diff --git a/include/core/factor/factor_relative_pose_2d_with_extrinsics.h b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
index 61962bb3cdd1b29b76e48999868c76d85392a002..b0eea0f2b8f91f00a9a2bc8a7bda6ce1be66dc45 100644
--- a/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
@@ -19,8 +19,8 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-#ifndef FACTOR_RELATIVE_POSE_2D_WITH_EXTRINSICS_THETA_H_
-#define FACTOR_RELATIVE_POSE_2D_WITH_EXTRINSICS_THETA_H_
+#ifndef FACTOR_RELATIVE_POSE_2D_WITH_EXTRINSICS_H_
+#define FACTOR_RELATIVE_POSE_2D_WITH_EXTRINSICS_H_
 
 //Wolf includes
 #include "core/factor/factor_autodiff.h"
@@ -67,7 +67,7 @@ class FactorRelativePose2dWithExtrinsics : public FactorAutodiff<FactorRelativeP
                          T* _residuals) const;
 };
 
-FactorRelativePose2dWithExtrinsics::FactorRelativePose2dWithExtrinsics(const FeatureBasePtr& _ftr_ptr,
+inline FactorRelativePose2dWithExtrinsics::FactorRelativePose2dWithExtrinsics(const FeatureBasePtr& _ftr_ptr,
                                                                        const FrameBasePtr& _frame_other_ptr,
                                                                        const ProcessorBasePtr& _processor_ptr,
                                                                        bool _apply_loss_function,
@@ -92,7 +92,7 @@ FactorRelativePose2dWithExtrinsics::FactorRelativePose2dWithExtrinsics(const Fea
     //
 }
 
-FactorRelativePose2dWithExtrinsics::FactorRelativePose2dWithExtrinsics(const FeatureBasePtr& _ftr_ptr,
+inline FactorRelativePose2dWithExtrinsics::FactorRelativePose2dWithExtrinsics(const FeatureBasePtr& _ftr_ptr,
                                                                        const LandmarkBasePtr& _lmk_other_ptr,
                                                                        const ProcessorBasePtr& _processor_ptr,
                                                                        bool _apply_loss_function,
diff --git a/include/core/factor/factor_relative_pose_3d_with_extrinsics.h b/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
index be0ea47b15acd5e309dda9850f9c0981fbd593ba..19245f6bcf630f737e4a01aa78b4a11030d8264a 100644
--- a/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
@@ -93,12 +93,12 @@ class FactorRelativePose3dWithExtrinsics : public FactorAutodiff<FactorRelativeP
 namespace wolf
 {
 
-FactorRelativePose3dWithExtrinsics::FactorRelativePose3dWithExtrinsics(const FeatureBasePtr& _feature_ptr,
-                                                                       const FrameBasePtr& _frame_other_ptr,
-                                                                       const ProcessorBasePtr& _processor_ptr,
-                                                                       bool _apply_loss_function,
-                                                                       const FactorTopology& _top,
-                                                                       FactorStatus _status) :
+inline FactorRelativePose3dWithExtrinsics::FactorRelativePose3dWithExtrinsics(const FeatureBasePtr& _feature_ptr,
+                                                                              const FrameBasePtr& _frame_other_ptr,
+                                                                              const ProcessorBasePtr& _processor_ptr,
+                                                                              bool _apply_loss_function,
+                                                                              const FactorTopology& _top,
+                                                                              FactorStatus _status) :
     FactorAutodiff("FactorRelativePose3dWithExtrinsics",
                    _top,
                    _feature_ptr,
@@ -118,12 +118,12 @@ FactorRelativePose3dWithExtrinsics::FactorRelativePose3dWithExtrinsics(const Fea
 {
 }
 
-FactorRelativePose3dWithExtrinsics::FactorRelativePose3dWithExtrinsics(const FeatureBasePtr& _feature_ptr,
-                                                                       const LandmarkBasePtr& _landmark_other_ptr,
-                                                                       const ProcessorBasePtr& _processor_ptr,
-                                                                       bool _apply_loss_function,
-                                                                       const FactorTopology& _top,
-                                                                       FactorStatus _status) :
+inline FactorRelativePose3dWithExtrinsics::FactorRelativePose3dWithExtrinsics(const FeatureBasePtr& _feature_ptr,
+                                                                              const LandmarkBasePtr& _landmark_other_ptr,
+                                                                              const ProcessorBasePtr& _processor_ptr,
+                                                                              bool _apply_loss_function,
+                                                                              const FactorTopology& _top,
+                                                                              FactorStatus _status) :
     FactorAutodiff("FactorRelativePose3dWithExtrinsics",
                    _top,
                    _feature_ptr,
@@ -143,13 +143,13 @@ FactorRelativePose3dWithExtrinsics::FactorRelativePose3dWithExtrinsics(const Fea
 {
 }
 
-FactorRelativePose3dWithExtrinsics::~FactorRelativePose3dWithExtrinsics()
+inline FactorRelativePose3dWithExtrinsics::~FactorRelativePose3dWithExtrinsics()
 {
     //
 }
 
 template<typename T>
-bool FactorRelativePose3dWithExtrinsics::operator ()(const T* const _p_ref,
+inline bool FactorRelativePose3dWithExtrinsics::operator ()(const T* const _p_ref,
                                                      const T* const _o_ref,
                                                      const T* const _p_target,
                                                      const T* const _o_target,
@@ -189,7 +189,7 @@ bool FactorRelativePose3dWithExtrinsics::operator ()(const T* const _p_ref,
     return true;
 }
 
-Eigen::Vector6d FactorRelativePose3dWithExtrinsics::residual() const
+inline Eigen::Vector6d FactorRelativePose3dWithExtrinsics::residual() const
 {
     Eigen::Vector6d res;
     double * p_camera, * o_camera, * p_ref, * o_ref, * p_target, * o_target;
@@ -205,7 +205,7 @@ Eigen::Vector6d FactorRelativePose3dWithExtrinsics::residual() const
     return res;
 }
 
-double FactorRelativePose3dWithExtrinsics::cost() const
+inline double FactorRelativePose3dWithExtrinsics::cost() const
 {
     return residual().squaredNorm();
 }