef CAPTURE_ODOM_2D_H_
 #define CAPTURE_ODOM_2D_H_
 
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
 
-#include "base/math/rotations.h"
+#include "core/math/rotations.h"
 
 namespace wolf
 {
diff --git a/include/core/capture/capture_odom_3D.h b/include/core/capture/capture_odom_3D.h
index 863add2684a022fc1235b6b532be5ed01655a428..a8c5d651e8ee8c7dad31d95ee7b66623e08e2e41 100644
--- a/include/core/capture/capture_odom_3D.h
+++ b/include/core/capture/capture_odom_3D.h
@@ -8,9 +8,9 @@
 #ifndef CAPTURE_ODOM_3D_H_
 #define CAPTURE_ODOM_3D_H_
 
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
 
-#include "base/math/rotations.h"
+#include "core/math/rotations.h"
 
 namespace wolf
 {
diff --git a/include/core/capture/capture_pose.h b/include/core/capture/capture_pose.h
index e96bda8643dcafabc0b1d8ff003708c3ad5cdd31..aff48d40a25903ccc06a633282467ab5d2639459 100644
--- a/include/core/capture/capture_pose.h
+++ b/include/core/capture/capture_pose.h
@@ -2,10 +2,10 @@
 #define CAPTURE_POSE_H_
 
 //Wolf includes
-#include "base/capture/capture_base.h"
-#include "base/factor/factor_pose_2D.h"
-#include "base/factor/factor_pose_3D.h"
-#include "base/feature/feature_pose.h"
+#include "core/capture/capture_base.h"
+#include "core/factor/factor_pose_2D.h"
+#include "core/factor/factor_pose_3D.h"
+#include "core/feature/feature_pose.h"
 
 //std includes
 //
diff --git a/include/core/capture/capture_velocity.h b/include/core/capture/capture_velocity.h
index 4853fce2ac370b86e88c2d4776c514a3f4315455..98bc3b3e395af54388f03777dfe876bf6a8a8429 100644
--- a/include/core/capture/capture_velocity.h
+++ b/include/core/capture/capture_velocity.h
@@ -9,7 +9,7 @@
 #define _WOLF_CAPTURE_VELOCITY_H_
 
 //wolf includes
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
 
 namespace wolf {
 
diff --git a/include/core/capture/capture_void.h b/include/core/capture/capture_void.h
index b6b7a755ddd0a6044c28143988bb820b3337d9c7..c0bd4803d42cc61116265cc9625b83f52e347efb 100644
--- a/include/core/capture/capture_void.h
+++ b/include/core/capture/capture_void.h
@@ -2,7 +2,7 @@
 #define CAPTURE_VOID_H_
 
 //Wolf includes
-#include "base/capture/capture_base.h"
+#include "core/capture/capture_base.h"
 
 namespace wolf {
 
diff --git a/include/core/capture/capture_wheel_joint_position.h b/include/core/capture/capture_wheel_joint_position.h
index a90cdb205178dd4c36cd302a7793e7e74c668df1..a2dc8b9571d4cd87ebdfccfc3297e2d3711edcaf 100644
--- a/include/core/capture/capture_wheel_joint_position.h
+++ b/include/core/capture/capture_wheel_joint_position.h
@@ -9,7 +9,7 @@
 #define CAPTURE_WHEEL_JOINT_POSITION_H_
 
 //wolf includes
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
 
 namespace wolf {
 
diff --git a/include/core/ceres_wrapper/ceres_manager.h b/include/core/ceres_wrapper/ceres_manager.h
index d156fd80521b31da81975ea11f55d9949fbb3754..28784d488dc291c20fdecb18b799df8636875d54 100644
--- a/include/core/ceres_wrapper/ceres_manager.h
+++ b/include/core/ceres_wrapper/ceres_manager.h
@@ -7,10 +7,10 @@
 #include "glog/logging.h"
 
 //wolf includes
-#include "base/solver/solver_manager.h"
-#include "base/ceres_wrapper/cost_function_wrapper.h"
-#include "base/ceres_wrapper/local_parametrization_wrapper.h"
-#include "base/ceres_wrapper/create_numeric_diff_cost_function.h"
+#include "core/solver/solver_manager.h"
+#include "core/ceres_wrapper/cost_function_wrapper.h"
+#include "core/ceres_wrapper/local_parametrization_wrapper.h"
+#include "core/ceres_wrapper/create_numeric_diff_cost_function.h"
 
 namespace ceres {
 typedef std::shared_ptr<CostFunction>  CostFunctionPtr;
diff --git a/include/core/ceres_wrapper/cost_function_wrapper.h b/include/core/ceres_wrapper/cost_function_wrapper.h
index 2847d9b9a675962fee76e95e3673537568ef4a3f..69cbf125bc44f89066377a0754c2af6ada6e36df 100644
--- a/include/core/ceres_wrapper/cost_function_wrapper.h
+++ b/include/core/ceres_wrapper/cost_function_wrapper.h
@@ -2,8 +2,8 @@
 #define TRUNK_SRC_COST_FUNCTION_WRAPPER_H_
 
 // WOLF
-#include "base/common/wolf.h"
-#include "base/factor/factor_analytic.h"
+#include "core/common/wolf.h"
+#include "core/factor/factor_analytic.h"
 
 // CERES
 #include "ceres/cost_function.h"
diff --git a/include/core/ceres_wrapper/create_numeric_diff_cost_function.h b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
index fafa62aae9d0fae3f0a26e4bc08816dc33b9e73b..ff60fea02729c791b569c0585f47e5da34bfca19 100644
--- a/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
+++ b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
@@ -12,8 +12,8 @@
 #include "ceres/numeric_diff_cost_function.h"
 
 // Factors
-#include "base/factor/factor_odom_2D.h"
-#include "base/factor/factor_base.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/factor/factor_base.h"
 
 namespace wolf {
 
diff --git a/include/core/ceres_wrapper/local_parametrization_wrapper.h b/include/core/ceres_wrapper/local_parametrization_wrapper.h
index 31a2913ec22bc0e5dc5ba6b2757e49508d195578..cb02cb8f01f4256d1223d9d2bf3e686a2ef5b76f 100644
--- a/include/core/ceres_wrapper/local_parametrization_wrapper.h
+++ b/include/core/ceres_wrapper/local_parametrization_wrapper.h
@@ -7,7 +7,7 @@ class LocalParametrizationBase;
 }
 
 //Ceres includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 #include "ceres/ceres.h"
 
 namespace wolf {
@@ -38,7 +38,7 @@ using LocalParametrizationWrapperPtr = std::shared_ptr<LocalParametrizationWrapp
 
 } // namespace wolf
 
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
 
 namespace wolf {
 
diff --git a/include/core/ceres_wrapper/qr_manager.h b/include/core/ceres_wrapper/qr_manager.h
index d4945e066a372d5ec95578a87552e4369eec1b2e..e2dd40f37854e6d554bfd6bf179c5816719f52db 100644
--- a/include/core/ceres_wrapper/qr_manager.h
+++ b/include/core/ceres_wrapper/qr_manager.h
@@ -8,8 +8,8 @@
 #ifndef SRC_CERES_WRAPPER_QR_MANAGER_H_
 #define SRC_CERES_WRAPPER_QR_MANAGER_H_
 
-#include "base/solver/solver_manager.h"
-#include "base/solver_suitesparse/sparse_utils.h"
+#include "core/solver/solver_manager.h"
+#include "core/solver_suitesparse/sparse_utils.h"
 
 namespace wolf
 {
diff --git a/include/core/ceres_wrapper/solver_manager.h b/include/core/ceres_wrapper/solver_manager.h
index 1bdf40a64ad2320fcc597c39f65a30a1e931e8b0..f7bad6f57e5d11173ed5a583b67d492d2d107439 100644
--- a/include/core/ceres_wrapper/solver_manager.h
+++ b/include/core/ceres_wrapper/solver_manager.h
@@ -2,9 +2,9 @@
 #define SOLVER_MANAGER_H_
 
 //wolf includes
-#include "base/common/wolf.h"
-#include "base/state_block/state_block.h"
-#include "base/factor/factor_base.h"
+#include "core/common/wolf.h"
+#include "core/state_block/state_block.h"
+#include "core/factor/factor_base.h"
 
 namespace wolf {
 
diff --git a/include/core/common/factory.h b/include/core/common/factory.h
index 03b636e8104ae9e7156a9c9c3649f96f3e1a1aa4..8152d007c9e8113580ae37e7b33debbf5b30127d 100644
--- a/include/core/common/factory.h
+++ b/include/core/common/factory.h
@@ -9,7 +9,7 @@
 #define FACTORY_H_
 
 // wolf
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 // std
 #include <string>
@@ -347,7 +347,7 @@ inline std::string LandmarkFactory::getClass()
 // Frames
 class TimeStamp;
 } // namespace wolf
-#include "base/frame/frame_base.h"
+#include "core/frame/frame_base.h"
 namespace wolf{
 typedef Factory<FrameBase, const FrameType&, const TimeStamp&, const Eigen::VectorXs&> FrameFactory;
 template<>
diff --git a/include/core/common/node_base.h b/include/core/common/node_base.h
index 7ecd7216660e39fb3ed561a500c98a2ac7977c60..7fe50eb600330ceac7d8ae784fccbbb501472d16 100644
--- a/include/core/common/node_base.h
+++ b/include/core/common/node_base.h
@@ -2,7 +2,7 @@
 #define NODE_BASE_H_
 
 // Wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 namespace wolf {
 
diff --git a/include/core/common/time_stamp.h b/include/core/common/time_stamp.h
index 14ed594f6bac7d5aa47b80346691d8dd3abd828b..947fb19db1ba74a6cd6839695ba2bd8634fc40cb 100644
--- a/include/core/common/time_stamp.h
+++ b/include/core/common/time_stamp.h
@@ -3,7 +3,7 @@
 #define TIME_STAMP_H_
 
 //wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 //C, std
 #include <sys/time.h>
diff --git a/include/core/common/wolf.h b/include/core/common/wolf.h
index 5e9444da7a1d45c84d360546caae957295100bf4..3ce328ead448872d8a6cb2bff8d51d49f1ee9cfa 100644
--- a/include/core/common/wolf.h
+++ b/include/core/common/wolf.h
@@ -10,7 +10,7 @@
 
 // Enable project-specific definitions and macros
 #include "internal/config.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
 
 //includes from Eigen lib
 #include <Eigen/Dense>
diff --git a/include/core/factor/factor_analytic.h b/include/core/factor/factor_analytic.h
index 14604bdb21ff2d0ed8d13b0d5fcf55055a637bf7..5435fa053874bca290f332d1d9bb2a085dea8e8b 100644
--- a/include/core/factor/factor_analytic.h
+++ b/include/core/factor/factor_analytic.h
@@ -3,7 +3,7 @@
 #define FACTOR_ANALYTIC_H_
 
 //Wolf includes
-#include "base/factor/factor_base.h"
+#include "core/factor/factor_base.h"
 #include <Eigen/StdVector>
 
 namespace wolf {
diff --git a/include/core/factor/factor_autodiff.h b/include/core/factor/factor_autodiff.h
index 372891cdd331da1e4837e647cebb3eda215b45b0..ca8d793574fe29fe8a9b3c4de807fdac40ef42af 100644
--- a/include/core/factor/factor_autodiff.h
+++ b/include/core/factor/factor_autodiff.h
@@ -3,8 +3,8 @@
 #define FACTOR_AUTODIFF_H_
 
 //Wolf includes
-#include "base/factor/factor_base.h"
-#include "base/state_block/state_block.h"
+#include "core/factor/factor_base.h"
+#include "core/state_block/state_block.h"
 
 // CERES
 #include "ceres/jet.h"
diff --git a/include/core/factor/factor_autodiff_distance_3D.h b/include/core/factor/factor_autodiff_distance_3D.h
index 77eb08e2ae049978c7f2978eee3106fcec66ba9c..52ba735623c49610fdf5bba6a9ff45d875a28459 100644
--- a/include/core/factor/factor_autodiff_distance_3D.h
+++ b/include/core/factor/factor_autodiff_distance_3D.h
@@ -8,7 +8,7 @@
 #ifndef FACTOR_AUTODIFF_DISTANCE_3D_H_
 #define FACTOR_AUTODIFF_DISTANCE_3D_H_
 
-#include "base/factor/factor_autodiff.h"
+#include "core/factor/factor_autodiff.h"
 
 namespace wolf
 {
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index 8d79b0065fe79c24607b487d0223eceeea0f81c7..2ac41032dcd43cc6a7a0827c3529828f61b42abd 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -7,8 +7,8 @@ class FeatureBase;
 }
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
 
 //std includes
 
@@ -182,11 +182,11 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
 
 // IMPLEMENTATION //
 
-#include "base/problem/problem.h"
-#include "base/frame/frame_base.h"
-#include "base/feature/feature_base.h"
-#include "base/sensor/sensor_base.h"
-#include "base/landmark/landmark_base.h"
+#include "core/problem/problem.h"
+#include "core/frame/frame_base.h"
+#include "core/feature/feature_base.h"
+#include "core/sensor/sensor_base.h"
+#include "core/landmark/landmark_base.h"
 
 namespace wolf{
 
diff --git a/include/core/factor/factor_block_absolute.h b/include/core/factor/factor_block_absolute.h
index 3990a44123b177461519b97f8ecff84adfdd0fa9..2eed31556681df9d1c6f07150627c8689870c144 100644
--- a/include/core/factor/factor_block_absolute.h
+++ b/include/core/factor/factor_block_absolute.h
@@ -9,9 +9,9 @@
 #define FACTOR_BLOCK_ABSOLUTE_H_
 
 //Wolf includes
-#include "base/factor/factor_analytic.h"
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
+#include "core/factor/factor_analytic.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
 
 namespace wolf {
 
diff --git a/include/core/factor/factor_container.h b/include/core/factor/factor_container.h
index 7f34ad69f30b4fc8e95216e32e53c762c8880b93..6ad3e7d0f7ea05b62fc423354843a8e8b6b928c1 100644
--- a/include/core/factor/factor_container.h
+++ b/include/core/factor/factor_container.h
@@ -2,9 +2,9 @@
 #define FACTOR_CONTAINER_H_
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/factor/factor_autodiff.h"
-#include "base/landmark/landmark_container.h"
+#include "core/common/wolf.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/landmark/landmark_container.h"
 
 namespace wolf {
     
diff --git a/include/core/factor/factor_diff_drive.h b/include/core/factor/factor_diff_drive.h
index 84f535ee73854fa9e207a41b138a98397b170ea9..95c44592da4006391c246e5bd2be1e0caa7ca6b9 100644
--- a/include/core/factor/factor_diff_drive.h
+++ b/include/core/factor/factor_diff_drive.h
@@ -9,10 +9,10 @@
 #define WOLF_FACTOR_DIFF_DRIVE_H_
 
 //Wolf includes
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
-#include "base/feature/feature_diff_drive.h"
-#include "base/capture/capture_wheel_joint_position.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
+#include "core/feature/feature_diff_drive.h"
+#include "core/capture/capture_wheel_joint_position.h"
 
 namespace
 {
diff --git a/include/core/factor/factor_epipolar.h b/include/core/factor/factor_epipolar.h
index 42f0e855894c6f247ef30f15c77508157824fb68..072164bbe39ede408c97db569e73a10aaefde3a2 100644
--- a/include/core/factor/factor_epipolar.h
+++ b/include/core/factor/factor_epipolar.h
@@ -1,7 +1,7 @@
 #ifndef FACTOR_EPIPOLAR_H
 #define FACTOR_EPIPOLAR_H
 
-#include "base/factor/factor_base.h"
+#include "core/factor/factor_base.h"
 
 namespace wolf {
 
diff --git a/include/core/factor/factor_fix_bias.h b/include/core/factor/factor_fix_bias.h
index 82a13796970e40091e3f99f425a97ebbd0793e4e..6fb889b55ddda62ad17b0d2644d3cf0ac7044d33 100644
--- a/include/core/factor/factor_fix_bias.h
+++ b/include/core/factor/factor_fix_bias.h
@@ -3,11 +3,11 @@
 #define FACTOR_FIX_BIAS_H_
 
 //Wolf includes
-#include "base/capture/capture_IMU.h"
-#include "base/feature/feature_IMU.h"
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
-#include "base/math/rotations.h"
+#include "core/capture/capture_IMU.h"
+#include "core/feature/feature_IMU.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
+#include "core/math/rotations.h"
 
 //#include "ceres/jet.h"
 
diff --git a/include/core/factor/factor_odom_2D.h b/include/core/factor/factor_odom_2D.h
index 8a9d06747b1171f89b7311f99f0a53f72ab5ca2a..e5cfd57a69329ca9c82c9019f29d4ee591b27f77 100644
--- a/include/core/factor/factor_odom_2D.h
+++ b/include/core/factor/factor_odom_2D.h
@@ -2,8 +2,8 @@
 #define FACTOR_ODOM_2D_THETA_H_
 
 //Wolf includes
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
 
 //#include "ceres/jet.h"
 
diff --git a/include/core/factor/factor_odom_2D_analytic.h b/include/core/factor/factor_odom_2D_analytic.h
index 2eb3296240c9b28766919748875eaea9720d87e0..38eaa7fae16f4031ca4cab3dc2209d26440cc132 100644
--- a/include/core/factor/factor_odom_2D_analytic.h
+++ b/include/core/factor/factor_odom_2D_analytic.h
@@ -2,7 +2,7 @@
 #define FACTOR_ODOM_2D_ANALYTIC_H_
 
 //Wolf includes
-#include "base/factor/factor_relative_2D_analytic.h"
+#include "core/factor/factor_relative_2D_analytic.h"
 #include <Eigen/StdVector>
 
 namespace wolf {
diff --git a/include/core/factor/factor_odom_3D.h b/include/core/factor/factor_odom_3D.h
index c3a3cfb834ea5c74e1cdd69d804b72a9ffe8fe48..587472541124f2d0d158b3d999c9b65bb1bc5dcb 100644
--- a/include/core/factor/factor_odom_3D.h
+++ b/include/core/factor/factor_odom_3D.h
@@ -8,8 +8,8 @@
 #ifndef FACTOR_ODOM_3D_H_
 #define FACTOR_ODOM_3D_H_
 
-#include "base/factor/factor_autodiff.h"
-#include "base/math/rotations.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/math/rotations.h"
 
 namespace wolf
 {
diff --git a/include/core/factor/factor_pose_2D.h b/include/core/factor/factor_pose_2D.h
index f1cc286ead2ec56a2d45857add134b1982bbb166..e4caa3b2dbd2ed26ef8b23a83443b0662b1ec823 100644
--- a/include/core/factor/factor_pose_2D.h
+++ b/include/core/factor/factor_pose_2D.h
@@ -3,9 +3,9 @@
 #define FACTOR_POSE_2D_H_
 
 //Wolf includes
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
-#include "base/math/rotations.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
+#include "core/math/rotations.h"
 
 //#include "ceres/jet.h"
 
diff --git a/include/core/factor/factor_pose_3D.h b/include/core/factor/factor_pose_3D.h
index 25273bad2c7c575b8a95d07790a4d7cd0b1fe8e7..d36bcdb32a832695b29bbbe5a0610ded37746218 100644
--- a/include/core/factor/factor_pose_3D.h
+++ b/include/core/factor/factor_pose_3D.h
@@ -3,9 +3,9 @@
 #define FACTOR_POSE_3D_H_
 
 //Wolf includes
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
-#include "base/math/rotations.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
+#include "core/math/rotations.h"
 
 namespace wolf {
 
diff --git a/include/core/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h
index abb419afa0ae605265e06dedfb9ce35b9ccb75ff..477db6368bb4217b41e154095cbca3bd2c00cf6f 100644
--- a/include/core/factor/factor_quaternion_absolute.h
+++ b/include/core/factor/factor_quaternion_absolute.h
@@ -9,10 +9,10 @@
 #define FACTOR_QUATERNION_ABSOLUTE_H_
 
 //Wolf includes
-#include "base/factor/factor_autodiff.h"
-#include "base/state_block/local_parametrization_quaternion.h"
-#include "base/frame/frame_base.h"
-#include "base/math/rotations.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/state_block/local_parametrization_quaternion.h"
+#include "core/frame/frame_base.h"
+#include "core/math/rotations.h"
 
 namespace wolf {
 
diff --git a/include/core/factor/factor_relative_2D_analytic.h b/include/core/factor/factor_relative_2D_analytic.h
index 5c3aec2333bb85999c6892c6ce365e0de3c5ac2e..c5636621c0413e229c4603891ba52ea35cf0d297 100644
--- a/include/core/factor/factor_relative_2D_analytic.h
+++ b/include/core/factor/factor_relative_2D_analytic.h
@@ -2,8 +2,8 @@
 #define FACTOR_RELATIVE_2D_ANALYTIC_H_
 
 //Wolf includes
-#include "base/factor/factor_analytic.h"
-#include "base/landmark/landmark_base.h"
+#include "core/factor/factor_analytic.h"
+#include "core/landmark/landmark_base.h"
 #include <Eigen/StdVector>
 
 namespace wolf {
diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index 8e8a96ae3b28460b7d5c0320dbd9db6a76be31ee..e49338840318cdf1f55a40450a2b3894170f1c95 100644
--- a/include/core/feature/feature_base.h
+++ b/include/core/feature/feature_base.h
@@ -8,8 +8,8 @@ class FactorBase;
 }
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
 
 //std includes
 
@@ -103,7 +103,7 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
 
 // IMPLEMENTATION
 
-#include "base/factor/factor_base.h"
+#include "core/factor/factor_base.h"
 
 namespace wolf{
 
diff --git a/include/core/feature/feature_diff_drive.h b/include/core/feature/feature_diff_drive.h
index 52877f4f5e134d444951c7b1667f67b6d02711fe..6052c24406a2dcee27909e424948b67322311cb7 100644
--- a/include/core/feature/feature_diff_drive.h
+++ b/include/core/feature/feature_diff_drive.h
@@ -9,7 +9,7 @@
 #define _WOLF_FEATURE_DIFF_DRIVE_H_
 
 //Wolf includes
-#include "base/feature/feature_base.h"
+#include "core/feature/feature_base.h"
 
 namespace wolf {
 
diff --git a/include/core/feature/feature_match.h b/include/core/feature/feature_match.h
index 92e4560196e200083294fcad895e25fbb4c711f0..7fbb0e204ecbe06f354f6b168f155b9e915cb186 100644
--- a/include/core/feature/feature_match.h
+++ b/include/core/feature/feature_match.h
@@ -2,7 +2,7 @@
 #define FEATURE_MATCH_H_
 
 // Wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 //wolf nampseace
 namespace wolf {
diff --git a/include/core/feature/feature_motion.h b/include/core/feature/feature_motion.h
index 92331b6b1d7f41bbb342c4ef528b64f488fc1c48..7471510337a30c36c0acf5a525efa01739224d02 100644
--- a/include/core/feature/feature_motion.h
+++ b/include/core/feature/feature_motion.h
@@ -8,8 +8,8 @@
 #ifndef FEATURE_MOTION_H_
 #define FEATURE_MOTION_H_
 
-#include "base/feature/feature_base.h"
-#include "base/capture/capture_motion.h"
+#include "core/feature/feature_base.h"
+#include "core/capture/capture_motion.h"
 
 namespace wolf
 {
diff --git a/include/core/feature/feature_odom_2D.h b/include/core/feature/feature_odom_2D.h
index 27db3e538b7dfd8172a6f4a815db21ca31969e32..5df94a665faecac2d17710df0f0b4d3496eb0a4d 100644
--- a/include/core/feature/feature_odom_2D.h
+++ b/include/core/feature/feature_odom_2D.h
@@ -2,9 +2,9 @@
 #define FEATURE_ODOM_2D_H_
 
 //Wolf includes
-#include "base/feature/feature_base.h"
-#include "base/factor/factor_odom_2D.h"
-#include "base/factor/factor_odom_2D_analytic.h"
+#include "core/feature/feature_base.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/factor/factor_odom_2D_analytic.h"
 
 //std includes
 
diff --git a/include/core/feature/feature_pose.h b/include/core/feature/feature_pose.h
index 1431f920765c2450a2d71d02b3d6adf4e95700e7..3fe413f6ad43d52c13463a11b53adb0bfcede846 100644
--- a/include/core/feature/feature_pose.h
+++ b/include/core/feature/feature_pose.h
@@ -2,7 +2,7 @@
 #define FEATURE_POSE_H_
 
 //Wolf includes
-#include "base/feature/feature_base.h"
+#include "core/feature/feature_base.h"
 
 //std includes
 //
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index ffa84d74d0c7521ce226a5445e58591bfc43be66..392f5b6787dca061d70a5374fe99e52571d9676f 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -10,9 +10,9 @@ class StateBlock;
 }
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/time_stamp.h"
-#include "base/common/node_base.h"
+#include "core/common/wolf.h"
+#include "core/common/time_stamp.h"
+#include "core/common/node_base.h"
 
 //std includes
 
@@ -155,10 +155,10 @@ class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase
 
 // IMPLEMENTATION //
 
-#include "base/trajectory/trajectory_base.h"
-#include "base/capture/capture_base.h"
-#include "base/factor/factor_base.h"
-#include "base/state_block/state_block.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/capture/capture_base.h"
+#include "core/factor/factor_base.h"
+#include "core/state_block/state_block.h"
 
 namespace wolf {
 
diff --git a/include/core/hardware/hardware_base.h b/include/core/hardware/hardware_base.h
index fb688410b73187cb3d775c00911322afdc602a86..1b4149a6d32671492d1eee3c05e13dacb79e92fa 100644
--- a/include/core/hardware/hardware_base.h
+++ b/include/core/hardware/hardware_base.h
@@ -8,8 +8,8 @@ class SensorBase;
 }
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
 
 namespace wolf {
 
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index dad1e3a7c5c609fbaf5ef972f9c597f27cca201e..9dac56bb3eb58ebafcb1efe7ad07cbd97be7133e 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -8,9 +8,9 @@ class StateBlock;
 }
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
-#include "base/common/time_stamp.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
+#include "core/common/time_stamp.h"
 
 //std includes
 
@@ -96,9 +96,9 @@ class LandmarkBase : public NodeBase, public std::enable_shared_from_this<Landma
 
 }
 
-#include "base/map/map_base.h"
-#include "base/factor/factor_base.h"
-#include "base/state_block/state_block.h"
+#include "core/map/map_base.h"
+#include "core/factor/factor_base.h"
+#include "core/state_block/state_block.h"
 
 namespace wolf{
 
diff --git a/include/core/landmark/landmark_match.h b/include/core/landmark/landmark_match.h
index bae0061e246c66d73df3bcb703101fbc6888ebf4..23d52ab39ea9c55e02dabdb887a0cc50c92fbc4e 100644
--- a/include/core/landmark/landmark_match.h
+++ b/include/core/landmark/landmark_match.h
@@ -2,7 +2,7 @@
 #define LANDMARK_MATCH_H_
 
 // Wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 //wolf nampseace
 namespace wolf {
diff --git a/include/core/map/map_base.h b/include/core/map/map_base.h
index c3d6eb8c92c48eb742bd1b63843c472d4f3f590c..90ad785458a9a3a62f6882c7294945c19ceedcc8 100644
--- a/include/core/map/map_base.h
+++ b/include/core/map/map_base.h
@@ -9,8 +9,8 @@ class LandmarkBase;
 }
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
 
 //std includes
 
diff --git a/include/core/math/SE3.h b/include/core/math/SE3.h
index 5a84f0c7e50d55d9d56ea06cc444c8f8d33698a4..0515376e459be99732f24d97ea9667d7616a2177 100644
--- a/include/core/math/SE3.h
+++ b/include/core/math/SE3.h
@@ -8,8 +8,8 @@
 #ifndef SE3_H_
 #define SE3_H_
 
-#include "base/common/wolf.h"
-#include "base/math/rotations.h"
+#include "core/common/wolf.h"
+#include "core/math/rotations.h"
 
 /*
  * The functions in this file are related to manipulations of Delta motion magnitudes used in 3D motion.
diff --git a/include/core/math/pinhole_tools.h b/include/core/math/pinhole_tools.h
index 9fed8ba7c0775ac46d93872e98e1b2bee85fe64b..ef226651ea81e6bf2645b71069449e364a095a13 100644
--- a/include/core/math/pinhole_tools.h
+++ b/include/core/math/pinhole_tools.h
@@ -11,7 +11,7 @@
  *
  */
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 #include <iostream>
 
diff --git a/include/core/math/rotations.h b/include/core/math/rotations.h
index fc0e8b2bbd925c01009ec8577226cc25cfb6f0f1..6e2630efed88721857a0c4cd70a4c7d08277d7cb 100644
--- a/include/core/math/rotations.h
+++ b/include/core/math/rotations.h
@@ -8,7 +8,7 @@
 #ifndef ROTATIONS_H_
 #define ROTATIONS_H_
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 namespace wolf
 {
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 938074f78020ebff96905714d70d7f1259a168e1..568c73d4ddf75b19c11db43aeeb4fc16ec41e0a9 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -14,9 +14,9 @@ struct ProcessorParamsBase;
 }
 
 //wolf includes
-#include "base/common/wolf.h"
-#include "base/frame/frame_base.h"
-#include "base/state_block/state_block.h"
+#include "core/common/wolf.h"
+#include "core/frame/frame_base.h"
+#include "core/state_block/state_block.h"
 
 // std includes
 #include <mutex>
diff --git a/include/core/processor/diff_drive_tools.h b/include/core/processor/diff_drive_tools.h
index 92883eafa55af400e948f9b637389255b035eef0..50c20c0a021fd98ef882fe549d366b55cc7966e8 100644
--- a/include/core/processor/diff_drive_tools.h
+++ b/include/core/processor/diff_drive_tools.h
@@ -8,7 +8,7 @@
 #ifndef _WOLF_PROCESSOR_DIFF_DRIVE_TOOLS_H_
 #define _WOLF_PROCESSOR_DIFF_DRIVE_TOOLS_H_
 
-#include "base/utils/eigen_assert.h"
+#include "core/utils/eigen_assert.h"
 
 namespace wolf {
 
@@ -419,6 +419,6 @@ Eigen::Matrix<typename T::Scalar, 2, 2> computeWheelJointPositionCov(
 
 } // namespace wolf
 
-#include "base/processor/diff_drive_tools.hpp"
+#include "core/processor/diff_drive_tools.hpp"
 
 #endif /* _WOLF_PROCESSOR_DIFF_DRIVE_TOOLS_H_ */
diff --git a/include/core/processor/motion_buffer.h b/include/core/processor/motion_buffer.h
index 40fbd29251a47338412a3e2a307917dc1d0b5f78..9b64ff56252a8229c27a73cbb8880adaa7689ae9 100644
--- a/include/core/processor/motion_buffer.h
+++ b/include/core/processor/motion_buffer.h
@@ -8,8 +8,8 @@
 #ifndef SRC_MOTIONBUFFER_H_
 #define SRC_MOTIONBUFFER_H_
 
-#include "base/common/wolf.h"
-#include "base/common/time_stamp.h"
+#include "core/common/wolf.h"
+#include "core/common/time_stamp.h"
 
 #include <list>
 #include <algorithm>
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 5d68c43c7b921532dc1d1d0d32ddabe89d75de93..45b3500def2beadc35b43b4e3cade07dad1de99c 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -7,10 +7,10 @@ class SensorBase;
 }
 
 // Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
-#include "base/common/time_stamp.h"
-#include "base/frame/frame_base.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
+#include "core/common/time_stamp.h"
+#include "core/frame/frame_base.h"
 
 // std
 #include <memory>
@@ -207,8 +207,8 @@ inline void ProcessorBase::setVotingActive(bool _voting_active)
 
 }
 
-#include "base/sensor/sensor_base.h"
-#include "base/factor/factor_base.h"
+#include "core/sensor/sensor_base.h"
+#include "core/factor/factor_base.h"
 
 namespace wolf {
 
diff --git a/include/core/processor/processor_capture_holder.h b/include/core/processor/processor_capture_holder.h
index 9067b4cae4870f3c53cc7400e7d943ae20822a42..1746fd548a5a7dfb0e5f9cdaa860527b720992ae 100644
--- a/include/core/processor/processor_capture_holder.h
+++ b/include/core/processor/processor_capture_holder.h
@@ -9,9 +9,9 @@
 #define _WOLF_PROCESSOR_CAPTURE_HOLDER_H_
 
 //Wolf includes
-#include "base/processor/processor_base.h"
-#include "base/capture/capture_base.h"
-#include "base/capture/capture_buffer.h"
+#include "core/processor/processor_base.h"
+#include "core/capture/capture_base.h"
+#include "core/capture/capture_buffer.h"
 
 namespace wolf {
 
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 4ea5181b81321b4649f1e2bdf835db2e0e820959..e74102a0a25b0610c277b0fd360f80575b1d0387 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -8,8 +8,8 @@
 #ifndef _WOLF_PROCESSOR_DIFF_DRIVE_H_
 #define _WOLF_PROCESSOR_DIFF_DRIVE_H_
 
-#include "base/processor/processor_motion.h"
-#include "base/processor/diff_drive_tools.h"
+#include "core/processor/processor_motion.h"
+#include "core/processor/diff_drive_tools.h"
 
 namespace wolf {
 
diff --git a/include/core/processor/processor_factory.h b/include/core/processor/processor_factory.h
index 390a66bec44b331094245686763cec31416fdb00..8b2fdb2472b99a6eb1271e63e0196a3f0459e699 100644
--- a/include/core/processor/processor_factory.h
+++ b/include/core/processor/processor_factory.h
@@ -15,7 +15,7 @@ struct ProcessorParamsBase;
 }
 
 // wolf
-#include "base/common/factory.h"
+#include "core/common/factory.h"
 
 // std
 
@@ -125,8 +125,8 @@ namespace wolf
  * and bind it to a SensorOdom2D:
  *
  *     \code
- *     #include "base/sensor/sensor_odom_2D.h"      // provides SensorOdom2D    and SensorFactory
- *     #include "base/processor/processor_odom_2D.h"   // provides ProcessorOdom2D and ProcessorFactory
+ *     #include "core/sensor/sensor_odom_2D.h"      // provides SensorOdom2D    and SensorFactory
+ *     #include "core/processor/processor_odom_2D.h"   // provides ProcessorOdom2D and ProcessorFactory
  *
  *     // Note: SensorOdom2D::create()    is already registered, automatically.
  *     // Note: ProcessorOdom2D::create() is already registered, automatically.
@@ -153,9 +153,9 @@ namespace wolf
  * The example 1 above can be accomplished as follows (we obviated for simplicity all the parameter creation),
  *
  *     \code
- *     #include "base/sensor/sensor_odom_2D.h"
- *     #include "base/processor/processor_odom_2D.h"
- *     #include "base/problem/problem.h"
+ *     #include "core/sensor/sensor_odom_2D.h"
+ *     #include "core/processor/processor_odom_2D.h"
+ *     #include "core/problem/problem.h"
  *
  *     Problem problem(FRM_PO_2D);
  *     problem.installSensor    ( "ODOM 2D" , "Main odometer" , extrinsics      , &intrinsics );
diff --git a/include/core/processor/processor_frame_nearest_neighbor_filter.h b/include/core/processor/processor_frame_nearest_neighbor_filter.h
index ceb49425395712ff35d2c0e1d61c0882eecfc84c..ea4963588e9cc203d8cfae706362e6d00ee4a3d2 100644
--- a/include/core/processor/processor_frame_nearest_neighbor_filter.h
+++ b/include/core/processor/processor_frame_nearest_neighbor_filter.h
@@ -2,8 +2,8 @@
 #define _WOLF_SRC_PROCESSOR_FRAME_NEAREST_NEIGHBOR_FILTER_H
 
 // Wolf related headers
-#include "base/processor/processor_loopclosure_base.h"
-#include "base/state_block/state_block.h"
+#include "core/processor/processor_loopclosure_base.h"
+#include "core/state_block/state_block.h"
 
 namespace wolf{
 
diff --git a/include/core/processor/processor_logging.h b/include/core/processor/processor_logging.h
index d41d7ce30af37063f429a979aeb41a780b2ab489..de1d5ead89e38e28f15aa6b1c789350c3a0b0384 100644
--- a/include/core/processor/processor_logging.h
+++ b/include/core/processor/processor_logging.h
@@ -9,7 +9,7 @@
 #define _WOLF_PROCESSOR_LOGGING_H_
 
 /// @brief un-comment for IDE highlights.
-//#include "base/utils/logging.h"
+//#include "core/utils/logging.h"
 
 #define __INTERNAL_WOLF_ASSERT_PROCESSOR \
   static_assert(std::is_base_of<ProcessorBase, \
diff --git a/include/core/processor/processor_loopclosure_base.h b/include/core/processor/processor_loopclosure_base.h
index a9d8e878eeabdf9e97db4f659ad45a403d9acaca..00c63856dba087990a250854be11290b8631d9bf 100644
--- a/include/core/processor/processor_loopclosure_base.h
+++ b/include/core/processor/processor_loopclosure_base.h
@@ -2,7 +2,7 @@
 #define _WOLF_PROCESSOR_LOOPCLOSURE_BASE_H
 
 // Wolf related headers
-#include "base/processor/processor_base.h"
+#include "core/processor/processor_base.h"
 
 namespace wolf{
 
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 46af97f524059b9c5590a40d569d9f8f5c1c2acc..b54c433844f79d2ff94c12423a88d32ab3d44646 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -9,9 +9,9 @@
 #define PROCESSOR_MOTION_H_
 
 // Wolf
-#include "base/capture/capture_motion.h"
-#include "base/processor/processor_base.h"
-#include "base/common/time_stamp.h"
+#include "core/capture/capture_motion.h"
+#include "core/processor/processor_base.h"
+#include "core/common/time_stamp.h"
 
 // std
 #include <iomanip>
@@ -476,7 +476,7 @@ class ProcessorMotion : public ProcessorBase
 
 }
 
-#include "base/frame/frame_base.h"
+#include "core/frame/frame_base.h"
 
 namespace wolf{
 
diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
index ae73d0e93662231dc0a77f4e5c26f26fddda7160..96637096c6a685a69031aad041aed2bb362c0c0d 100644
--- a/include/core/processor/processor_odom_2D.h
+++ b/include/core/processor/processor_odom_2D.h
@@ -8,10 +8,10 @@
 #ifndef SRC_PROCESSOR_ODOM_2D_H_
 #define SRC_PROCESSOR_ODOM_2D_H_
 
-#include "base/processor/processor_motion.h"
-#include "base/capture/capture_odom_2D.h"
-#include "base/factor/factor_odom_2D.h"
-#include "base/math/rotations.h"
+#include "core/processor/processor_motion.h"
+#include "core/capture/capture_odom_2D.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/math/rotations.h"
 
 namespace wolf {
     
diff --git a/include/core/processor/processor_odom_3D.h b/include/core/processor/processor_odom_3D.h
index 5602eb3839cabffcb83ebde39f0ef7d8a74c8c49..8d3f86397514e0eb602545cd215d4b1f9fa0b63b 100644
--- a/include/core/processor/processor_odom_3D.h
+++ b/include/core/processor/processor_odom_3D.h
@@ -8,11 +8,11 @@
 #ifndef SRC_PROCESSOR_ODOM_3D_H_
 #define SRC_PROCESSOR_ODOM_3D_H_
 
-#include "base/processor/processor_motion.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/capture/capture_odom_3D.h"
-#include "base/factor/factor_odom_3D.h"
-#include "base/math/rotations.h"
+#include "core/processor/processor_motion.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/capture/capture_odom_3D.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/math/rotations.h"
 #include <cmath>
 
 namespace wolf {
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 38dc26b30d80c419c69f3640c71645352afa6f66..dab99e7982b9bd2e8755165e2c49fe54c89232d1 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -8,8 +8,8 @@
 #ifndef SRC_PROCESSOR_TRACKER_H_
 #define SRC_PROCESSOR_TRACKER_H_
 
-#include "base/processor/processor_base.h"
-#include "base/capture/capture_motion.h"
+#include "core/processor/processor_base.h"
+#include "core/capture/capture_motion.h"
 
 namespace wolf {
     
diff --git a/include/core/processor/processor_tracker_feature.h b/include/core/processor/processor_tracker_feature.h
index 17da3af43bd37be3b7f8543aa539554e1d50eb83..4fa99aa2676b9aea273378faf9324720f0255636 100644
--- a/include/core/processor/processor_tracker_feature.h
+++ b/include/core/processor/processor_tracker_feature.h
@@ -9,11 +9,11 @@
 #define PROCESSOR_TRACKER_FEATURE_H_
 
 //wolf includes
-#include "base/processor/processor_tracker.h"
-#include "base/capture/capture_base.h"
-#include "base/feature/feature_match.h"
-#include "base/processor/track_matrix.h"
-#include "base/common/wolf.h"
+#include "core/processor/processor_tracker.h"
+#include "core/capture/capture_base.h"
+#include "core/feature/feature_match.h"
+#include "core/processor/track_matrix.h"
+#include "core/common/wolf.h"
 
 namespace wolf
 {
diff --git a/include/core/processor/processor_tracker_feature_dummy.h b/include/core/processor/processor_tracker_feature_dummy.h
index c0b40edbea015ffb86971363c218659c21d67af7..58ee217b93f58d5d0230aba2348af004df7937fc 100644
--- a/include/core/processor/processor_tracker_feature_dummy.h
+++ b/include/core/processor/processor_tracker_feature_dummy.h
@@ -8,9 +8,9 @@
 #ifndef PROCESSOR_TRACKER_FEATURE_DUMMY_H_
 #define PROCESSOR_TRACKER_FEATURE_DUMMY_H_
 
-#include "base/common/wolf.h"
-#include "base/processor/processor_tracker_feature.h"
-#include "base/factor/factor_epipolar.h"
+#include "core/common/wolf.h"
+#include "core/processor/processor_tracker_feature.h"
+#include "core/factor/factor_epipolar.h"
 
 namespace wolf
 {
diff --git a/include/core/processor/processor_tracker_landmark.h b/include/core/processor/processor_tracker_landmark.h
index 856bc11942e481a1bf482e9fbae7cbf19ee05726..23c2be119a8d91de8aeb84061b8dc914cfd76d31 100644
--- a/include/core/processor/processor_tracker_landmark.h
+++ b/include/core/processor/processor_tracker_landmark.h
@@ -9,9 +9,9 @@
 #define PROCESSOR_TRACKER_LANDMARK_H_
 
 //wolf includes
-#include "base/processor/processor_tracker.h"
-#include "base/capture/capture_base.h"
-#include "base/landmark/landmark_match.h"
+#include "core/processor/processor_tracker.h"
+#include "core/capture/capture_base.h"
+#include "core/landmark/landmark_match.h"
 
 namespace wolf
 {
@@ -169,6 +169,6 @@ class ProcessorTrackerLandmark : public ProcessorTracker
 }// namespace wolf
 
 // IMPLEMENTATION
-#include "base/landmark/landmark_base.h"
+#include "core/landmark/landmark_base.h"
 
 #endif /* PROCESSOR_TRACKER_LANDMARK_H_ */
diff --git a/include/core/processor/track_matrix.h b/include/core/processor/track_matrix.h
index 4fc5af1d030175c4d6763fb608ad569906ebd2c2..511f22a096d830d898049fa966ad1d63ab42c624 100644
--- a/include/core/processor/track_matrix.h
+++ b/include/core/processor/track_matrix.h
@@ -8,8 +8,8 @@
 #ifndef TRACK_MATRIX_H_
 #define TRACK_MATRIX_H_
 
-#include "base/feature/feature_base.h"
-#include "base/capture/capture_base.h"
+#include "core/feature/feature_base.h"
+#include "core/capture/capture_base.h"
 
 #include <map>
 #include <vector>
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index 4d9910ff28b126af81972b62aac55a07ad947ddd..af0c7adfee35a9ea01efd2b7aec1b4c49aa03a6a 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -9,9 +9,9 @@ class StateBlock;
 }
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
-#include "base/common/time_stamp.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
+#include "core/common/time_stamp.h"
 
 //std includes
 
@@ -190,10 +190,10 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
 
 }
 
-#include "base/problem/problem.h"
-#include "base/hardware/hardware_base.h"
-#include "base/capture/capture_base.h"
-#include "base/processor/processor_base.h"
+#include "core/problem/problem.h"
+#include "core/hardware/hardware_base.h"
+#include "core/capture/capture_base.h"
+#include "core/processor/processor_base.h"
 
 namespace wolf{
 
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index 4a38829740849938b7ca0388e54d158cf6ee46bb..5cd9e848da2412fbac1daa8455699d1cc0783aa5 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -9,8 +9,8 @@
 #define WOLF_SENSOR_DIFF_DRIVE_H_
 
 //wolf includes
-#include "base/sensor/sensor_base.h"
-#include "base/processor/diff_drive_tools.h"
+#include "core/sensor/sensor_base.h"
+#include "core/processor/diff_drive_tools.h"
 
 namespace wolf {
 
diff --git a/include/core/sensor/sensor_factory.h b/include/core/sensor/sensor_factory.h
index d74c9b1abb4be615f02323efb2bcec33e32c1dcb..abe8b64180cdd5f0c2e95cd9eb6ccfe636e83e3a 100644
--- a/include/core/sensor/sensor_factory.h
+++ b/include/core/sensor/sensor_factory.h
@@ -15,7 +15,7 @@ struct IntrinsicsBase;
 }
 
 // wolf
-#include "base/common/factory.h"
+#include "core/common/factory.h"
 
 namespace wolf
 {
@@ -174,7 +174,7 @@ namespace wolf
  *
  *  \code
  *  #include "sensor_factory.h"
- *  #include "base/sensor/sensor_camera.h" // provides SensorCamera
+ *  #include "core/sensor/sensor_camera.h" // provides SensorCamera
  *
  *  // Note: SensorCamera::create() is already registered, automatically.
  *
diff --git a/include/core/sensor/sensor_odom_2D.h b/include/core/sensor/sensor_odom_2D.h
index f1528ec377f88f854ee905fbde29e0db5c381265..d7eec490c8a01eda75f24ca845ea53061a727de1 100644
--- a/include/core/sensor/sensor_odom_2D.h
+++ b/include/core/sensor/sensor_odom_2D.h
@@ -3,7 +3,7 @@
 #define SENSOR_ODOM_2D_H_
 
 //wolf includes
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
 
 namespace wolf {
 
diff --git a/include/core/sensor/sensor_odom_3D.h b/include/core/sensor/sensor_odom_3D.h
index be3694b2da8b69ad7201d57251f0246deb6dba92..af3301e1acc5bb46fd21f1fce81c0bf78bc42e7a 100644
--- a/include/core/sensor/sensor_odom_3D.h
+++ b/include/core/sensor/sensor_odom_3D.h
@@ -9,7 +9,7 @@
 #define SRC_SENSOR_ODOM_3D_H_
 
 //wolf includes
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
 
 namespace wolf {
 
diff --git a/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h
index 28e43acfa63426072e6883b2a3237535775d1fc8..b6c6c9e33ff120422f013dc5831cf0fa5fddb766 100644
--- a/include/core/solver/solver_manager.h
+++ b/include/core/solver/solver_manager.h
@@ -2,9 +2,9 @@
 #define _WOLF_SOLVER_MANAGER_H_
 
 //wolf includes
-#include "base/common/wolf.h"
-#include "base/state_block/state_block.h"
-#include "base/factor/factor_base.h"
+#include "core/common/wolf.h"
+#include "core/state_block/state_block.h"
+#include "core/factor/factor_base.h"
 
 namespace wolf {
 
diff --git a/include/core/solver_suitesparse/cost_function_base.h b/include/core/solver_suitesparse/cost_function_base.h
index 25d891b953afd62035fe8b8d4d3047f038e34db4..bf8f4ebcbee58431e0bb741eded9d3c3c799fdbb 100644
--- a/include/core/solver_suitesparse/cost_function_base.h
+++ b/include/core/solver_suitesparse/cost_function_base.h
@@ -8,7 +8,7 @@
 #ifndef TRUNK_SRC_SOLVER_COST_FUNCTION_BASE_H_
 #define TRUNK_SRC_SOLVER_COST_FUNCTION_BASE_H_
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 #include <Eigen/StdVector>
 
 class CostFunctionBase
diff --git a/include/core/solver_suitesparse/cost_function_sparse.h b/include/core/solver_suitesparse/cost_function_sparse.h
index 3ed0eb5e352692eb6af4511f0414f6204f914b33..806e4d0405f10192e2170dcf264e78d289cc9bde 100644
--- a/include/core/solver_suitesparse/cost_function_sparse.h
+++ b/include/core/solver_suitesparse/cost_function_sparse.h
@@ -2,7 +2,7 @@
 #define TRUNK_SRC_SOLVER_COST_FUNCTION_SPARSE_H_
 
 //wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 #include "cost_function_sparse_base.h"
 
 // CERES JET
diff --git a/include/core/solver_suitesparse/cost_function_sparse_base.h b/include/core/solver_suitesparse/cost_function_sparse_base.h
index d90a0577ead23d37aaa6f6a37c0b92c5aa06f89f..0a1d9b3a885352fb951be84eda72f4e639085c0a 100644
--- a/include/core/solver_suitesparse/cost_function_sparse_base.h
+++ b/include/core/solver_suitesparse/cost_function_sparse_base.h
@@ -9,7 +9,7 @@
 #define TRUNK_SRC_SOLVER_COST_FUNCTION_SPARSE_BASE_H_
 
 //wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 #include "cost_function_base.h"
 
 // CERES JET
diff --git a/include/core/solver_suitesparse/qr_solver.h b/include/core/solver_suitesparse/qr_solver.h
index 0d7f49ccd037785f4b409462fc072127dc36d26e..452971da53b36126d1b9c5b9492d99357dcd6ff0 100644
--- a/include/core/solver_suitesparse/qr_solver.h
+++ b/include/core/solver_suitesparse/qr_solver.h
@@ -13,12 +13,12 @@
 #include <ctime>
 
 //Wolf includes
-#include "base/state_block/state_block.h"
+#include "core/state_block/state_block.h"
 #include "../factor_sparse.h"
-#include "base/factor/factor_odom_2D.h"
-#include "base/factor/factor_corner_2D.h"
-#include "base/factor/factor_container.h"
-#include "base/solver_suitesparse/sparse_utils.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/factor/factor_corner_2D.h"
+#include "core/factor/factor_container.h"
+#include "core/solver_suitesparse/sparse_utils.h"
 
 // wolf solver
 #include "solver/ccolamd_ordering.h"
@@ -28,7 +28,7 @@
 #include <eigen3/Eigen/OrderingMethods>
 #include <eigen3/Eigen/SparseQR>
 #include <Eigen/StdVector>
-#include "base/factor/factor_pose_2D.h"
+#include "core/factor/factor_pose_2D.h"
 
 namespace wolf
 {
diff --git a/include/core/solver_suitesparse/solver_manager.h b/include/core/solver_suitesparse/solver_manager.h
index 3d1ef2a276a95526881859da5fcee019308d2e76..bb3863e11d20719704c7acae1bbc88bebf597eb2 100644
--- a/include/core/solver_suitesparse/solver_manager.h
+++ b/include/core/solver_suitesparse/solver_manager.h
@@ -2,9 +2,9 @@
 #define CERES_MANAGER_H_
 
 //wolf includes
-#include "base/factor/factor_GPS_2D.h"
-#include "base/common/wolf.h"
-#include "base/state_block/state_block.h"
+#include "core/factor/factor_GPS_2D.h"
+#include "core/common/wolf.h"
+#include "core/state_block/state_block.h"
 #include "../state_point.h"
 #include "../state_complex_angle.h"
 #include "../state_theta.h"
diff --git a/include/core/state_block/local_parametrization_angle.h b/include/core/state_block/local_parametrization_angle.h
index 3644c83ec487f6ca4c21816d32f3e0ed87535b94..5b146d84d3c46de5f4b6699fdb0efb83edb64c9d 100644
--- a/include/core/state_block/local_parametrization_angle.h
+++ b/include/core/state_block/local_parametrization_angle.h
@@ -8,8 +8,8 @@
 #ifndef LOCAL_PARAMETRIZATION_ANGLE_H_
 #define LOCAL_PARAMETRIZATION_ANGLE_H_
 
-#include "base/state_block/local_parametrization_base.h"
-#include "base/math/rotations.h"
+#include "core/state_block/local_parametrization_base.h"
+#include "core/math/rotations.h"
 
 namespace wolf
 {
diff --git a/include/core/state_block/local_parametrization_base.h b/include/core/state_block/local_parametrization_base.h
index cbc0cbb13aff8535d46926530b99f654714f3832..94ed61f62d83736c27593afe151ab701e51e09e5 100644
--- a/include/core/state_block/local_parametrization_base.h
+++ b/include/core/state_block/local_parametrization_base.h
@@ -8,7 +8,7 @@
 #ifndef LOCAL_PARAMETRIZATION_BASE_H_
 #define LOCAL_PARAMETRIZATION_BASE_H_
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 namespace wolf {
 
diff --git a/include/core/state_block/local_parametrization_homogeneous.h b/include/core/state_block/local_parametrization_homogeneous.h
index cd2076d635ec2f674fb42b16bf000a689700b27c..4729bb3ff1f8e4ff821b4cc87f5c7c192b2ccaf0 100644
--- a/include/core/state_block/local_parametrization_homogeneous.h
+++ b/include/core/state_block/local_parametrization_homogeneous.h
@@ -8,7 +8,7 @@
 #ifndef LOCALPARAMETRIZATIONHOMOGENEOUS_H_
 #define LOCALPARAMETRIZATIONHOMOGENEOUS_H_
 
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
 
 namespace wolf {
 
diff --git a/include/core/state_block/local_parametrization_polyline_extreme.h b/include/core/state_block/local_parametrization_polyline_extreme.h
index 0e0cc29cd9ab50b54cb09cde36a12d278e1a846a..ce025e7404b0cde7f67a3521255b3f6597302b36 100644
--- a/include/core/state_block/local_parametrization_polyline_extreme.h
+++ b/include/core/state_block/local_parametrization_polyline_extreme.h
@@ -8,7 +8,7 @@
 #ifndef LOCAL_PARAMETRIZATION_POLYLINE_EXTREME_H_
 #define LOCAL_PARAMETRIZATION_POLYLINE_EXTREME_H_
 
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
 
 namespace wolf {
 
diff --git a/include/core/state_block/local_parametrization_quaternion.h b/include/core/state_block/local_parametrization_quaternion.h
index c28a05d49d6e1cd8548161e5597393817c14c03f..3076568d529835f12f414e0194fe2a0396e65305 100644
--- a/include/core/state_block/local_parametrization_quaternion.h
+++ b/include/core/state_block/local_parametrization_quaternion.h
@@ -8,7 +8,7 @@
 #ifndef LOCAL_PARAMETRIZATION_QUATERNION_H_
 #define LOCAL_PARAMETRIZATION_QUATERNION_H_
 
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
 
 namespace wolf {
 
diff --git a/include/core/state_block/state_angle.h b/include/core/state_block/state_angle.h
index ae5133b3261212958e3f418757092562ae162457..635fd6be75e01d72793b11b4987aee75a220c8e7 100644
--- a/include/core/state_block/state_angle.h
+++ b/include/core/state_block/state_angle.h
@@ -8,8 +8,8 @@
 #ifndef STATE_ANGLE_H_
 #define STATE_ANGLE_H_
 
-#include "base/state_block/state_block.h"
-#include "base/state_block/local_parametrization_angle.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/local_parametrization_angle.h"
 
 namespace wolf
 {
diff --git a/include/core/state_block/state_block.h b/include/core/state_block/state_block.h
index 86c94d6ce3c36a2ab84fe3101749e76ca47f5e92..01fa0bc31927ccabdc2e15788e2b8966bb2740e5 100644
--- a/include/core/state_block/state_block.h
+++ b/include/core/state_block/state_block.h
@@ -9,7 +9,7 @@ class LocalParametrizationBase;
 }
 
 //Wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 //std includes
 #include <iostream>
@@ -154,9 +154,9 @@ public:
 } // namespace wolf
 
 // IMPLEMENTATION
-#include "base/state_block/local_parametrization_base.h"
-#include "base/common/node_base.h"
-#include "base/problem/problem.h"
+#include "core/state_block/local_parametrization_base.h"
+#include "core/common/node_base.h"
+#include "core/problem/problem.h"
 
 namespace wolf {
 
diff --git a/include/core/state_block/state_homogeneous_3D.h b/include/core/state_block/state_homogeneous_3D.h
index 369e14f4308817d5db319d8ed86d26fee8fecbec..c71e3c7f1be920e6e144af255893d9a3efc2aafe 100644
--- a/include/core/state_block/state_homogeneous_3D.h
+++ b/include/core/state_block/state_homogeneous_3D.h
@@ -8,8 +8,8 @@
 #ifndef SRC_STATE_HOMOGENEOUS_3D_H_
 #define SRC_STATE_HOMOGENEOUS_3D_H_
 
-#include "base/state_block/state_block.h"
-#include "base/state_block/local_parametrization_homogeneous.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/local_parametrization_homogeneous.h"
 
 namespace wolf {
 
diff --git a/include/core/state_block/state_quaternion.h b/include/core/state_block/state_quaternion.h
index f7ad39f2d05186b4925618d6422f989288e2956e..66b23c0504339b98b1c9be1eeaafd9d552ecf472 100644
--- a/include/core/state_block/state_quaternion.h
+++ b/include/core/state_block/state_quaternion.h
@@ -8,8 +8,8 @@
 #ifndef SRC_STATE_QUATERNION_H_
 #define SRC_STATE_QUATERNION_H_
 
-#include "base/state_block/state_block.h"
-#include "base/state_block/local_parametrization_quaternion.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/local_parametrization_quaternion.h"
 
 namespace wolf {
 
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 37f9762c7c9955381eaba9bc52aef253441d36e1..3ae3420a5d3bdd3f5bb78e5a3664d90fde19e614 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -10,8 +10,8 @@ class TimeStamp;
 }
 
 //Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
 
 //std includes
 
diff --git a/include/core/utils/eigen_predicates.h b/include/core/utils/eigen_predicates.h
index bc0ab932275487669cd335140c5b22eb0a7611ad..41dddac1d50dc2d230fb749a959d3a015974a07f 100644
--- a/include/core/utils/eigen_predicates.h
+++ b/include/core/utils/eigen_predicates.h
@@ -8,7 +8,7 @@
 #ifndef _WOLF_EIGEN_PREDICATES_H_
 #define _WOLF_EIGEN_PREDICATES_H_
 
-#include "base/math/rotations.h"
+#include "core/math/rotations.h"
 
 namespace wolf {
 
diff --git a/include/core/utils/logging.h b/include/core/utils/logging.h
index 088a82152f5eeef569d3e71919924d1ef5e4d511..b59a96c31cba4ca7efb245a733402cf05c14c44c 100644
--- a/include/core/utils/logging.h
+++ b/include/core/utils/logging.h
@@ -17,7 +17,7 @@
 #include "spdlog/fmt/bundled/ostream.h"
 
 // Wolf includes
-#include "base/utils/singleton.h"
+#include "core/utils/singleton.h"
 
 namespace wolf {
 namespace internal {
diff --git a/serialization/cereal/serialization_local_parametrization_base.h b/serialization/cereal/serialization_local_parametrization_base.h
index 1385e1af088678e853c0ab0ecb4f5d6a34f103a0..b43c35673ae05e9088c045c167fa9a02a3139c8a 100644
--- a/serialization/cereal/serialization_local_parametrization_base.h
+++ b/serialization/cereal/serialization_local_parametrization_base.h
@@ -1,7 +1,7 @@
 #ifndef _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_
 #define _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_
 
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
 
 #include <cereal/cereal.hpp>
 #include <cereal/types/polymorphic.hpp>
diff --git a/serialization/cereal/serialization_local_parametrization_homogeneous.h b/serialization/cereal/serialization_local_parametrization_homogeneous.h
index 2b36232d53cceff76ab2ad5e6c0732f8b449cc0b..9fcc656d5b86c51eb3995d1a11fbdcc80b1e98c4 100644
--- a/serialization/cereal/serialization_local_parametrization_homogeneous.h
+++ b/serialization/cereal/serialization_local_parametrization_homogeneous.h
@@ -1,7 +1,7 @@
 #ifndef _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_HOMOGENEOUS_H_
 #define _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_HOMOGENEOUS_H_
 
-#include "base/local_parametrization_homogeneous.h"
+#include "core/local_parametrization_homogeneous.h"
 
 #include "serialization_local_parametrization_base.h"
 
diff --git a/serialization/cereal/serialization_local_parametrization_quaternion.h b/serialization/cereal/serialization_local_parametrization_quaternion.h
index 95c71f4c288a6010aa50b65a38bea9eecc9b9c4b..66fe30a361f0f1878a9444d9fb487ad2a068ad0d 100644
--- a/serialization/cereal/serialization_local_parametrization_quaternion.h
+++ b/serialization/cereal/serialization_local_parametrization_quaternion.h
@@ -1,7 +1,7 @@
 #ifndef WOLF_IO_SERIALIZATION_LOCAL_PARAMETRIZATION_QUATERNION_H_
 #define WOLF_IO_SERIALIZATION_LOCAL_PARAMETRIZATION_QUATERNION_H_
 
-#include "base/local_parametrization_quaternion.h"
+#include "core/local_parametrization_quaternion.h"
 
 #include "serialization_local_parametrization_base.h"
 
diff --git a/serialization/cereal/serialization_node_base.h b/serialization/cereal/serialization_node_base.h
index 5a0a039a3ca43444f1866563bc3c135eeedaa21e..a2c592d6982485de2aebf189e09e764b68022783 100644
--- a/serialization/cereal/serialization_node_base.h
+++ b/serialization/cereal/serialization_node_base.h
@@ -2,7 +2,7 @@
 #define _WOLF_IO_CEREAL_NODE_BASE_H_
 
 // Wolf includes
-#include "base/node_base.h"
+#include "core/node_base.h"
 
 #include <cereal/cereal.hpp>
 #include <cereal/types/polymorphic.hpp>
diff --git a/serialization/cereal/serialization_processor_odom2d_params.h b/serialization/cereal/serialization_processor_odom2d_params.h
index 2056f6de9eecf0fc3e312b8553fa5cfd030ea942..dc0416b94634ef8415919c26fa972c86edb99a00 100644
--- a/serialization/cereal/serialization_processor_odom2d_params.h
+++ b/serialization/cereal/serialization_processor_odom2d_params.h
@@ -2,7 +2,7 @@
 #define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM2D_PARAMS_H_
 
 // Wolf includes
-#include "base/processor/processor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
 #include "serialization_processor_params_base.h"
 
 namespace cereal {
diff --git a/serialization/cereal/serialization_processor_odom3d_params.h b/serialization/cereal/serialization_processor_odom3d_params.h
index 1556a39e438b0a2b273edded902070cccbd847b5..d2fd7c077d868e4dafcfa209c10767415f092ab8 100644
--- a/serialization/cereal/serialization_processor_odom3d_params.h
+++ b/serialization/cereal/serialization_processor_odom3d_params.h
@@ -2,7 +2,7 @@
 #define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM3D_PARAMS_H_
 
 // Wolf includes
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
 #include "serialization_processor_params_base.h"
 
 namespace cereal {
diff --git a/serialization/cereal/serialization_processor_params_base.h b/serialization/cereal/serialization_processor_params_base.h
index 2c75b85c9a374f6af4bf87d09993cf49da1d50a3..03ea158c07ea0c18516400a6c51618998efb9473 100644
--- a/serialization/cereal/serialization_processor_params_base.h
+++ b/serialization/cereal/serialization_processor_params_base.h
@@ -2,7 +2,7 @@
 #define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_PARAM_BASE_H_
 
 // Wolf includes
-#include "base/processor/processor_base.h"
+#include "core/processor/processor_base.h"
 
 #include <cereal/cereal.hpp>
 #include <cereal/types/polymorphic.hpp>
diff --git a/serialization/cereal/serialization_sensor_intrinsic_base.h b/serialization/cereal/serialization_sensor_intrinsic_base.h
index 3e3b1cdb46e85572cc185232b41bf64a78da10b6..86b2a9b482eb61dd290dd2d2723c41415ca11dae 100644
--- a/serialization/cereal/serialization_sensor_intrinsic_base.h
+++ b/serialization/cereal/serialization_sensor_intrinsic_base.h
@@ -2,7 +2,7 @@
 #define _WOLF_SERIALIZATION_CEREAL_SENSOR_INTRINSIC_BASE_H_
 
 // Wolf includes
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
 
 #include <cereal/cereal.hpp>
 #include <cereal/types/polymorphic.hpp>
diff --git a/serialization/cereal/serialization_sensor_odom2d_intrinsic.h b/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
index ccfe569a72d0b69faf5af9ac01425c7edfabad69..17d4160b3751d0a13f0f28836234b500e6674400 100644
--- a/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
+++ b/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
@@ -2,7 +2,7 @@
 #define _WOLF_SERIALIZATION_CEREAL_SENSOR_ODOM2D_INTRINSIC_H_
 
 // Wolf includes
-#include "base/sensor/sensor_odom_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
 
 #include "serialization_sensor_intrinsic_base.h"
 
diff --git a/serialization/cereal/serialization_time_stamp.h b/serialization/cereal/serialization_time_stamp.h
index 6cc9e29c7f95d4a4ef2254a890737ab2a3f81d54..f0c978d36415be7598f2ba6eb5b83bd9a5cb0a61 100644
--- a/serialization/cereal/serialization_time_stamp.h
+++ b/serialization/cereal/serialization_time_stamp.h
@@ -2,7 +2,7 @@
 #define _WOLF_IO_CEREAL_TIME_STAMP_H_
 
 // Wolf includes
-#include "base/time_stamp.h"
+#include "core/time_stamp.h"
 
 #include <cereal/cereal.hpp>
 
diff --git a/src/association/association_nnls.cpp b/src/association/association_nnls.cpp
index 5d8286a782576b248f367b7770df440e21dfe3f4..c1f9d97e7021901928b743270ff565c2fc2c5f3c 100644
--- a/src/association/association_nnls.cpp
+++ b/src/association/association_nnls.cpp
@@ -1,4 +1,4 @@
-#include "base/association/association_nnls.h"
+#include "core/association/association_nnls.h"
 
 namespace wolf
 {
diff --git a/src/association/association_node.cpp b/src/association/association_node.cpp
index 1321dac069e0e86c2bfb9c2df8060cc514d49797..cf8cd45243fab361d5053cfde96f0719cd082c45 100644
--- a/src/association/association_node.cpp
+++ b/src/association/association_node.cpp
@@ -1,5 +1,5 @@
 
-#include "base/association/association_node.h"
+#include "core/association/association_node.h"
 
 AssociationNode::AssociationNode(const unsigned int _det_idx, const unsigned int _tar_idx, const double _prob, AssociationNode * _un_ptr, bool _is_root) :
     is_root_(_is_root),
diff --git a/src/association/association_solver.cpp b/src/association/association_solver.cpp
index f640efa3e3c9b93b4144ab31d068ccdc23a71842..8b277602114a453a3483db6bd110a9dd7e369430 100644
--- a/src/association/association_solver.cpp
+++ b/src/association/association_solver.cpp
@@ -1,5 +1,5 @@
 
-#include "base/association/association_solver.h"
+#include "core/association/association_solver.h"
 
 namespace wolf
 {
diff --git a/src/association/association_tree.cpp b/src/association/association_tree.cpp
index b425f8e5db4a5392d303d87b06c7b65ae2c8c822..94d02cab70b693fd194f700893314559c5257dba 100644
--- a/src/association/association_tree.cpp
+++ b/src/association/association_tree.cpp
@@ -1,5 +1,5 @@
 
-#include "base/association/association_tree.h"
+#include "core/association/association_tree.h"
 
 namespace wolf
 {
diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index 6249c6216f27ae5bad5717d14ea6918a2c409e60..d7d0ed7fd1f094b148c1c69a02973f2a938ec924 100644
--- a/src/capture/capture_base.cpp
+++ b/src/capture/capture_base.cpp
@@ -1,5 +1,5 @@
-#include "base/capture/capture_base.h"
-#include "base/sensor/sensor_base.h"
+#include "core/capture/capture_base.h"
+#include "core/sensor/sensor_base.h"
 
 namespace wolf{
 
diff --git a/src/capture/capture_motion.cpp b/src/capture/capture_motion.cpp
index 439228aa9b96d647f664241cbbf264cc1390e8eb..be77087388afc8a3ae05eb85333b54934bb2e90e 100644
--- a/src/capture/capture_motion.cpp
+++ b/src/capture/capture_motion.cpp
@@ -5,7 +5,7 @@
  *      \author: jsola
  */
 
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
 
 namespace wolf
 {
diff --git a/src/capture/capture_odom_2D.cpp b/src/capture/capture_odom_2D.cpp
index 99b6e42812740e045613186ea1079a13d5b2f416..1e073b2810e92eaa7c19affe4dc0bb4ad9ef74fe 100644
--- a/src/capture/capture_odom_2D.cpp
+++ b/src/capture/capture_odom_2D.cpp
@@ -5,7 +5,7 @@
  *      Author: jsola
  */
 
-#include "base/capture/capture_odom_2D.h"
+#include "core/capture/capture_odom_2D.h"
 
 namespace wolf
 {
diff --git a/src/capture/capture_odom_3D.cpp b/src/capture/capture_odom_3D.cpp
index 26f4e6d6fd3697b4099084e327699bda8bb23150..f456b992b2b4136d74690d1cafb8676dabe5762f 100644
--- a/src/capture/capture_odom_3D.cpp
+++ b/src/capture/capture_odom_3D.cpp
@@ -5,7 +5,7 @@
  *      Author: jsola
  */
 
-#include "base/capture/capture_odom_3D.h"
+#include "core/capture/capture_odom_3D.h"
 
 namespace wolf
 {
diff --git a/src/capture/capture_pose.cpp b/src/capture/capture_pose.cpp
index 4f5cf88a4670649f8e61df9423353851797d424b..751ab4b7f0d4c81d692f18a17b6f02568e974618 100644
--- a/src/capture/capture_pose.cpp
+++ b/src/capture/capture_pose.cpp
@@ -1,4 +1,4 @@
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
 
 namespace wolf{
 
diff --git a/src/capture/capture_velocity.cpp b/src/capture/capture_velocity.cpp
index 9c4e7675f67d8bcbc11c8b5a2d796a281bf20505..0785e8bae4918c1f8406bc379123dd56f4120730 100644
--- a/src/capture/capture_velocity.cpp
+++ b/src/capture/capture_velocity.cpp
@@ -1,4 +1,4 @@
-#include "base/capture/capture_velocity.h"
+#include "core/capture/capture_velocity.h"
 
 namespace wolf {
 
diff --git a/src/capture/capture_void.cpp b/src/capture/capture_void.cpp
index 44bf8778833b24e0df94bd11ae3985df2d3bd46a..cdc8ce156ab6f7309a28cc3e5c8551dd7bea1d12 100644
--- a/src/capture/capture_void.cpp
+++ b/src/capture/capture_void.cpp
@@ -1,4 +1,4 @@
-#include "base/capture/capture_void.h"
+#include "core/capture/capture_void.h"
 
 namespace wolf {
 
diff --git a/src/capture/capture_wheel_joint_position.cpp b/src/capture/capture_wheel_joint_position.cpp
index 1531820a06d63e478ff533cc0c47e42b582bf486..10532e397c53455e8d9893cc286ec3ef5797f803 100644
--- a/src/capture/capture_wheel_joint_position.cpp
+++ b/src/capture/capture_wheel_joint_position.cpp
@@ -1,6 +1,6 @@
-#include "base/capture/capture_wheel_joint_position.h"
-#include "base/sensor/sensor_diff_drive.h"
-#include "base/math/rotations.h"
+#include "core/capture/capture_wheel_joint_position.h"
+#include "core/sensor/sensor_diff_drive.h"
+#include "core/math/rotations.h"
 
 namespace wolf {
 
diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index 5871b8fa12ee6f9ce5c3aff8741e80444ab9e166..eea16c4584682df42a4b98bf55b84ebd6cb9d24e 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -1,9 +1,9 @@
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/ceres_wrapper/create_numeric_diff_cost_function.h"
-#include "base/trajectory/trajectory_base.h"
-#include "base/map/map_base.h"
-#include "base/landmark/landmark_base.h"
-#include "base/utils/make_unique.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/create_numeric_diff_cost_function.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/map/map_base.h"
+#include "core/landmark/landmark_base.h"
+#include "core/utils/make_unique.h"
 
 namespace wolf {
 
diff --git a/src/ceres_wrapper/local_parametrization_wrapper.cpp b/src/ceres_wrapper/local_parametrization_wrapper.cpp
index 5cade15532096a249e66df8da32287fa1ecbf797..4e92e85a4f6400b36b94c82d30955a6cb4b23222 100644
--- a/src/ceres_wrapper/local_parametrization_wrapper.cpp
+++ b/src/ceres_wrapper/local_parametrization_wrapper.cpp
@@ -1,4 +1,4 @@
-#include "base/ceres_wrapper/local_parametrization_wrapper.h"
+#include "core/ceres_wrapper/local_parametrization_wrapper.h"
 
 namespace wolf {
 
diff --git a/src/ceres_wrapper/solver_manager.cpp b/src/ceres_wrapper/solver_manager.cpp
index 72e6e556be97e476e6d57175338790632ef78098..586d76034d7001008ecfd0426f308c92b4f4c819 100644
--- a/src/ceres_wrapper/solver_manager.cpp
+++ b/src/ceres_wrapper/solver_manager.cpp
@@ -1,7 +1,7 @@
-#include "base/solver/solver_manager.h"
-#include "base/trajectory/trajectory_base.h"
-#include "base/map/map_base.h"
-#include "base/landmark/landmark_base.h"
+#include "core/solver/solver_manager.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/map/map_base.h"
+#include "core/landmark/landmark_base.h"
 
 namespace wolf {
 
diff --git a/src/common/node_base.cpp b/src/common/node_base.cpp
index 882e70a6944ba1b268262004dc46af33707b3221..3db2a0798a593d555e96d0d5dbd45263fad28642 100644
--- a/src/common/node_base.cpp
+++ b/src/common/node_base.cpp
@@ -1,4 +1,4 @@
-#include "base/common/node_base.h"
+#include "core/common/node_base.h"
 
 namespace wolf {
 
diff --git a/src/common/time_stamp.cpp b/src/common/time_stamp.cpp
index 3e84bf8460686af0fea308d8897966d8934d008e..36b9bb017954f818ffb7bbd1c235d1f1b88b599b 100644
--- a/src/common/time_stamp.cpp
+++ b/src/common/time_stamp.cpp
@@ -1,5 +1,5 @@
 
-#include "base/common/time_stamp.h"
+#include "core/common/time_stamp.h"
 
 namespace wolf {
 
diff --git a/src/examples/solver/test_ccolamd.cpp b/src/examples/solver/test_ccolamd.cpp
index d9eec5b00f275b9ed4fc1fd2f309a73daa8a171e..48831f6511f2d29689ced193e599dc4ae6292a5f 100644
--- a/src/examples/solver/test_ccolamd.cpp
+++ b/src/examples/solver/test_ccolamd.cpp
@@ -6,7 +6,7 @@
  */
 
 // Wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 //std includes
 #include <cstdlib>
diff --git a/src/examples/solver/test_iQR_wolf2.cpp b/src/examples/solver/test_iQR_wolf2.cpp
index dc4094304626dda2d5f044576da3cbaed648d377..9ad57098e8e3671bcf18cd54dc458fc6d776dab4 100644
--- a/src/examples/solver/test_iQR_wolf2.cpp
+++ b/src/examples/solver/test_iQR_wolf2.cpp
@@ -17,9 +17,9 @@
 #include <queue>
 
 //Wolf includes
-#include "base/state_block/state_block.h"
-#include "base/factor/factor_base.h"
-#include "base/sensor/sensor_laser_2D.h"
+#include "core/state_block/state_block.h"
+#include "core/factor/factor_base.h"
+#include "core/sensor/sensor_laser_2D.h"
 #include "wolf_manager.h"
 
 // wolf solver
@@ -35,7 +35,7 @@
 
 //Ceres includes
 #include "glog/logging.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 //laser_scan_utils
 #include "iri-algorithms/laser_scan_utils/corner_detector.h"
diff --git a/src/examples/test_2_lasers_offline.cpp b/src/examples/test_2_lasers_offline.cpp
index 9174dc94f6d30e66ae586d97ecc53896e0f2522a..58e91c6d8a63e81ff0337ee1ec4a7b601cdb9de7 100644
--- a/src/examples/test_2_lasers_offline.cpp
+++ b/src/examples/test_2_lasers_offline.cpp
@@ -1,5 +1,5 @@
 //std includes
-#include "base/sensor/sensor_GPS_fix.h"
+#include "core/sensor/sensor_GPS_fix.h"
 #include <cstdlib>
 #include <iostream>
 #include <fstream>
@@ -17,12 +17,12 @@
 #include "glog/logging.h"
 
 //Wolf includes
-#include "base/problem/problem.h"
-#include "base/processor/processor_tracker_landmark_corner.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_laser_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/problem/problem.h"
+#include "core/processor/processor_tracker_landmark_corner.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_laser_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // laserscanutils
 #include "laser_scan_utils/line_finder_iterative.h"
@@ -31,7 +31,7 @@
 //C includes for sleep, time and main args
 #include "unistd.h"
 
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
 //faramotics includes
 #include "faramotics/dynamicSceneRender.h"
 #include "faramotics/rangeScan2D.h"
diff --git a/src/examples/test_analytic_odom_factor.cpp b/src/examples/test_analytic_odom_factor.cpp
index 344c284e2d4d898106f3fd6d6f3a706cec56abda..32a2cbc64fcac5b0d37052347919f3e308042585 100644
--- a/src/examples/test_analytic_odom_factor.cpp
+++ b/src/examples/test_analytic_odom_factor.cpp
@@ -12,8 +12,8 @@
 
 //Wolf includes
 #include "wolf_manager.h"
-#include "base/capture/capture_void.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // EIGEN
 //#include <Eigen/CholmodSupport>
diff --git a/src/examples/test_apriltag.cpp b/src/examples/test_apriltag.cpp
index 75b5804c9df104247d43e5f2b728f2f57f6bd107..593938e9dd14f7b260c67d98d40df6fe5d101c0a 100644
--- a/src/examples/test_apriltag.cpp
+++ b/src/examples/test_apriltag.cpp
@@ -6,14 +6,14 @@
  */
 
 //Wolf
-#include "base/wolf.h"
-#include "base/rotations.h"
-#include "base/problem.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/processor/processor_tracker_landmark_apriltag.h"
-#include "base/capture/capture_image.h"
-#include "base/feature/feature_apriltag.h"
+#include "core/wolf.h"
+#include "core/rotations.h"
+#include "core/problem.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/processor/processor_tracker_landmark_apriltag.h"
+#include "core/capture/capture_image.h"
+#include "core/feature/feature_apriltag.h"
 
 // opencv
 #include <opencv2/imgproc/imgproc.hpp>
diff --git a/src/examples/test_autodiff.cpp b/src/examples/test_autodiff.cpp
index a4c75ccde0b6a186ae6923ac98ff8dd741a249a5..6fa1e01edddf6861f52c6c50222be29521ce68a2 100644
--- a/src/examples/test_autodiff.cpp
+++ b/src/examples/test_autodiff.cpp
@@ -17,8 +17,8 @@
 
 //Wolf includes
 #include "wolf_manager.h"
-#include "base/sensor/sensor_laser_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_laser_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 //C includes for sleep, time and main args
 #include "unistd.h"
diff --git a/src/examples/test_capture_laser_2D.cpp b/src/examples/test_capture_laser_2D.cpp
index 8ca0e376b7448bbee9763a48bc76f42fad5b52d1..cd5e40239fd42ca972a0e96405dc609ab707e9ca 100644
--- a/src/examples/test_capture_laser_2D.cpp
+++ b/src/examples/test_capture_laser_2D.cpp
@@ -3,7 +3,7 @@
 #include <random>
 
 //wolf
-#include "base/capture/capture_laser_2D.h"
+#include "core/capture/capture_laser_2D.h"
 
 // Eigen in std vector
 #include <Eigen/StdVector>
diff --git a/src/examples/test_ceres_2_lasers.cpp b/src/examples/test_ceres_2_lasers.cpp
index d12f491de7ce0895ca301498454e7f3d451bbd4e..b090a8a5a4acf010959c4e53bf006855326a5629 100644
--- a/src/examples/test_ceres_2_lasers.cpp
+++ b/src/examples/test_ceres_2_lasers.cpp
@@ -1,5 +1,5 @@
 //std includes
-#include "base/sensor/sensor_GPS_fix.h"
+#include "core/sensor/sensor_GPS_fix.h"
 #include <cstdlib>
 #include <iostream>
 #include <fstream>
@@ -17,12 +17,12 @@
 #include "glog/logging.h"
 
 //Wolf includes
-#include "base/problem/problem.h"
-#include "base/processor/processor_tracker_landmark_corner.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_laser_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/problem/problem.h"
+#include "core/processor/processor_tracker_landmark_corner.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_laser_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // laserscanutils
 #include "laser_scan_utils/line_finder_iterative.h"
@@ -31,7 +31,7 @@
 //C includes for sleep, time and main args
 #include "unistd.h"
 
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
 //faramotics includes
 #include "faramotics/dynamicSceneRender.h"
 #include "faramotics/rangeScan2D.h"
diff --git a/src/examples/test_ceres_2_lasers_polylines.cpp b/src/examples/test_ceres_2_lasers_polylines.cpp
index 136ba285e0d9fb2c62b4801dc75e597dcdd257ff..7e83dec251a85252b14d1014114a1089c912ba27 100644
--- a/src/examples/test_ceres_2_lasers_polylines.cpp
+++ b/src/examples/test_ceres_2_lasers_polylines.cpp
@@ -1,5 +1,5 @@
 //std includes
-#include "base/sensor/sensor_GPS_fix.h"
+#include "core/sensor/sensor_GPS_fix.h"
 #include <cstdlib>
 #include <iostream>
 #include <fstream>
@@ -17,12 +17,12 @@
 #include "glog/logging.h"
 
 //Wolf includes
-#include "base/problem/problem.h"
-#include "base/processor/processor_tracker_landmark_polyline.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_laser_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/problem/problem.h"
+#include "core/processor/processor_tracker_landmark_polyline.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_laser_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // laserscanutils
 #include "laser_scan_utils/line_finder_iterative.h"
@@ -31,7 +31,7 @@
 //C includes for sleep, time and main args
 #include "unistd.h"
 
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
 //faramotics includes
 #include "faramotics/dynamicSceneRender.h"
 #include "faramotics/rangeScan2D.h"
diff --git a/src/examples/test_diff_drive.cpp b/src/examples/test_diff_drive.cpp
index 23980071f58e0e30bc3eeebef8c6d51106e2adf2..21c2a8b9495dc92fa43dfae9dd0c87238971125d 100644
--- a/src/examples/test_diff_drive.cpp
+++ b/src/examples/test_diff_drive.cpp
@@ -6,11 +6,11 @@
  */
 
 //Wolf
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_diff_drive.h"
-#include "base/capture/capture_wheel_joint_position.h"
-#include "base/processor/processor_diff_drive.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_diff_drive.h"
+#include "core/capture/capture_wheel_joint_position.h"
+#include "core/processor/processor_diff_drive.h"
 
 //std
 #include <iostream>
diff --git a/src/examples/test_eigen_quaternion.cpp b/src/examples/test_eigen_quaternion.cpp
index d24a715cbc8d65f2b86d67e3931b9c1199f22398..1e85039d7d5a25c6320c74d0d1914c372a9220f6 100644
--- a/src/examples/test_eigen_quaternion.cpp
+++ b/src/examples/test_eigen_quaternion.cpp
@@ -6,7 +6,7 @@
 #include <eigen3/Eigen/Geometry>
 
 //Wolf
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 int main()
 {
diff --git a/src/examples/test_factor_AHP.cpp b/src/examples/test_factor_AHP.cpp
index 75031dff808230fb6ff00b8633699960a6e361e6..10c7610ca7c523cd56689896aeaf4549e155a58b 100644
--- a/src/examples/test_factor_AHP.cpp
+++ b/src/examples/test_factor_AHP.cpp
@@ -1,10 +1,10 @@
-#include "base/math/pinhole_tools.h"
-#include "base/landmark/landmark_AHP.h"
-#include "base/factor/factor_AHP.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/capture/capture_image.h"
+#include "core/math/pinhole_tools.h"
+#include "core/landmark/landmark_AHP.h"
+#include "core/factor/factor_AHP.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/capture/capture_image.h"
 
 int main()
 {
diff --git a/src/examples/test_factor_imu.cpp b/src/examples/test_factor_imu.cpp
index 3d0483e9647f9e3203ab3bb89036de55e0f9adc9..9d7d73379708fe897e8ec0b7bb00e39fda7f8559 100644
--- a/src/examples/test_factor_imu.cpp
+++ b/src/examples/test_factor_imu.cpp
@@ -1,14 +1,14 @@
 //Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/capture/capture_pose.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/factor/factor_odom_3D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/capture/capture_pose.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 //#define DEBUG_RESULTS
 
diff --git a/src/examples/test_factor_odom_3D.cpp b/src/examples/test_factor_odom_3D.cpp
index 77fa4c80276b07ba875fefd5b4e53756e4424e79..be7a81c4f454a8c3c6a4bc621b9de8cb3ef39a0d 100644
--- a/src/examples/test_factor_odom_3D.cpp
+++ b/src/examples/test_factor_odom_3D.cpp
@@ -5,7 +5,7 @@
  *      Author: jsola
  */
 
-#include "base/factor/factor_odom_3D.h"
+#include "core/factor/factor_odom_3D.h"
 
 namespace wolf
 {
diff --git a/src/examples/test_faramotics_simulation.cpp b/src/examples/test_faramotics_simulation.cpp
index e095e561d3348cb3ff4445c5f874e8f34ca637e9..4414520dc1fc0edf2260ad4cf416ee3ddd2ea56d 100644
--- a/src/examples/test_faramotics_simulation.cpp
+++ b/src/examples/test_faramotics_simulation.cpp
@@ -16,10 +16,10 @@
 #include "unistd.h"
 
 // wolf
-#include "base/common/wolf.h"
-#include "base/feature/feature_base.h"
-#include "base/landmark/landmark_base.h"
-#include "base/state_block/state_block.h"
+#include "core/common/wolf.h"
+#include "core/feature/feature_base.h"
+#include "core/landmark/landmark_base.h"
+#include "core/state_block/state_block.h"
 
 //faramotics includes
 #include "faramotics/dynamicSceneRender.h"
diff --git a/src/examples/test_image.cpp b/src/examples/test_image.cpp
index b2b61f5207d29021982729d795978ba73a42bed4..842a6a14b6e682da3481a7f3bd51d80e819fb857 100644
--- a/src/examples/test_image.cpp
+++ b/src/examples/test_image.cpp
@@ -1,10 +1,10 @@
 // Testing things for the 3D image odometry
 
 //Wolf includes
-#include "base/sensor/sensor_camera.h"
-#include "base/capture/capture_image.h"
-#include "base/processor/processor_tracker_feature_image.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/capture/capture_image.h"
+#include "core/processor/processor_tracker_feature_image.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // Vision utils includes
 #include <vision_utils.h>
diff --git a/src/examples/test_imuDock.cpp b/src/examples/test_imuDock.cpp
index dab6894d7a558cf53502ffc58c6a407a3fa4bbe5..c05fbbf9c4e676c5611c7073b94b9f55385a9267 100644
--- a/src/examples/test_imuDock.cpp
+++ b/src/examples/test_imuDock.cpp
@@ -5,21 +5,21 @@
  *      \author: Dinesh Atchuthan
  */
 
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
 
 //Factors headers
-#include "base/factor/factor_fix_bias.h"
+#include "core/factor/factor_fix_bias.h"
 
 //std
 #include <iostream>
 #include <fstream>
-#include "base/factor/factor_pose_3D.h"
+#include "core/factor/factor_pose_3D.h"
 
 #define OUTPUT_RESULTS
 //#define ADD_KF3
diff --git a/src/examples/test_imuDock_autoKFs.cpp b/src/examples/test_imuDock_autoKFs.cpp
index 43a54d654c1611e7d9c5a42ef326c382f2dd9566..039615445807ab6ef9e1dadab7e273135bc650ef 100644
--- a/src/examples/test_imuDock_autoKFs.cpp
+++ b/src/examples/test_imuDock_autoKFs.cpp
@@ -5,21 +5,21 @@
  *      \author: Dinesh Atchuthan
  */
 
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
 
 //Factors headers
-#include "base/factor/factor_fix_bias.h"
+#include "core/factor/factor_fix_bias.h"
 
 //std
 #include <iostream>
 #include <fstream>
-#include "base/factor/factor_pose_3D.h"
+#include "core/factor/factor_pose_3D.h"
 
 #define OUTPUT_RESULTS
 //#define AUTO_KFS
diff --git a/src/examples/test_imuPlateform_Offline.cpp b/src/examples/test_imuPlateform_Offline.cpp
index 4b923de89990eac72ffc20df61b13e28dbb76b66..e0e4e4778e91090221d70121bd89907ad3756823 100644
--- a/src/examples/test_imuPlateform_Offline.cpp
+++ b/src/examples/test_imuPlateform_Offline.cpp
@@ -1,15 +1,15 @@
 //Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/factor/factor_odom_3D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 //std
 #include <iostream>
diff --git a/src/examples/test_imu_constrained0.cpp b/src/examples/test_imu_constrained0.cpp
index e542e18e0ffac35b9c398ba01ab23bd7fc2e13a1..817b08a14a4c71caf9f9e4807c71cc14cc43d78e 100644
--- a/src/examples/test_imu_constrained0.cpp
+++ b/src/examples/test_imu_constrained0.cpp
@@ -1,15 +1,15 @@
 //Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/factor/factor_odom_3D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 //std
 #include <iostream>
diff --git a/src/examples/test_kf_callback.cpp b/src/examples/test_kf_callback.cpp
index 05bd165977ac79ac6b6b4f61d6a72cb83d6e2eff..ea1079d75c7f11cb3de61fe55df12ce3bd39c441 100644
--- a/src/examples/test_kf_callback.cpp
+++ b/src/examples/test_kf_callback.cpp
@@ -5,10 +5,10 @@
  *      Author: jsola
  */
 
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/processor/processor_tracker_feature_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
+#include "core/capture/capture_void.h"
 
 int main()
 {
diff --git a/src/examples/test_map_yaml.cpp b/src/examples/test_map_yaml.cpp
index 2dd5ab64d964e3621eb671d03ef5e8cf179256cc..c4ba44c55669a60a9d188a0217f537be30e31fce 100644
--- a/src/examples/test_map_yaml.cpp
+++ b/src/examples/test_map_yaml.cpp
@@ -5,13 +5,13 @@
  *      \author: jsola
  */
 
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/map/map_base.h"
-#include "base/landmark/landmark_polyline_2D.h"
-#include "base/landmark/landmark_AHP.h"
-#include "base/state_block/state_block.h"
-#include "base/yaml/yaml_conversion.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/map/map_base.h"
+#include "core/landmark/landmark_polyline_2D.h"
+#include "core/landmark/landmark_AHP.h"
+#include "core/state_block/state_block.h"
+#include "core/yaml/yaml_conversion.h"
 
 #include <iostream>
 using namespace wolf;
diff --git a/src/examples/test_mpu.cpp b/src/examples/test_mpu.cpp
index 1fbed214fb99a53c9c4d509ccc3e47d27c744cb1..f2d5bbade62637c592b5f2dd0cf2341d825dded8 100644
--- a/src/examples/test_mpu.cpp
+++ b/src/examples/test_mpu.cpp
@@ -6,11 +6,11 @@
  */
 
  //Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/capture/capture_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
 #include <iostream>
 #include <fstream>
 #include <iomanip>
@@ -18,8 +18,8 @@
 #include <cmath>
 #include <termios.h>
 #include <fcntl.h>
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
 
 #define DEBUG_RESULTS
 #define FROM_FILE
diff --git a/src/examples/test_processor_imu.cpp b/src/examples/test_processor_imu.cpp
index 33ec4cabb2580353719cf4d50ed14976e626cfaa..ec77aedeee3242daffe10d89c1444fa9ea1bf1f9 100644
--- a/src/examples/test_processor_imu.cpp
+++ b/src/examples/test_processor_imu.cpp
@@ -6,13 +6,13 @@
  */
 
 //Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/capture/capture_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
 #include <iostream>
 #include <fstream>
 #include <iomanip>
diff --git a/src/examples/test_processor_imu_jacobians.cpp b/src/examples/test_processor_imu_jacobians.cpp
index 22c797d6d0726e600427680bd475dede67ebc5b8..988244d1598d3a8a9a1bdebf0144266b6744044b 100644
--- a/src/examples/test_processor_imu_jacobians.cpp
+++ b/src/examples/test_processor_imu_jacobians.cpp
@@ -6,13 +6,13 @@
  */
 
 //Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/sensor/sensor_IMU.h"
+#include "core/capture/capture_IMU.h"
+#include "core/sensor/sensor_IMU.h"
 #include <test/processor_IMU_UnitTester.h>
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
 #include <iostream>
 #include <fstream>
 #include <iomanip>
diff --git a/src/examples/test_processor_odom_3D.cpp b/src/examples/test_processor_odom_3D.cpp
index 79798150de9d17ece60fbcec7020e5693080d6b6..8103a7ff39f3e1dc55788230bcbded86b56927cc 100644
--- a/src/examples/test_processor_odom_3D.cpp
+++ b/src/examples/test_processor_odom_3D.cpp
@@ -5,13 +5,13 @@
  *      \author: jsola
  */
 
-#include "base/capture/capture_IMU.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/map/map_base.h"
-#include "base/landmark/landmark_base.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_IMU.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/map/map_base.h"
+#include "core/landmark/landmark_base.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 #include <cstdlib>
 
diff --git a/src/examples/test_processor_tracker_feature.cpp b/src/examples/test_processor_tracker_feature.cpp
index 77e2b35e9956b01622d81f8ca1e7cdae0b60c25e..cd3282ee8f7f04be38cc4b1b8d9bf9b9d4643f07 100644
--- a/src/examples/test_processor_tracker_feature.cpp
+++ b/src/examples/test_processor_tracker_feature.cpp
@@ -9,12 +9,12 @@
 #include <iostream>
 
 //Wolf
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/processor/processor_tracker_feature_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
+#include "core/capture/capture_void.h"
 
 int main()
 {
diff --git a/src/examples/test_processor_tracker_landmark.cpp b/src/examples/test_processor_tracker_landmark.cpp
index 1702229762a5aa413678f6937a8e78d4b7b921df..05eb1a5194b43dadb453120af570ebbc342fb7e3 100644
--- a/src/examples/test_processor_tracker_landmark.cpp
+++ b/src/examples/test_processor_tracker_landmark.cpp
@@ -9,12 +9,12 @@
 #include <iostream>
 
 //Wolf
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/processor/processor_tracker_landmark_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/processor/processor_tracker_landmark_dummy.h"
+#include "core/capture/capture_void.h"
 
 void print_problem_pointers(wolf::ProblemPtr wolf_problem_ptr_)
 {
diff --git a/src/examples/test_processor_tracker_landmark_image.cpp b/src/examples/test_processor_tracker_landmark_image.cpp
index be7df536e971273559252aeff8dc51bd808bb14b..f3c79633d5b27a3ec3fc84bb52124eb080380993 100644
--- a/src/examples/test_processor_tracker_landmark_image.cpp
+++ b/src/examples/test_processor_tracker_landmark_image.cpp
@@ -1,18 +1,18 @@
 //std
 #include <iostream>
 
-#include "base/processor/processor_tracker_landmark_image.h"
+#include "core/processor/processor_tracker_landmark_image.h"
 
 //Wolf
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/state_block/state_block.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/capture/capture_image.h"
-#include "base/capture/capture_pose.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/state_block/state_block.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/capture/capture_image.h"
+#include "core/capture/capture_pose.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // Vision utils includes
 #include <vision_utils.h>
diff --git a/src/examples/test_projection_points.cpp b/src/examples/test_projection_points.cpp
index b9f01912d4341df33d3fd270ef8d66c9e15f4477..6d6f943ab4b3ee11ea03965f8a872fc3454a9f7b 100644
--- a/src/examples/test_projection_points.cpp
+++ b/src/examples/test_projection_points.cpp
@@ -6,7 +6,7 @@
 #include <iostream>
 
 //wolf includes
-#include "base/math/pinhole_tools.h"
+#include "core/math/pinhole_tools.h"
 
 int main(int argc, char** argv)
 {
diff --git a/src/examples/test_simple_AHP.cpp b/src/examples/test_simple_AHP.cpp
index 6bd1805dc78a0c65bd27ca022fbb46bd272cf6d4..290e0915cb85612c6c310eb898b7da42badd7104 100644
--- a/src/examples/test_simple_AHP.cpp
+++ b/src/examples/test_simple_AHP.cpp
@@ -5,15 +5,15 @@
  *      \author: jtarraso
  */
 
-#include "base/common/wolf.h"
-#include "base/frame/frame_base.h"
-#include "base/math/pinhole_tools.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/math/rotations.h"
-#include "base/capture/capture_image.h"
-#include "base/landmark/landmark_AHP.h"
-#include "base/factor/factor_AHP.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/common/wolf.h"
+#include "core/frame/frame_base.h"
+#include "core/math/pinhole_tools.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/math/rotations.h"
+#include "core/capture/capture_image.h"
+#include "core/landmark/landmark_AHP.h"
+#include "core/factor/factor_AHP.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // Vision utils
 #include <vision_utils/vision_utils.h>
diff --git a/src/examples/test_sort_keyframes.cpp b/src/examples/test_sort_keyframes.cpp
index 56982c9dc7c6fda44b594a04f92a33f911b8ca49..b27e1c0070ef55f91a4ddcb592dc30f0e6c0ac77 100644
--- a/src/examples/test_sort_keyframes.cpp
+++ b/src/examples/test_sort_keyframes.cpp
@@ -6,10 +6,10 @@
  */
 
 // Wolf includes
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/frame/frame_base.h"
-#include "base/trajectory/trajectory_base.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/frame/frame_base.h"
+#include "core/trajectory/trajectory_base.h"
 
 // STL includes
 #include <list>
diff --git a/src/examples/test_sparsification.cpp b/src/examples/test_sparsification.cpp
index 7b9e85c085a04dc401097db87be3dcc8ea25e17d..fa577c15b88f05a9f9f94a7f63eb926f493cf2c7 100644
--- a/src/examples/test_sparsification.cpp
+++ b/src/examples/test_sparsification.cpp
@@ -14,10 +14,10 @@
 #include <queue>
 
 //Wolf includes
-#include "base/capture/capture_void.h"
-#include "base/feature/feature_odom_2D.h"
-#include "base/factor/factor_base.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/feature/feature_odom_2D.h"
+#include "core/factor/factor_base.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // EIGEN
 //#include <Eigen/CholmodSupport>
diff --git a/src/examples/test_state_quaternion.cpp b/src/examples/test_state_quaternion.cpp
index 0fabac44e3252fafad9e940e9bcfd1b62b0e8ec0..6528a2b3935e488c7534c44f031a7cff22a112ed 100644
--- a/src/examples/test_state_quaternion.cpp
+++ b/src/examples/test_state_quaternion.cpp
@@ -5,9 +5,9 @@
  *      \author: jsola
  */
 
-#include "base/frame/frame_base.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/common/time_stamp.h"
+#include "core/frame/frame_base.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/common/time_stamp.h"
 
 #include <iostream>
 
diff --git a/src/examples/test_tracker_ORB.cpp b/src/examples/test_tracker_ORB.cpp
index 536e06d62b129b0cf7a62a8de84bafd5b7c106f2..89ea1800adf53cd76e7e858ab8c3c1fe1e0fb9ed 100644
--- a/src/examples/test_tracker_ORB.cpp
+++ b/src/examples/test_tracker_ORB.cpp
@@ -11,7 +11,7 @@
 #include <matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h>
 
 //Wolf
-#include "base/processor/processor_tracker_landmark_image.h"
+#include "core/processor/processor_tracker_landmark_image.h"
 
 int main(int argc, char** argv)
 {
diff --git a/src/examples/test_wolf_autodiffwrapper.cpp b/src/examples/test_wolf_autodiffwrapper.cpp
index 1fa76e585e51796e19a0597aac1397ebf19cd954..8d0897956275c596d47782117311784b8ea2828e 100644
--- a/src/examples/test_wolf_autodiffwrapper.cpp
+++ b/src/examples/test_wolf_autodiffwrapper.cpp
@@ -12,8 +12,8 @@
 
 //Wolf includes
 #include "wolf_manager.h"
-#include "base/capture/capture_void.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 int main(int argc, char** argv) 
 {
diff --git a/src/examples/test_wolf_factories.cpp b/src/examples/test_wolf_factories.cpp
index b608bb9583320b361d88ea2a8c48ff973e85c08d..ce7db15c8ee5a986d8d4ed469efd9ee57dbf3351 100644
--- a/src/examples/test_wolf_factories.cpp
+++ b/src/examples/test_wolf_factories.cpp
@@ -5,21 +5,21 @@
  *      \author: jsola
  */
 
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_GPS_fix.h"
-#include "base/hardware/hardware_base.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_GPS_fix.h"
+#include "core/hardware/hardware_base.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/sensor/sensor_odom_2D.h"
 #include "../sensor_imu.h"
 //#include "../sensor_gps.h"
 
-#include "base/processor/processor_odom_2D.h"
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/processor/processor_odom_3D.h"
 #include "../processor_image_feature.h"
 
-#include "base/problem/problem.h"
+#include "core/problem/problem.h"
 
-#include "base/common/factory.h"
+#include "core/common/factory.h"
 
 #include <iostream>
 #include <iomanip>
diff --git a/src/examples/test_wolf_imported_graph.cpp b/src/examples/test_wolf_imported_graph.cpp
index 1113af8b7f7e9bd40033ed60e182cc2f485eee99..9463399ff7843eca655e702d768a7b62fe383528 100644
--- a/src/examples/test_wolf_imported_graph.cpp
+++ b/src/examples/test_wolf_imported_graph.cpp
@@ -12,8 +12,8 @@
 
 //Wolf includes
 #include "wolf_manager.h"
-#include "base/capture/capture_void.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // EIGEN
 //#include <Eigen/CholmodSupport>
diff --git a/src/examples/test_wolf_logging.cpp b/src/examples/test_wolf_logging.cpp
index 3b7bdfab70281f10e27b17891564a9b633ac92e1..ee3b9b5763037355fcf24ec813a79199067eb227 100644
--- a/src/examples/test_wolf_logging.cpp
+++ b/src/examples/test_wolf_logging.cpp
@@ -5,8 +5,8 @@
  * \author: Jeremie Deray
  */
 
-#include "base/common/wolf.h"
-#include "base/utils/logging.h"
+#include "core/common/wolf.h"
+#include "core/utils/logging.h"
 
 int main(int, char*[])
 {
diff --git a/src/examples/test_wolf_prunning.cpp b/src/examples/test_wolf_prunning.cpp
index f3ed29007190ada48bba1758a1ac4e57843ff423..de917e471e6535c626561ab398e8bf00d3637725 100644
--- a/src/examples/test_wolf_prunning.cpp
+++ b/src/examples/test_wolf_prunning.cpp
@@ -12,9 +12,9 @@
 
 //Wolf includes
 #include "wolf_manager.h"
-#include "base/capture/capture_void.h"
-#include "base/factor/factor_base.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/factor/factor_base.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // EIGEN
 //#include <Eigen/CholmodSupport>
diff --git a/src/examples/test_wolf_root.cpp b/src/examples/test_wolf_root.cpp
index ff78c97b0866ab66440ba91d20d8d0db503aed26..4ea048471753a28281c01dc50f3fcda0316f0bd7 100644
--- a/src/examples/test_wolf_root.cpp
+++ b/src/examples/test_wolf_root.cpp
@@ -6,7 +6,7 @@
  */
 
 //Wolf
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 //std
 #include <iostream>
diff --git a/src/examples/test_yaml.cpp b/src/examples/test_yaml.cpp
index 5181d73acd049da2469ae0cf6a61296317b865df..5768f4b50ce0963ba4974baa10d27c4ffc1e2382 100644
--- a/src/examples/test_yaml.cpp
+++ b/src/examples/test_yaml.cpp
@@ -5,10 +5,10 @@
  *      \author: jsola
  */
 
-#include "base/math/pinhole_tools.h"
+#include "core/math/pinhole_tools.h"
 #include "yaml/yaml_conversion.h"
 #include "processor_image_feature.h"
-#include "base/common/factory.h"
+#include "core/common/factory.h"
 
 #include <yaml-cpp/yaml.h>
 
diff --git a/src/examples/test_yaml_conversions.cpp b/src/examples/test_yaml_conversions.cpp
index 78cf30da7db266a24f578dba6c1df27de6df9921..b8e1f41f9c0f8b6ae50e65c4fec943dbb1305a7d 100644
--- a/src/examples/test_yaml_conversions.cpp
+++ b/src/examples/test_yaml_conversions.cpp
@@ -5,7 +5,7 @@
  *      \author: jsola
  */
 
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
 
 #include <yaml-cpp/yaml.h>
 
diff --git a/src/factor/factor_analytic.cpp b/src/factor/factor_analytic.cpp
index 7ad85937a809b9d524d2f5c30493f1c17d3a5102..9c8ba1ab334629db2e3dd78652884d0e54df9860 100644
--- a/src/factor/factor_analytic.cpp
+++ b/src/factor/factor_analytic.cpp
@@ -1,5 +1,5 @@
-#include "base/factor/factor_analytic.h"
-#include "base/state_block/state_block.h"
+#include "core/factor/factor_analytic.h"
+#include "core/state_block/state_block.h"
 
 namespace wolf {
 
diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp
index 188e873b654ec18007b161badd29d5c72fdd8194..f40afd286479edb42eef926b5a92cf0a08612fe7 100644
--- a/src/factor/factor_base.cpp
+++ b/src/factor/factor_base.cpp
@@ -1,6 +1,6 @@
-#include "base/factor/factor_base.h"
-#include "base/frame/frame_base.h"
-#include "base/landmark/landmark_base.h"
+#include "core/factor/factor_base.h"
+#include "core/frame/frame_base.h"
+#include "core/landmark/landmark_base.h"
 
 namespace wolf {
 
diff --git a/src/feature/feature_base.cpp b/src/feature/feature_base.cpp
index ca47cb78f30cea23a2711394b2c909cf61dd10ef..aac02b6556b849187828654aeb0f461d60b0735c 100644
--- a/src/feature/feature_base.cpp
+++ b/src/feature/feature_base.cpp
@@ -1,6 +1,6 @@
-#include "base/feature/feature_base.h"
-#include "base/factor/factor_base.h"
-#include "base/capture/capture_base.h"
+#include "core/feature/feature_base.h"
+#include "core/factor/factor_base.h"
+#include "core/capture/capture_base.h"
 
 namespace wolf {
 
diff --git a/src/feature/feature_diff_drive.cpp b/src/feature/feature_diff_drive.cpp
index c2b8d9ed1172314d3a761c1c06d9c50fb2f3e758..0796e18bc73708fd31f55ea4530aff70ac2918f2 100644
--- a/src/feature/feature_diff_drive.cpp
+++ b/src/feature/feature_diff_drive.cpp
@@ -1,4 +1,4 @@
-#include "base/feature/feature_diff_drive.h"
+#include "core/feature/feature_diff_drive.h"
 
 namespace wolf {
 
diff --git a/src/feature/feature_odom_2D.cpp b/src/feature/feature_odom_2D.cpp
index 472072e54eca2369c43b6e8cbb2e8c09d66f86e2..ee6cd60ba38a16a161925d79512eaf9fa1e6212d 100644
--- a/src/feature/feature_odom_2D.cpp
+++ b/src/feature/feature_odom_2D.cpp
@@ -1,4 +1,4 @@
-#include "base/feature/feature_odom_2D.h"
+#include "core/feature/feature_odom_2D.h"
 
 namespace wolf {
 
diff --git a/src/feature/feature_pose.cpp b/src/feature/feature_pose.cpp
index 15d40e60a99284e14275a37e191b10c12c99ab04..344d230a7164d0c222567ae9ea7e1000be23cb84 100644
--- a/src/feature/feature_pose.cpp
+++ b/src/feature/feature_pose.cpp
@@ -1,4 +1,4 @@
-#include "base/feature/feature_pose.h"
+#include "core/feature/feature_pose.h"
 
 namespace wolf {
 
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index cb7f089c1f21adad761f5fd7c13f0eee786b6741..be6b4ef3c38219235f3d2341eb911801921af030 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -1,11 +1,11 @@
 
-#include "base/frame/frame_base.h"
-#include "base/factor/factor_base.h"
-#include "base/trajectory/trajectory_base.h"
-#include "base/capture/capture_base.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_angle.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/frame/frame_base.h"
+#include "core/factor/factor_base.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/capture/capture_base.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_angle.h"
+#include "core/state_block/state_quaternion.h"
 
 namespace wolf {
 
@@ -374,7 +374,7 @@ FrameBasePtr FrameBase::create_POV_3D(const FrameType & _tp,
 
 } // namespace wolf
 
-#include "base/common/factory.h"
+#include "core/common/factory.h"
 namespace wolf
 {
 namespace{ const bool WOLF_UNUSED Frame_PO_2D_Registered  = FrameFactory::get().registerCreator("PO 2D",  FrameBase::create_PO_2D ); }
diff --git a/src/hardware/hardware_base.cpp b/src/hardware/hardware_base.cpp
index 69b23c34c1c46a6f79f38dba594544b68cd9c8b3..c0d3d6462467b4014ec902cc46522d2ff46f887a 100644
--- a/src/hardware/hardware_base.cpp
+++ b/src/hardware/hardware_base.cpp
@@ -1,5 +1,5 @@
-#include "base/hardware/hardware_base.h"
-#include "base/sensor/sensor_base.h"
+#include "core/hardware/hardware_base.h"
+#include "core/sensor/sensor_base.h"
 
 namespace wolf {
 
diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp
index 4b3e4a8a29456b4313c6ac4a9853995d94ea6357..3b34891dc6cad5741d2fd6aa470c2cab96a05616 100644
--- a/src/landmark/landmark_base.cpp
+++ b/src/landmark/landmark_base.cpp
@@ -1,9 +1,9 @@
 
-#include "base/landmark/landmark_base.h"
-#include "base/factor/factor_base.h"
-#include "base/map/map_base.h"
-#include "base/state_block/state_block.h"
-#include "base/yaml/yaml_conversion.h"
+#include "core/landmark/landmark_base.h"
+#include "core/factor/factor_base.h"
+#include "core/map/map_base.h"
+#include "core/state_block/state_block.h"
+#include "core/yaml/yaml_conversion.h"
 
 namespace wolf {
 
diff --git a/src/map/map_base.cpp b/src/map/map_base.cpp
index 9a0eefe8cf3f66c53d1fa483261d4aa441e13eef..91398c9f43ac994d7f9c713165f21e99ff074dc9 100644
--- a/src/map/map_base.cpp
+++ b/src/map/map_base.cpp
@@ -1,8 +1,8 @@
 
 // wolf
-#include "base/map/map_base.h"
-#include "base/landmark/landmark_base.h"
-#include "base/common/factory.h"
+#include "core/map/map_base.h"
+#include "core/landmark/landmark_base.h"
+#include "core/common/factory.h"
 
 // YAML
 #include <yaml-cpp/yaml.h>
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 15ebd2828178af12b3c20331e2a89c18270313c5..4d5bb9b013b942d758b4e12bad7627c85fdaeca4 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -1,16 +1,16 @@
 // wolf includes
-#include "base/problem/problem.h"
-#include "base/hardware/hardware_base.h"
-#include "base/trajectory/trajectory_base.h"
-#include "base/map/map_base.h"
-#include "base/sensor/sensor_base.h"
-#include "base/processor/processor_motion.h"
-#include "base/processor/processor_tracker.h"
-#include "base/capture/capture_pose.h"
-#include "base/factor/factor_base.h"
-#include "base/sensor/sensor_factory.h"
-#include "base/processor/processor_factory.h"
-#include "base/state_block/state_block.h"
+#include "core/problem/problem.h"
+#include "core/hardware/hardware_base.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/map/map_base.h"
+#include "core/sensor/sensor_base.h"
+#include "core/processor/processor_motion.h"
+#include "core/processor/processor_tracker.h"
+#include "core/capture/capture_pose.h"
+#include "core/factor/factor_base.h"
+#include "core/sensor/sensor_factory.h"
+#include "core/processor/processor_factory.h"
+#include "core/state_block/state_block.h"
 
 
 // IRI libs includes
diff --git a/src/processor/motion_buffer.cpp b/src/processor/motion_buffer.cpp
index 2828ad4d0262f77af8fe09a45bc28f93a83ff7b7..7e65d03da6777e1d3a26b98389fbeb034be2b99c 100644
--- a/src/processor/motion_buffer.cpp
+++ b/src/processor/motion_buffer.cpp
@@ -1,4 +1,4 @@
-#include "base/processor/motion_buffer.h"
+#include "core/processor/motion_buffer.h"
 namespace wolf
 {
 
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 0679909164d86a96ac609a930619f35ff6a97fe3..b525a71f8a2eddeaffc8a3466235ae028ff21b0d 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -1,7 +1,7 @@
-#include "base/processor/processor_base.h"
-#include "base/processor/processor_motion.h"
-#include "base/capture/capture_base.h"
-#include "base/frame/frame_base.h"
+#include "core/processor/processor_base.h"
+#include "core/processor/processor_motion.h"
+#include "core/capture/capture_base.h"
+#include "core/frame/frame_base.h"
 
 namespace wolf {
 
diff --git a/src/processor/processor_capture_holder.cpp b/src/processor/processor_capture_holder.cpp
index 2958739d7e6d0c45e8db4d2df31c5c1db2ae5ae0..0b379c80ad931dd26c4dda1720e4fbb36dcaa0fb 100644
--- a/src/processor/processor_capture_holder.cpp
+++ b/src/processor/processor_capture_holder.cpp
@@ -6,7 +6,7 @@
  */
 
 //Wolf includes
-#include "base/processor/processor_capture_holder.h"
+#include "core/processor/processor_capture_holder.h"
 
 namespace wolf {
 
@@ -145,7 +145,7 @@ ProcessorBasePtr ProcessorCaptureHolder::create(const std::string& _unique_name,
 } // namespace wolf
 
 // Register in the ProcessorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("CAPTURE HOLDER", ProcessorCaptureHolder)
 } // namespace wolf
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index 881ebedec5cc8988980a41070a71dbbd50e24df8..40ec0ed420389021d78b59abe2b2bd64b1acfd46 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -1,13 +1,13 @@
-#include "base/processor/processor_diff_drive.h"
+#include "core/processor/processor_diff_drive.h"
 
-#include "base/sensor/sensor_diff_drive.h"
+#include "core/sensor/sensor_diff_drive.h"
 
-#include "base/capture/capture_wheel_joint_position.h"
-#include "base/capture/capture_velocity.h"
+#include "core/capture/capture_wheel_joint_position.h"
+#include "core/capture/capture_velocity.h"
 
-#include "base/math/rotations.h"
-#include "base/factor/factor_odom_2D.h"
-#include "base/feature/feature_diff_drive.h"
+#include "core/math/rotations.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/feature/feature_diff_drive.h"
 
 namespace wolf
 {
@@ -266,7 +266,7 @@ ProcessorBasePtr ProcessorDiffDrive::create(const std::string& _unique_name,
 } // namespace wolf
 
 // Register in the ProcessorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("DIFF DRIVE", ProcessorDiffDrive)
 } // namespace wolf
diff --git a/src/processor/processor_frame_nearest_neighbor_filter.cpp b/src/processor/processor_frame_nearest_neighbor_filter.cpp
index 7c4e63a75031de399473c9fa1c6e764fa28331a9..6227ebf2cdedc56e95fa52b0025dc597c0fd6be3 100644
--- a/src/processor/processor_frame_nearest_neighbor_filter.cpp
+++ b/src/processor/processor_frame_nearest_neighbor_filter.cpp
@@ -1,4 +1,4 @@
-#include "base/processor/processor_frame_nearest_neighbor_filter.h"
+#include "core/processor/processor_frame_nearest_neighbor_filter.h"
 
 namespace wolf
 {
diff --git a/src/processor/processor_loopclosure_base.cpp b/src/processor/processor_loopclosure_base.cpp
index 6953cd103d87b2fdad85df70114bdf1875ef847b..7ce19414499ead4b38e8432077f47e15116ca27e 100644
--- a/src/processor/processor_loopclosure_base.cpp
+++ b/src/processor/processor_loopclosure_base.cpp
@@ -5,7 +5,7 @@
  *      \author: Tessa Johanna
  */
 
-#include "base/processor/processor_loopclosure_base.h"
+#include "core/processor/processor_loopclosure_base.h"
 
 namespace wolf
 {
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index ef5cbb1cd61cfe586cfcda1b573ddfc7056142ae..9d7d0d42d452a27dc2ea3fe78c6c0389859512e3 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -1,4 +1,4 @@
-#include "base/processor/processor_motion.h"
+#include "core/processor/processor_motion.h"
 namespace wolf
 {
 
diff --git a/src/processor/processor_odom_2D.cpp b/src/processor/processor_odom_2D.cpp
index a474ed1f3a3bd6d015624d4e3cb5165de005dd16..0177541626015444561f98570160a99c523b0cad 100644
--- a/src/processor/processor_odom_2D.cpp
+++ b/src/processor/processor_odom_2D.cpp
@@ -1,4 +1,4 @@
-#include "base/processor/processor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
 namespace wolf
 {
 
@@ -192,7 +192,7 @@ ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const
 }
 
 // Register in the ProcessorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ODOM 2D", ProcessorOdom2D)
 } // namespace wolf
diff --git a/src/processor/processor_odom_3D.cpp b/src/processor/processor_odom_3D.cpp
index 7415459711b62482df8a0de5d32bb56a496180d2..8fa728b51419465c115c708f90dc526b6c18b607 100644
--- a/src/processor/processor_odom_3D.cpp
+++ b/src/processor/processor_odom_3D.cpp
@@ -1,4 +1,4 @@
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
 namespace wolf
 {
 
@@ -433,7 +433,7 @@ void ProcessorOdom3D::remap(const Eigen::VectorXs& _x1, const Eigen::VectorXs& _
 }
 
 // Register in the SensorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ODOM 3D", ProcessorOdom3D)
 } // namespace wolf
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index afdc9446a7f3dc0cc54c8453bc07c190a821f90e..07a26c1b2ec62220f90810785bed4fea5efe960d 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -6,7 +6,7 @@
  */
 
 // wolf
-#include "base/processor/processor_tracker.h"
+#include "core/processor/processor_tracker.h"
 
 // std
 #include <cmath>
diff --git a/src/processor/processor_tracker_feature.cpp b/src/processor/processor_tracker_feature.cpp
index 7ec5a88595ce00c7a293ab8c03e843ad6238282e..6062c5624d54b09846cd76c29834c3a6049bc2d5 100644
--- a/src/processor/processor_tracker_feature.cpp
+++ b/src/processor/processor_tracker_feature.cpp
@@ -5,7 +5,7 @@
  *      \author: jsola
  */
 
-#include "base/processor/processor_tracker_feature.h"
+#include "core/processor/processor_tracker_feature.h"
 
 namespace wolf
 {
diff --git a/src/processor/processor_tracker_feature_dummy.cpp b/src/processor/processor_tracker_feature_dummy.cpp
index b5b225f8490b8cf4b4f6823be870fc3f22ab8df7..0502e8acc78e1efec5c01bbdfb392ccaf21aa1dd 100644
--- a/src/processor/processor_tracker_feature_dummy.cpp
+++ b/src/processor/processor_tracker_feature_dummy.cpp
@@ -5,8 +5,8 @@
  *      \author: jvallve
  */
 
-#include "base/processor/processor_tracker_feature_dummy.h"
-#include "base/feature/feature_base.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
+#include "core/feature/feature_base.h"
 
 namespace wolf
 {
diff --git a/src/processor/processor_tracker_landmark.cpp b/src/processor/processor_tracker_landmark.cpp
index beaf10b75695e80bdc81c3d97d1efc3ac2ec11a3..36bf07c1cfced0a674b307a0c4bf6f60002101e1 100644
--- a/src/processor/processor_tracker_landmark.cpp
+++ b/src/processor/processor_tracker_landmark.cpp
@@ -5,8 +5,8 @@
  *      \author: jvallve
  */
 
-#include "base/processor/processor_tracker_landmark.h"
-#include "base/map/map_base.h"
+#include "core/processor/processor_tracker_landmark.h"
+#include "core/map/map_base.h"
 
 #include <utility>
 
diff --git a/src/processor/track_matrix.cpp b/src/processor/track_matrix.cpp
index 8db44ce4abb4e0d3dc19e5ec3f53403ee642caf3..af0bff7f350f7a317548de3b9048fad4874a8bfd 100644
--- a/src/processor/track_matrix.cpp
+++ b/src/processor/track_matrix.cpp
@@ -5,7 +5,7 @@
  *      \author: jsola
  */
 
-#include "base/processor/track_matrix.h"
+#include "core/processor/track_matrix.h"
 
 namespace wolf
 {
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 209dc12e04ed770ec797f2d10b27173b17fe0458..26238eb8dcdf059a440b82ce149f5daef8ae20d7 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -1,8 +1,8 @@
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/factor/factor_block_absolute.h"
-#include "base/factor/factor_quaternion_absolute.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/factor/factor_block_absolute.h"
+#include "core/factor/factor_quaternion_absolute.h"
 
 
 namespace wolf {
diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index 43894b7d6aded5d57016666b949bd1538e296355..727e8bfb6308bef33798785eabc9beff109f2bc2 100644
--- a/src/sensor/sensor_diff_drive.cpp
+++ b/src/sensor/sensor_diff_drive.cpp
@@ -1,7 +1,7 @@
-#include "base/sensor/sensor_diff_drive.h"
-#include "base/state_block/state_block.h"
-#include "base/capture/capture_motion.h"
-#include "base/utils/eigen_assert.h"
+#include "core/sensor/sensor_diff_drive.h"
+#include "core/state_block/state_block.h"
+#include "core/capture/capture_motion.h"
+#include "core/utils/eigen_assert.h"
 
 namespace wolf {
 
@@ -127,7 +127,7 @@ SensorBasePtr SensorDiffDrive::create(const std::string& _unique_name,
 } // namespace wolf
 
 // Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("DIFF DRIVE", SensorDiffDrive)
 } // namespace wolf
diff --git a/src/sensor/sensor_odom_2D.cpp b/src/sensor/sensor_odom_2D.cpp
index dc3772d7b250183d99a153acf6f22e04a089e1f4..e3e5d860f2960f8775a292c371b345d51d2dd70f 100644
--- a/src/sensor/sensor_odom_2D.cpp
+++ b/src/sensor/sensor_odom_2D.cpp
@@ -1,6 +1,6 @@
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_angle.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_angle.h"
 
 namespace wolf {
 
@@ -61,7 +61,7 @@ SensorBasePtr SensorOdom2D::create(const std::string& _unique_name, const Eigen:
 } // namespace wolf
 
 // Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("ODOM 2D", SensorOdom2D)
 } // namespace wolf
diff --git a/src/sensor/sensor_odom_3D.cpp b/src/sensor/sensor_odom_3D.cpp
index 5a3736d5e7e111ffbe20359b29c0d562f71a35e4..cf6431489efb45c0e0bf4599899bc9c850ebf902 100644
--- a/src/sensor/sensor_odom_3D.cpp
+++ b/src/sensor/sensor_odom_3D.cpp
@@ -5,10 +5,10 @@
  *      \author: jsola
  */
 
-#include "base/sensor/sensor_odom_3D.h"
+#include "core/sensor/sensor_odom_3D.h"
 
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
 
 namespace wolf {
 
@@ -57,7 +57,7 @@ SensorBasePtr SensorOdom3D::create(const std::string& _unique_name, const Eigen:
 } // namespace wolf
 
 // Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("ODOM 3D", SensorOdom3D)
 }
diff --git a/src/solver/solver_manager.cpp b/src/solver/solver_manager.cpp
index 2a914ef672f7b31463d8f5309e147c52016101b6..fa645762e86c1ffd414f88efdc053ea1d6a33617 100644
--- a/src/solver/solver_manager.cpp
+++ b/src/solver/solver_manager.cpp
@@ -1,7 +1,7 @@
-#include "base/solver/solver_manager.h"
-#include "base/trajectory/trajectory_base.h"
-#include "base/map/map_base.h"
-#include "base/landmark/landmark_base.h"
+#include "core/solver/solver_manager.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/map/map_base.h"
+#include "core/landmark/landmark_base.h"
 
 namespace wolf {
 
diff --git a/src/solver_suitesparse/solver_manager.cpp b/src/solver_suitesparse/solver_manager.cpp
index 2ba7af7081a64abec0149777e790c6fc355b6c49..05d89142a35cc740c69c29712565d132d69fbe93 100644
--- a/src/solver_suitesparse/solver_manager.cpp
+++ b/src/solver_suitesparse/solver_manager.cpp
@@ -1,4 +1,4 @@
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 SolverManager::SolverManager()
 {
diff --git a/src/state_block/local_parametrization_base.cpp b/src/state_block/local_parametrization_base.cpp
index 485b3171b0a1d94115a428aa219effe9460f1b10..f46a93f9c488d0b899e94df156f3faff04a63554 100644
--- a/src/state_block/local_parametrization_base.cpp
+++ b/src/state_block/local_parametrization_base.cpp
@@ -1,4 +1,4 @@
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
 
 namespace wolf {
 
diff --git a/src/state_block/local_parametrization_homogeneous.cpp b/src/state_block/local_parametrization_homogeneous.cpp
index b8982f89083c23207b0ae3032d1fd103c6c7b6ac..9fdc26e1c0a799d7e669c54755f1ed55b834268e 100644
--- a/src/state_block/local_parametrization_homogeneous.cpp
+++ b/src/state_block/local_parametrization_homogeneous.cpp
@@ -5,9 +5,9 @@
  *      Author: jsola
  */
 
-#include "base/state_block/local_parametrization_homogeneous.h"
+#include "core/state_block/local_parametrization_homogeneous.h"
 #include "iostream"
-#include "base/math/rotations.h" // we use quaternion algebra here
+#include "core/math/rotations.h" // we use quaternion algebra here
 
 namespace wolf {
 
diff --git a/src/state_block/local_parametrization_polyline_extreme.cpp b/src/state_block/local_parametrization_polyline_extreme.cpp
index 803c85b4f612b4dcfe9306fe54b2105e1be05506..5077eb0c7e2bfa70949e66244de77292e42f8aa4 100644
--- a/src/state_block/local_parametrization_polyline_extreme.cpp
+++ b/src/state_block/local_parametrization_polyline_extreme.cpp
@@ -1,6 +1,6 @@
-#include "base/state_block/local_parametrization_polyline_extreme.h"
-#include "base/state_block/state_block.h"
-#include "base/math/rotations.h"
+#include "core/state_block/local_parametrization_polyline_extreme.h"
+#include "core/state_block/state_block.h"
+#include "core/math/rotations.h"
 
 namespace wolf {
 
diff --git a/src/state_block/local_parametrization_quaternion.cpp b/src/state_block/local_parametrization_quaternion.cpp
index 1c2655f883ed00474d84feda1c2bbe47bc42e1aa..d8bcd6a0d1f9ffa02d77d754d389a4a711596137 100644
--- a/src/state_block/local_parametrization_quaternion.cpp
+++ b/src/state_block/local_parametrization_quaternion.cpp
@@ -1,6 +1,6 @@
 
-#include "base/state_block/local_parametrization_quaternion.h"
-#include "base/math/rotations.h"
+#include "core/state_block/local_parametrization_quaternion.h"
+#include "core/math/rotations.h"
 
 #include <iostream>
 namespace wolf {
diff --git a/src/state_block/state_block.cpp b/src/state_block/state_block.cpp
index 96df91772539470b66ed81887d68dc72b19c1def..e37f70ff44a22de9873ab1dad510a4ba1b1232d9 100644
--- a/src/state_block/state_block.cpp
+++ b/src/state_block/state_block.cpp
@@ -1,4 +1,4 @@
-#include "base/state_block/state_block.h"
+#include "core/state_block/state_block.h"
 namespace wolf
 {
 
diff --git a/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp
index 086afab738a5b66cebdde25cdda862606d28b924..d5372193b41a14ed2fa864375182e35e53d4bbc6 100644
--- a/src/trajectory/trajectory_base.cpp
+++ b/src/trajectory/trajectory_base.cpp
@@ -1,5 +1,5 @@
-#include "base/trajectory/trajectory_base.h"
-#include "base/frame/frame_base.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/frame/frame_base.h"
 
 namespace wolf {
 
diff --git a/src/yaml/processor_image_yaml.cpp b/src/yaml/processor_image_yaml.cpp
index 47e0a32e2aacad260db22b621341352a825800df..da21efc2ddb6e0acb08a7e509999f0b2195d81a4 100644
--- a/src/yaml/processor_image_yaml.cpp
+++ b/src/yaml/processor_image_yaml.cpp
@@ -6,15 +6,15 @@
  */
 
 // wolf yaml
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
 
 // wolf
-#include "base/common/factory.h"
+#include "core/common/factory.h"
 
 // yaml-cpp library
 #include <yaml-cpp/yaml.h>
 
-#include "base/processor/processor_params_image.h"
+#include "core/processor/processor_params_image.h"
 
 namespace wolf
 {
diff --git a/src/yaml/processor_odom_3D_yaml.cpp b/src/yaml/processor_odom_3D_yaml.cpp
index c63e3d9b5c50e3add064bc334109be163ac578d5..44312b71d93906459dda755ea11234d22f7cd218 100644
--- a/src/yaml/processor_odom_3D_yaml.cpp
+++ b/src/yaml/processor_odom_3D_yaml.cpp
@@ -6,11 +6,11 @@
  */
 
 // wolf yaml
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
 
 // wolf
-#include "base/processor/processor_odom_3D.h"
-#include "base/common/factory.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/common/factory.h"
 
 // yaml-cpp library
 #include <yaml-cpp/yaml.h>
diff --git a/src/yaml/sensor_odom_3D_yaml.cpp b/src/yaml/sensor_odom_3D_yaml.cpp
index d4e90dd831e5bac30eeb680f8e114b27e412d12d..3756953b46cf952c900dca37569f8d51118509e4 100644
--- a/src/yaml/sensor_odom_3D_yaml.cpp
+++ b/src/yaml/sensor_odom_3D_yaml.cpp
@@ -6,11 +6,11 @@
  */
 
 // wolf yaml
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
 
 // wolf
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/common/factory.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/common/factory.h"
 
 // yaml-cpp library
 #include <yaml-cpp/yaml.h>
diff --git a/test/gtest_SE3.cpp b/test/gtest_SE3.cpp
index 002aa206ba306ad9cd84e978bb8f0a6700653eb9..a6146b6615adcd9bea24d3c12fab7d70ee013a12 100644
--- a/test/gtest_SE3.cpp
+++ b/test/gtest_SE3.cpp
@@ -6,7 +6,7 @@
  */
 
 
-#include "base/math/SE3.h"
+#include "core/math/SE3.h"
 #include "utils_gtest.h"
 
 
diff --git a/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp
index 305bf1eec28accc0522b8a1678786dba49f378f7..096ba183902078a7a3c8bdab0e64f9d06cf9ddf7 100644
--- a/test/gtest_capture_base.cpp
+++ b/test/gtest_capture_base.cpp
@@ -7,8 +7,8 @@
 
 #include "utils_gtest.h"
 
-#include "base/capture/capture_base.h"
-#include "base/state_block/state_angle.h"
+#include "core/capture/capture_base.h"
+#include "core/state_block/state_angle.h"
 
 using namespace wolf;
 using namespace Eigen;
diff --git a/test/gtest_ceres_manager.cpp b/test/gtest_ceres_manager.cpp
index 9b096f7c82d24aa1b2b939919f46a5190f8a65c0..99b9793bb2df22a1ff087b0a4a017078dba6791a 100644
--- a/test/gtest_ceres_manager.cpp
+++ b/test/gtest_ceres_manager.cpp
@@ -6,18 +6,18 @@
  */
 
 #include "utils_gtest.h"
-#include "base/utils/logging.h"
-
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/capture/capture_void.h"
-#include "base/factor/factor_pose_2D.h"
-#include "base/factor/factor_quaternion_absolute.h"
-#include "base/solver/solver_manager.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/state_block/local_parametrization_angle.h"
-#include "base/state_block/local_parametrization_quaternion.h"
+#include "core/utils/logging.h"
+
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/capture/capture_void.h"
+#include "core/factor/factor_pose_2D.h"
+#include "core/factor/factor_quaternion_absolute.h"
+#include "core/solver/solver_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/state_block/local_parametrization_angle.h"
+#include "core/state_block/local_parametrization_quaternion.h"
 
 #include "ceres/ceres.h"
 
diff --git a/test/gtest_eigen_predicates.cpp b/test/gtest_eigen_predicates.cpp
index b3c3010491be08806da65cb6a5e6d953f23943cf..c7c68b4f3a2df00fab257fb4f47646d429f361be 100644
--- a/test/gtest_eigen_predicates.cpp
+++ b/test/gtest_eigen_predicates.cpp
@@ -1,6 +1,6 @@
 #include "utils_gtest.h"
 
-#include "base/utils/eigen_predicates.h"
+#include "core/utils/eigen_predicates.h"
 
 TEST(TestEigenPredicates, TestEigenDynPredZero)
 {
diff --git a/test/gtest_factor_absolute.cpp b/test/gtest_factor_absolute.cpp
index 204c6ce633a36380d46eacbc65d66abe1a7747fe..2343910a733b60a4ebf500cc4bb706c892ebb0bf 100644
--- a/test/gtest_factor_absolute.cpp
+++ b/test/gtest_factor_absolute.cpp
@@ -6,11 +6,11 @@
  */
 
 #include "utils_gtest.h"
-#include "base/factor/factor_block_absolute.h"
-#include "base/factor/factor_quaternion_absolute.h"
-#include "base/capture/capture_motion.h"
+#include "core/factor/factor_block_absolute.h"
+#include "core/factor/factor_quaternion_absolute.h"
+#include "core/capture/capture_motion.h"
 
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 using namespace Eigen;
 using namespace wolf;
diff --git a/test/gtest_factor_autodiff.cpp b/test/gtest_factor_autodiff.cpp
index a053b3f82438b8ac9c358fc45b4b656dd9df65ff..1ee57dda9eab55618f330530427dc962d203e509 100644
--- a/test/gtest_factor_autodiff.cpp
+++ b/test/gtest_factor_autodiff.cpp
@@ -7,12 +7,12 @@
 
 #include "utils_gtest.h"
 
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/capture/capture_void.h"
-#include "base/feature/feature_odom_2D.h"
-#include "base/factor/factor_odom_2D.h"
-#include "base/factor/factor_odom_2D_analytic.h"
-#include "base/factor/factor_autodiff.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/capture/capture_void.h"
+#include "core/feature/feature_odom_2D.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/factor/factor_odom_2D_analytic.h"
+#include "core/factor/factor_autodiff.h"
 
 using namespace wolf;
 using namespace Eigen;
diff --git a/test/gtest_factor_autodiff_distance_3D.cpp b/test/gtest_factor_autodiff_distance_3D.cpp
index 5c508f89d0de0ebddc7e4ce306dddf9aeee5efed..b0a36cf7f1aa73e0cdfca53355cecf28fe10c58c 100644
--- a/test/gtest_factor_autodiff_distance_3D.cpp
+++ b/test/gtest_factor_autodiff_distance_3D.cpp
@@ -5,11 +5,11 @@
  *      \author: jsola
  */
 
-#include "base/factor/factor_autodiff_distance_3D.h"
-#include "base/problem/problem.h"
-#include "base/utils/logging.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/math/rotations.h"
+#include "core/factor/factor_autodiff_distance_3D.h"
+#include "core/problem/problem.h"
+#include "core/utils/logging.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/math/rotations.h"
 
 #include "utils_gtest.h"
 
diff --git a/test/gtest_factor_odom_3D.cpp b/test/gtest_factor_odom_3D.cpp
index c3f767d56ea04682d2e33651c4e4e1a89f865585..bbebe93fb30256652e00168b0418dccedc2de7ad 100644
--- a/test/gtest_factor_odom_3D.cpp
+++ b/test/gtest_factor_odom_3D.cpp
@@ -7,10 +7,10 @@
 
 #include "utils_gtest.h"
 
-#include "base/factor/factor_odom_3D.h"
-#include "base/capture/capture_motion.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/capture/capture_motion.h"
 
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 using namespace Eigen;
 using namespace wolf;
diff --git a/test/gtest_factor_pose_2D.cpp b/test/gtest_factor_pose_2D.cpp
index d7bce0c84f734613f1a2f143bebf2690897149f2..0bc4ced9efbcd410c7c8f52d931ce0b1c9d06aa2 100644
--- a/test/gtest_factor_pose_2D.cpp
+++ b/test/gtest_factor_pose_2D.cpp
@@ -5,12 +5,12 @@
  *      \author: jsola
  */
 
-#include "base/factor/factor_pose_2D.h"
+#include "core/factor/factor_pose_2D.h"
 #include "utils_gtest.h"
 
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
 
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 using namespace Eigen;
 using namespace wolf;
diff --git a/test/gtest_factor_pose_3D.cpp b/test/gtest_factor_pose_3D.cpp
index 0af4c3c406f02c9c87cabb35b5e43fd7137fe28b..c0ff0c4276f94478e5aeda7272820d0abd94b22a 100644
--- a/test/gtest_factor_pose_3D.cpp
+++ b/test/gtest_factor_pose_3D.cpp
@@ -5,12 +5,12 @@
  *      \author: jsola
  */
 
-#include "base/factor/factor_pose_3D.h"
+#include "core/factor/factor_pose_3D.h"
 #include "utils_gtest.h"
 
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
 
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 using namespace Eigen;
 using namespace wolf;
diff --git a/test/gtest_feature_base.cpp b/test/gtest_feature_base.cpp
index f9da19cff79a01ca755472f3e816fc4edeac5312..3a93ef2cb46396defc8f3b3f541042ab85e4a1a8 100644
--- a/test/gtest_feature_base.cpp
+++ b/test/gtest_feature_base.cpp
@@ -5,7 +5,7 @@
  *      Author: jsola
  */
 
-#include "base/feature/feature_base.h"
+#include "core/feature/feature_base.h"
 
 #include "utils_gtest.h"
 
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 9b4c7b6cf882b1f8104fa71ac3d60e12d8580137..5d468d43b37063baf4d3a38455012192bb669c74 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -6,13 +6,13 @@
  */
 
 #include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
 
-#include "base/frame/frame_base.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/factor/factor_odom_2D.h"
-#include "base/capture/capture_motion.h"
+#include "core/frame/frame_base.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/capture/capture_motion.h"
 
 #include <iostream>
 
@@ -129,7 +129,7 @@ TEST(FrameBase, LinksToTree)
     ASSERT_TRUE(F1->getCaptureList().empty());
 }
 
-#include "base/state_block/state_quaternion.h"
+#include "core/state_block/state_quaternion.h"
 TEST(FrameBase, GetSetState)
 {
     // Create PQV_3D state blocks
diff --git a/test/gtest_local_param.cpp b/test/gtest_local_param.cpp
index 45d570671bbe43e6c51d8a186ed1a5cc081550ba..520a694f6622d4601bfa2689422dbed35a2ef413 100644
--- a/test/gtest_local_param.cpp
+++ b/test/gtest_local_param.cpp
@@ -6,13 +6,13 @@
  */
 
 #include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
 
-#include "base/state_block/local_parametrization_quaternion.h"
-#include "base/state_block/local_parametrization_homogeneous.h"
-#include "base/math/rotations.h"
+#include "core/state_block/local_parametrization_quaternion.h"
+#include "core/state_block/local_parametrization_homogeneous.h"
+#include "core/math/rotations.h"
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 #include <iostream>
 
diff --git a/test/gtest_make_posdef.cpp b/test/gtest_make_posdef.cpp
index 06f9fd20e97dc4bb64033da673e9e04c29bc277c..5a0b707a6487eda22e37f2601408cda64929015d 100644
--- a/test/gtest_make_posdef.cpp
+++ b/test/gtest_make_posdef.cpp
@@ -1,5 +1,5 @@
 #include "utils_gtest.h"
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 using namespace Eigen;
 using namespace wolf;
diff --git a/test/gtest_motion_buffer.cpp b/test/gtest_motion_buffer.cpp
index 6aee437dc13357de1618f036d27a90dfc094acd5..3ef0bfaa050b6125427b2b16256c56719f54fbaf 100644
--- a/test/gtest_motion_buffer.cpp
+++ b/test/gtest_motion_buffer.cpp
@@ -6,11 +6,11 @@
  */
 
 #include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
 
-#include "base/processor/motion_buffer.h"
+#include "core/processor/motion_buffer.h"
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 
 #include <iostream>
 
diff --git a/test/gtest_odom_2D.cpp b/test/gtest_odom_2D.cpp
index 2aa224b3143b723ec7d98be9183c26392522206a..2ac4d8f321555efa2f73f5da5414c150232de8cd 100644
--- a/test/gtest_odom_2D.cpp
+++ b/test/gtest_odom_2D.cpp
@@ -8,14 +8,14 @@
 #include "utils_gtest.h"
 
 // Classes under test
-#include "base/processor/processor_odom_2D.h"
-#include "base/factor/factor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/factor/factor_odom_2D.h"
 
 // Wolf includes
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/state_block/state_block.h"
-#include "base/common/wolf.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/state_block/state_block.h"
+#include "core/common/wolf.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 // STL includes
 #include <map>
@@ -26,7 +26,7 @@
 // General includes
 #include <iostream>
 #include <iomanip>      // std::setprecision
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
 
 using namespace wolf;
 using namespace Eigen;
diff --git a/test/gtest_odom_3D.cpp b/test/gtest_odom_3D.cpp
index 34cb26dc38598ad2860c765b984fa891ff8e95c4..ce52ec3932b0162ca400cff88680ea27b7b4b196 100644
--- a/test/gtest_odom_3D.cpp
+++ b/test/gtest_odom_3D.cpp
@@ -7,10 +7,10 @@
 
 #include "utils_gtest.h"
 
-#include "base/common/wolf.h"
-#include "base/utils/logging.h"
+#include "core/common/wolf.h"
+#include "core/utils/logging.h"
 
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
 
 #include <iostream>
 
diff --git a/test/gtest_pack_KF_buffer.cpp b/test/gtest_pack_KF_buffer.cpp
index d4ed20575f2ae0920b992be6f7116abc1e2fc439..c2b8958d0ca9170f4ea317404b0c0cf2ccb9457f 100644
--- a/test/gtest_pack_KF_buffer.cpp
+++ b/test/gtest_pack_KF_buffer.cpp
@@ -7,13 +7,13 @@
 //Wolf
 #include "utils_gtest.h"
 
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
 
-#include "base/processor/processor_tracker_feature_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
+#include "core/capture/capture_void.h"
 
-#include "base/problem/problem.h"
+#include "core/problem/problem.h"
 
 // STL
 #include <iterator>
diff --git a/test/gtest_param_prior.cpp b/test/gtest_param_prior.cpp
index 79f7aff496e524368e17ee087fed609efb2dd721..7af68fa025934e82be84349c5710f823736acdd7 100644
--- a/test/gtest_param_prior.cpp
+++ b/test/gtest_param_prior.cpp
@@ -6,11 +6,11 @@
  */
 
 #include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
 
-#include "base/problem/problem.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/sensor/sensor_odom_3D.h"
+#include "core/problem/problem.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_odom_3D.h"
 
 #include <iostream>
 
diff --git a/test/gtest_pinhole.cpp b/test/gtest_pinhole.cpp
index 378757f09922e7ae48cf16b96a41b497cb7e3717..376f15c10f3713b166e78e33feff6521c268480f 100644
--- a/test/gtest_pinhole.cpp
+++ b/test/gtest_pinhole.cpp
@@ -5,7 +5,7 @@
  *      Author: jsola
  */
 
-#include "base/math/pinhole_tools.h"
+#include "core/math/pinhole_tools.h"
 #include "utils_gtest.h"
 
 using namespace Eigen;
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 8dfd41233bb72da743f51f6f1d4e9997a835af75..dddd4bc84c77e69acfac3f0da3ac3ad892f28319 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -6,13 +6,13 @@
  */
 
 #include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
 
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_base.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/processor/processor_tracker_feature_dummy.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
 
 #include <iostream>
 
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index 904dfd7646f1194892e0845b003cd20d17916c4b..6f0f7fa127f3d4c78ae216c2c218dc246ac75212 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -8,13 +8,13 @@
 //Wolf
 #include "utils_gtest.h"
 
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
 
-#include "base/processor/processor_tracker_feature_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
+#include "core/capture/capture_void.h"
 
-#include "base/problem/problem.h"
+#include "core/problem/problem.h"
 
 // STL
 #include <iterator>
diff --git a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
index cfbdd69e0f978d8822bf0e707ff48a2a3fcefbbd..187fffeae8dfe4f6302fd99cb7029b003ddd8b8f 100644
--- a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
+++ b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
@@ -7,10 +7,10 @@
  */
 
 #include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
 
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_frame_nearest_neighbor_filter.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_frame_nearest_neighbor_filter.h"
 
 #include <iostream>
 
diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index 0a02d13a13dbd9d25871cbc718aaaf3bb3902568..f919e0dbc4c40fea2315b6ff144ebffb19884e16 100644
--- a/test/gtest_processor_motion.cpp
+++ b/test/gtest_processor_motion.cpp
@@ -7,12 +7,12 @@
 
 #include "utils_gtest.h"
 
-#include "base/common/wolf.h"
-#include "base/utils/logging.h"
+#include "core/common/wolf.h"
+#include "core/utils/logging.h"
 
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
 
 using namespace Eigen;
 using namespace wolf;
diff --git a/test/gtest_rotation.cpp b/test/gtest_rotation.cpp
index 941b36b8584ade0d39698979e1790c7212182ca4..513cddd55abc972f4f06df308a2eb35becffd366 100644
--- a/test/gtest_rotation.cpp
+++ b/test/gtest_rotation.cpp
@@ -9,8 +9,8 @@
 #include <Eigen/Geometry>
 
 //Wolf
-#include "base/common/wolf.h"
-#include "base/math/rotations.h"
+#include "core/common/wolf.h"
+#include "core/math/rotations.h"
 
 //std
 #include <iostream>
diff --git a/test/gtest_sensor_base.cpp b/test/gtest_sensor_base.cpp
index cd809e75cd0a414fdac833de89bcb1d768baf84f..d8420b2b3fa2d9635149c28b34ce3853bd63ca1a 100644
--- a/test/gtest_sensor_base.cpp
+++ b/test/gtest_sensor_base.cpp
@@ -5,7 +5,7 @@
  *      \author: jsola
  */
 
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
 
 #include "utils_gtest.h"
 
diff --git a/test/gtest_shared_from_this.cpp b/test/gtest_shared_from_this.cpp
index 9c9055ff5d3f7911d4d87b83e44f77e4bcc5b163..6b14fff0c5b9db4d16f8c0e9b22393157387fd9d 100644
--- a/test/gtest_shared_from_this.cpp
+++ b/test/gtest_shared_from_this.cpp
@@ -1,5 +1,5 @@
 #include "utils_gtest.h"
-#include "base/common/node_base.h"
+#include "core/common/node_base.h"
 
 class CChildBase;
 
diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp
index 9de5032b38af32cd564429fae2d0833c60817ef6..16551627cf55151c8ee153e5a563cb0e78342405 100644
--- a/test/gtest_solver_manager.cpp
+++ b/test/gtest_solver_manager.cpp
@@ -6,16 +6,16 @@
  */
 
 #include "utils_gtest.h"
-#include "base/utils/logging.h"
-
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/capture/capture_void.h"
-#include "base/factor/factor_pose_2D.h"
-#include "base/solver/solver_manager.h"
-#include "base/state_block/local_parametrization_base.h"
-#include "base/state_block/local_parametrization_angle.h"
+#include "core/utils/logging.h"
+
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/capture/capture_void.h"
+#include "core/factor/factor_pose_2D.h"
+#include "core/solver/solver_manager.h"
+#include "core/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_angle.h"
 
 #include <iostream>
 
diff --git a/test/gtest_time_stamp.cpp b/test/gtest_time_stamp.cpp
index a8389ce8b36f453a759ba16000ec106fe68160a3..03b1d0582280f294d1fbe5bd217b8294f861ca73 100644
--- a/test/gtest_time_stamp.cpp
+++ b/test/gtest_time_stamp.cpp
@@ -1,5 +1,5 @@
 #include "utils_gtest.h"
-#include "base/common/time_stamp.h"
+#include "core/common/time_stamp.h"
 
 #include <thread>
 
diff --git a/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp
index 99d47c9c3ffd95da4c6f98f6cefd0d4da07c4ed0..2f956b0846a505568c084147a1121904cc2a80da 100644
--- a/test/gtest_track_matrix.cpp
+++ b/test/gtest_track_matrix.cpp
@@ -7,7 +7,7 @@
 
 #include "utils_gtest.h"
 
-#include "base/processor/track_matrix.h"
+#include "core/processor/track_matrix.h"
 
 using namespace wolf;
 
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index de582e26b0e3fbfa6ca61876e82d3b9870ea0ff8..4197343b1d43330e43a2d356918beb92c55449e5 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -6,11 +6,11 @@
  */
 
 #include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
 
-#include "base/problem/problem.h"
-#include "base/trajectory/trajectory_base.h"
-#include "base/frame/frame_base.h"
+#include "core/problem/problem.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/frame/frame_base.h"
 
 #include <iostream>
 
diff --git a/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp b/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp
index ae4a43a3bdd7733931da9b42fb87e279f529a7a2..87cafb4d5f171bafb74670348cd562ad49b1d306 100644
--- a/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp
+++ b/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp
@@ -5,7 +5,7 @@
  *      Author: Jeremie Deray
  */
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 #include "../../utils_gtest.h"
 
 #include "../../../serialization/cereal/serialization_eigen_geometry.h"
diff --git a/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp b/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp
index c7f7249a5747d2e848bf07ea892b8486ee1f2eaa..0b803afdd30778a58b9536343c5ba5248ec8a148 100644
--- a/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp
+++ b/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp
@@ -5,7 +5,7 @@
  *      Author: Jeremie Deray
  */
 
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
 #include "../../utils_gtest.h"
 
 #include "../../../serialization/cereal/serialization_eigen_sparse.h"