diff --git a/MPC_planner-genom/DESCR b/MPC_planner-genom/DESCR
deleted file mode 100644
index aa076d696e38640924167aede033a46ebbffe63b..0000000000000000000000000000000000000000
--- a/MPC_planner-genom/DESCR
+++ /dev/null
@@ -1,6 +0,0 @@
-The MPC planner module provides several tools to plan, record and apply
-geometric transformations over a discrete trajectory. The current version to
-not include any global motion planning approach of the MPC library as the
-current experiments have been focused on exloring an unknown environment or
-repeating a learnt trajectory. However, it provides any I/O tools to load,
-save, and modify a recorded trajectory.
diff --git a/MPC_planner-genom/Makefile b/MPC_planner-genom/Makefile
deleted file mode 100644
index 7dfafec608bbe48a38f55a61f07efeb9e4203437..0000000000000000000000000000000000000000
--- a/MPC_planner-genom/Makefile
+++ /dev/null
@@ -1,30 +0,0 @@
-# robotpkg Makefile for: path/MPC_planner-genom
-# Created: Arnaud Degroote on Tue, 10 Jan 2012
-#
-
-DISTNAME= MPC_planner-genom-${VERSION}
-VERSION= 0.2
-PKGREVISION= 1
-CATEGORIES= path
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=MPC_planner-genom/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_OPENROBOTS_TRAC}MPC_planner-genom
-
-MAINTAINER= openrobots@laas.fr
-#HOMEPAGE=
-COMMENT= Load, save and manipulate trajectories -- genom module
-
-GNU_CONFIGURE= yes
-
-define PKG_OPTION_UNSET.api
- include ../../wip/MPC/depend.mk
- include ../../mapping/dtm-genom/depend.mk
-endef
-
-GENOM_MODULE= MPC_planner
-include ../../architecture/genom/depend.mk
-
-include ../../interfaces/genPos-genom/depend.mk
-include ../../localization/pom-genom/depend.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk
diff --git a/MPC_planner-genom/PLIST b/MPC_planner-genom/PLIST
deleted file mode 100644
index 968bb30fd377a1db5be3a5c1c89203ae23cb5d47..0000000000000000000000000000000000000000
--- a/MPC_planner-genom/PLIST
+++ /dev/null
@@ -1,4 +0,0 @@
-@comment Tue Oct 23 09:29:48 CEST 2012
-@comment includes architecture/genom/PLIST.module
-include/${GENOM_MODULE}/${GENOM_MODULE}-Struct.h
-share/modules/gen/${GENOM_MODULE}.gen
diff --git a/MPC_planner-genom/depend.mk b/MPC_planner-genom/depend.mk
deleted file mode 100644
index fd53953c76a07fc6fca24af46396c35c31d780c5..0000000000000000000000000000000000000000
--- a/MPC_planner-genom/depend.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-# robotpkg depend.mk for: path/MPC_planner-genom
-# Created: Arnaud Degroote on Tue, 10 Jan 2012
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-MPC_PLANNER_GENOM_DEPEND_MK:= ${MPC_PLANNER_GENOM_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= MPC_planner-genom
-endif
-
-ifeq (+,$(MPC_PLANNER_GENOM_DEPEND_MK))
-PREFER.MPC_planner-genom?= robotpkg
-
-DEPEND_USE+= MPC_planner-genom
-
-DEPEND_ABI.MPC_planner-genom?= MPC_planner-genom>=0.2
-DEPEND_DIR.MPC_planner-genom?= ../../wip/MPC_planner-genom
-
-SYSTEM_SEARCH.MPC_planner-genom=\
- include/MPC_planner/MPC_planner-Struct.h \
- lib/pkgconfig/MPC_planner.pc
-
-include ../../architecture/genom/depend.mk
-
-endif
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/MPC_planner-genom/distinfo b/MPC_planner-genom/distinfo
deleted file mode 100644
index f6856fd5cfadc80fc8ae16df72c78a6cbd78e182..0000000000000000000000000000000000000000
--- a/MPC_planner-genom/distinfo
+++ /dev/null
@@ -1,4 +0,0 @@
-SHA1 (MPC_planner-genom-0.2.tar.gz) = 47906932283c3ae5df813e5271712aadc2f43007
-RMD160 (MPC_planner-genom-0.2.tar.gz) = 27d88328defdecf14b9c2be8bc2fb6bc9a158beb
-Size (MPC_planner-genom-0.2.tar.gz) = 11935 bytes
-SHA1 (patch-aa) = 22e0cda776b618cc0e733a2ca611e161763cda3e
diff --git a/MPC_planner-genom/patches/patch-aa b/MPC_planner-genom/patches/patch-aa
deleted file mode 100644
index cbc06730b2558d06df5844d840c63060101b5a20..0000000000000000000000000000000000000000
--- a/MPC_planner-genom/patches/patch-aa
+++ /dev/null
@@ -1,124 +0,0 @@
-Don't use directly char[256] in interface to please oprs
-
-diff --git a/MPC_planner.gen b/MPC_planner.gen
-index 14f46c1..951723d 100644
---- MPC_planner.gen
-+++ MPC_planner.gen
-@@ -86,7 +86,6 @@ typedef struct MPC_PLANNER_STR {
- TRAJRECORDING_I TrajRecording_I;
-
- /* Path loading / saving requests I/O */
-- char path_filename[256];
- FILENAME_I Path_filename_I;
- LOADPATH_I LoadPath_I;
-
-@@ -247,7 +246,7 @@ request LoadPathFromLoc {
- doc: "Load a reference path from an input file and set its starting point as the current location";
- type: exec;
- exec_task: ExecTask;
-- input: path_filename::path_filename;
-+ input: Path_filename_I::Path_filename_I;
- input_info: ""::"Input path filename";
- codel_start: LoadPathFromLocStart;
- codel_main: LoadPathFromLocMain;
-@@ -260,7 +259,7 @@ request SavePath {
- doc: "Save a reference path into an output file";
- type: exec;
- exec_task: ExecTask;
-- input: path_filename::path_filename;
-+ input: Path_filename_I::Path_filename_I;
- input_info: ""::"Output path filename";
- codel_main: SavePathMain;
- fail_reports: POSTER_NOT_FOUND, EMPTY_PATH, FILE_ERROR;
-@@ -310,7 +309,7 @@ request LoadTraj {
- doc: "Load a reference trajectory from an input file";
- type: exec;
- exec_task: ExecTask;
-- input: path_filename::path_filename;
-+ input: Path_filename_I::Path_filename_I;
- input_info: ""::"Input trajectory filename";
- codel_main: LoadTrajMain;
- fail_reports: FILE_NOT_FOUND;
-@@ -322,7 +321,7 @@ request SaveTraj {
- doc: "Save a reference trajectory into an output file";
- type: exec;
- exec_task: ExecTask;
-- input: path_filename::path_filename;
-+ input: Path_filename_I::Path_filename_I;
- input_info: ""::"Output trajectory filename";
- codel_main: SaveTrajMain;
- fail_reports: POSTER_NOT_FOUND, EMPTY_TRAJ, FILE_ERROR;
-diff --git a/codels/MPC_plannerExecTaskCodels.cc b/codels/MPC_plannerExecTaskCodels.cc
-index 73f2c77..b0e81cd 100644
---- codels/MPC_plannerExecTaskCodels.cc
-+++ codels/MPC_plannerExecTaskCodels.cc
-@@ -1134,7 +1134,7 @@ LoadPathMain(LOADPATH_I *LoadPath_I, int *report)
- /* LoadPathFromLocStart - codel START of LoadPathFromLoc
- Returns: START EXEC END ETHER FAIL ZOMBIE */
- ACTIVITY_EVENT
--LoadPathFromLocStart(char path_filename[256], int *report)
-+LoadPathFromLocStart(FILENAME_I* Path_filename_I, int *report)
- {
- if(pomPosterId == NULL)
- {
-@@ -1148,14 +1148,14 @@ LoadPathFromLocStart(char path_filename[256], int *report)
- /* LoadPathFromLocMain - codel EXEC of LoadPathFromLoc
- Returns: EXEC END ETHER FAIL ZOMBIE */
- ACTIVITY_EVENT
--LoadPathFromLocMain(char path_filename[256], int *report)
-+LoadPathFromLocMain(FILENAME_I* Path_filename_I, int *report)
- {
- // reset the current reference path
- SDI_F->pathRef.nbPos = 0;
-
- // load a mpc path from the input filename
- DPMPath path_mpc;
-- bool resLoad = path_mpc.load(path_filename);
-+ bool resLoad = path_mpc.load(Path_filename_I->filename);
-
- // read the current location (POM poster)
- POM_POS pos;
-@@ -1206,7 +1206,7 @@ LoadPathFromLocMain(char path_filename[256], int *report)
- /* SavePathMain - codel EXEC of SavePath
- Returns: EXEC END ETHER FAIL ZOMBIE */
- ACTIVITY_EVENT
--SavePathMain(char path_filename[256], int *report)
-+SavePathMain(FILENAME_I* Path_filename_I, int *report)
- {
- // check if the current path is empty
- if(SDI_F->pathRec.nbPos == 0)
-@@ -1226,7 +1226,7 @@ SavePathMain(char path_filename[256], int *report)
- }
-
- // save the path into the output file
-- bool resSave = path_xy->save(path_filename);
-+ bool resSave = path_xy->save(Path_filename_I->filename);
- if(!resSave)
- {
- cerr << "MPC_planner::SavePathMain : Unable to save the current path (Wrong path filename?)" << endl;
-@@ -1301,14 +1301,14 @@ ConcatPathMain(LOADPATH_I *LoadPath_I, int *report)
- /* LoadTrajMain - codel EXEC of LoadTraj
- Returns: EXEC END ETHER FAIL ZOMBIE */
- ACTIVITY_EVENT
--LoadTrajMain(char path_filename[256], int *report)
-+LoadTrajMain(FILENAME_I* Path_filename_I, int *report)
- {
- // reset the current reference path
- SDI_F->mana_strajRef.nbPos = 0;
-
- // load a mpc path from the input filename
- DD2STraj traj_mpc;
-- bool resLoad = traj_mpc.load(path_filename);
-+ bool resLoad = traj_mpc.load(Path_filename_I->filename);
-
- // check if the loading process succeeded
- if(!resLoad)
-@@ -1340,7 +1340,7 @@ LoadTrajMain(char path_filename[256], int *report)
- /* SaveTrajMain - codel EXEC of SaveTraj
- Returns: EXEC END ETHER FAIL ZOMBIE */
- ACTIVITY_EVENT
--SaveTrajMain(char path_filename[256], int *report)
-+SaveTrajMain(FILENAME_I* Path_filename_I, int *report)
- {
- /* ... add your code here ... */
- return ETHER;
diff --git a/Makefile b/Makefile
index 8f8b50b2e7867723415c24a98701f3ff8eb042fd..c58905262aefbb4f6030650de16212f2c2ef0949 100644
--- a/Makefile
+++ b/Makefile
@@ -51,7 +51,6 @@ SUBDIR+= morse-ros
SUBDIR+= move3d-assets
SUBDIR+= move3d-studio
SUBDIR+= MPC
-SUBDIR+= MPC_planner-genom
SUBDIR+= MPC_DEMTreatment-genom
SUBDIR+= msgconnector
SUBDIR+= mumps