From f4138cce122faec8347cb10df9b7bc6e27cb2bf8 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Thu, 8 Nov 2018 13:59:07 +0100
Subject: [PATCH] all: change __se3_* for __pinocchio_* for pragma once

---
 bindings/python/algorithm/algorithms.hpp             | 6 +++---
 bindings/python/fwd.hpp                              | 6 +++---
 bindings/python/multibody/data.hpp                   | 6 +++---
 bindings/python/multibody/fcl/collision-geometry.hpp | 6 +++---
 bindings/python/multibody/fcl/collision-result.hpp   | 6 +++---
 bindings/python/multibody/fcl/contact.hpp            | 6 +++---
 bindings/python/multibody/fcl/distance-result.hpp    | 6 +++---
 bindings/python/multibody/frame.hpp                  | 6 +++---
 bindings/python/multibody/geometry-data.hpp          | 6 +++---
 bindings/python/multibody/geometry-model.hpp         | 6 +++---
 bindings/python/multibody/geometry-object.hpp        | 6 +++---
 bindings/python/multibody/joint/joint-derived.hpp    | 6 +++---
 bindings/python/multibody/joint/joint.hpp            | 6 +++---
 bindings/python/multibody/joint/joints-models.hpp    | 6 +++---
 bindings/python/multibody/joint/joints-variant.hpp   | 6 +++---
 bindings/python/multibody/model.hpp                  | 6 +++---
 bindings/python/parsers/parsers.hpp                  | 6 +++---
 bindings/python/parsers/python.hpp                   | 6 +++---
 bindings/python/parsers/sample-models.hpp            | 6 +++---
 bindings/python/spatial/explog.hpp                   | 6 +++---
 bindings/python/spatial/force.hpp                    | 6 +++---
 bindings/python/spatial/inertia.hpp                  | 6 +++---
 bindings/python/spatial/motion.hpp                   | 6 +++---
 bindings/python/spatial/se3.hpp                      | 6 +++---
 bindings/python/utils/constant.hpp                   | 6 +++---
 bindings/python/utils/copyable.hpp                   | 6 +++---
 bindings/python/utils/eigen_container.hpp            | 6 +++---
 bindings/python/utils/handler.hpp                    | 6 +++---
 bindings/python/utils/printable.hpp                  | 6 +++---
 bindings/python/utils/std-aligned-vector.hpp         | 6 +++---
 bindings/python/utils/std-vector.hpp                 | 6 +++---
 bindings/python/utils/version.hpp                    | 6 +++---
 src/algorithm/aba-derivatives.hpp                    | 6 +++---
 src/algorithm/aba-derivatives.hxx                    | 6 +++---
 src/algorithm/aba.hpp                                | 6 +++---
 src/algorithm/aba.hxx                                | 6 +++---
 src/algorithm/center-of-mass.hpp                     | 6 +++---
 src/algorithm/center-of-mass.hxx                     | 6 +++---
 src/algorithm/centroidal-derivatives.hpp             | 6 +++---
 src/algorithm/centroidal-derivatives.hxx             | 6 +++---
 src/algorithm/centroidal.hpp                         | 6 +++---
 src/algorithm/centroidal.hxx                         | 6 +++---
 src/algorithm/check.hpp                              | 6 +++---
 src/algorithm/check.hxx                              | 6 +++---
 src/algorithm/cholesky.hpp                           | 6 +++---
 src/algorithm/cholesky.hxx                           | 6 +++---
 src/algorithm/compute-all-terms.hpp                  | 6 +++---
 src/algorithm/copy.hpp                               | 6 +++---
 src/algorithm/crba.hpp                               | 6 +++---
 src/algorithm/crba.hxx                               | 6 +++---
 src/algorithm/default-check.hpp                      | 6 +++---
 src/algorithm/dynamics.hpp                           | 6 +++---
 src/algorithm/energy.hpp                             | 6 +++---
 src/algorithm/finite-differences.hpp                 | 6 +++---
 src/algorithm/finite-differences.hxx                 | 6 +++---
 src/algorithm/frames.hpp                             | 6 +++---
 src/algorithm/frames.hxx                             | 6 +++---
 src/algorithm/geometry.hpp                           | 6 +++---
 src/algorithm/geometry.hxx                           | 6 +++---
 src/algorithm/jacobian.hpp                           | 6 +++---
 src/algorithm/jacobian.hxx                           | 6 +++---
 src/algorithm/joint-configuration.hpp                | 6 +++---
 src/algorithm/joint-configuration.hxx                | 6 +++---
 src/algorithm/kinematics-derivatives.hpp             | 6 +++---
 src/algorithm/kinematics-derivatives.hxx             | 6 +++---
 src/algorithm/kinematics.hpp                         | 6 +++---
 src/algorithm/kinematics.hxx                         | 6 +++---
 src/algorithm/regressor.hpp                          | 6 +++---
 src/algorithm/regressor.hxx                          | 6 +++---
 src/algorithm/rnea-derivatives.hpp                   | 6 +++---
 src/algorithm/rnea-derivatives.hxx                   | 6 +++---
 src/algorithm/rnea.hpp                               | 6 +++---
 src/algorithm/rnea.hxx                               | 6 +++---
 src/assert.hpp                                       | 6 +++---
 src/codegen/code-generator-algo.hpp                  | 6 +++---
 src/codegen/code-generator-base.hpp                  | 6 +++---
 src/container/aligned-vector.hpp                     | 6 +++---
 src/deprecated-macros.hpp                            | 6 +++---
 src/deprecated-namespaces.hpp                        | 6 +++---
 src/deprecation.hpp                                  | 6 +++---
 src/eigen-macros.hpp                                 | 6 +++---
 src/exception.hpp                                    | 6 +++---
 src/fwd.hpp                                          | 6 +++---
 src/macros.hpp                                       | 6 +++---
 src/math/cppad.hpp                                   | 6 +++---
 src/math/cppadcg.hpp                                 | 6 +++---
 src/math/fwd.hpp                                     | 6 +++---
 src/math/taylor-expansion.hpp                        | 6 +++---
 src/multibody/constraint.hpp                         | 6 +++---
 src/multibody/data.hpp                               | 6 +++---
 src/multibody/data.hxx                               | 6 +++---
 src/multibody/fcl.hpp                                | 6 +++---
 src/multibody/fcl.hxx                                | 6 +++---
 src/multibody/force-set.hpp                          | 6 +++---
 src/multibody/frame.hpp                              | 6 +++---
 src/multibody/fwd.hpp                                | 6 +++---
 src/multibody/geometry.hpp                           | 6 +++---
 src/multibody/geometry.hxx                           | 6 +++---
 src/multibody/joint/fwd.hpp                          | 6 +++---
 src/multibody/joint/joint-base.hpp                   | 6 +++---
 src/multibody/joint/joint-basic-visitors.hpp         | 6 +++---
 src/multibody/joint/joint-basic-visitors.hxx         | 6 +++---
 src/multibody/joint/joint-collection.hpp             | 6 +++---
 src/multibody/joint/joint-composite.hpp              | 6 +++---
 src/multibody/joint/joint-composite.hxx              | 6 +++---
 src/multibody/joint/joint-free-flyer.hpp             | 6 +++---
 src/multibody/joint/joint-generic.hpp                | 6 +++---
 src/multibody/joint/joint-planar.hpp                 | 6 +++---
 src/multibody/joint/joint-prismatic-unaligned.hpp    | 6 +++---
 src/multibody/joint/joint-prismatic.hpp              | 6 +++---
 src/multibody/joint/joint-revolute-unaligned.hpp     | 6 +++---
 src/multibody/joint/joint-revolute-unbounded.hpp     | 6 +++---
 src/multibody/joint/joint-revolute.hpp               | 6 +++---
 src/multibody/joint/joint-spherical-ZYX.hpp          | 6 +++---
 src/multibody/joint/joint-spherical.hpp              | 6 +++---
 src/multibody/joint/joint-translation.hpp            | 6 +++---
 src/multibody/liegroup/cartesian-product-variant.hpp | 6 +++---
 src/multibody/liegroup/cartesian-product.hpp         | 6 +++---
 src/multibody/liegroup/fwd.hpp                       | 6 +++---
 src/multibody/liegroup/liegroup-algo.hpp             | 6 +++---
 src/multibody/liegroup/liegroup-algo.hxx             | 6 +++---
 src/multibody/liegroup/liegroup-base.hpp             | 6 +++---
 src/multibody/liegroup/liegroup-base.hxx             | 6 +++---
 src/multibody/liegroup/liegroup-collection.hpp       | 6 +++---
 src/multibody/liegroup/liegroup-generic.hpp          | 6 +++---
 src/multibody/liegroup/liegroup-variant-visitors.hpp | 6 +++---
 src/multibody/liegroup/liegroup-variant-visitors.hxx | 6 +++---
 src/multibody/liegroup/liegroup-variant.hpp          | 6 +++---
 src/multibody/liegroup/liegroup.hpp                  | 6 +++---
 src/multibody/liegroup/special-euclidean.hpp         | 6 +++---
 src/multibody/liegroup/special-orthogonal.hpp        | 6 +++---
 src/multibody/liegroup/vector-space.hpp              | 6 +++---
 src/multibody/model.hpp                              | 6 +++---
 src/multibody/model.hxx                              | 6 +++---
 src/multibody/visitor.hpp                            | 6 +++---
 src/parsers/lua.hpp                                  | 6 +++---
 src/parsers/lua/lua_tables.hpp                       | 6 +++---
 src/parsers/sample-models.hpp                        | 6 +++---
 src/parsers/srdf.hpp                                 | 6 +++---
 src/parsers/srdf.hxx                                 | 6 +++---
 src/parsers/urdf.hpp                                 | 6 +++---
 src/parsers/urdf/geometry.hxx                        | 6 +++---
 src/parsers/urdf/model.hxx                           | 6 +++---
 src/parsers/urdf/types.hpp                           | 6 +++---
 src/parsers/urdf/utils.hpp                           | 6 +++---
 src/parsers/utils.hpp                                | 6 +++---
 src/spatial/act-on-set.hpp                           | 6 +++---
 src/spatial/act-on-set.hxx                           | 6 +++---
 src/spatial/cartesian-axis.hpp                       | 6 +++---
 src/spatial/explog-quaternion.hpp                    | 6 +++---
 src/spatial/fcl-pinocchio-conversions.hpp            | 6 +++---
 src/spatial/force-base.hpp                           | 6 +++---
 src/spatial/force-dense.hpp                          | 6 +++---
 src/spatial/force-ref.hpp                            | 6 +++---
 src/spatial/force-tpl.hpp                            | 6 +++---
 src/spatial/force.hpp                                | 6 +++---
 src/spatial/fwd.hpp                                  | 6 +++---
 src/spatial/inertia.hpp                              | 6 +++---
 src/spatial/motion-base.hpp                          | 6 +++---
 src/spatial/motion-dense.hpp                         | 6 +++---
 src/spatial/motion-ref.hpp                           | 6 +++---
 src/spatial/motion-tpl.hpp                           | 6 +++---
 src/spatial/motion-zero.hpp                          | 6 +++---
 src/spatial/motion.hpp                               | 6 +++---
 src/spatial/se3-base.hpp                             | 6 +++---
 src/spatial/se3-tpl.hpp                              | 6 +++---
 src/spatial/se3.hpp                                  | 6 +++---
 src/spatial/skew.hpp                                 | 6 +++---
 src/spatial/spatial-axis.hpp                         | 6 +++---
 src/spatial/symmetric3.hpp                           | 6 +++---
 src/utils/axis-label.hpp                             | 6 +++---
 src/utils/eigen-fix.hpp                              | 6 +++---
 src/utils/file-explorer.hpp                          | 6 +++---
 src/utils/string-generator.hpp                       | 6 +++---
 src/utils/version.hpp                                | 6 +++---
 175 files changed, 525 insertions(+), 525 deletions(-)

diff --git a/bindings/python/algorithm/algorithms.hpp b/bindings/python/algorithm/algorithms.hpp
index 25d79e6db..699164501 100644
--- a/bindings/python/algorithm/algorithms.hpp
+++ b/bindings/python/algorithm/algorithms.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_algorithm_hpp__
-#define __se3_python_algorithm_hpp__
+#ifndef __pinocchio_python_algorithm_hpp__
+#define __pinocchio_python_algorithm_hpp__
 
 #include <boost/python.hpp>
 #include "pinocchio/bindings/python/fwd.hpp"
@@ -51,5 +51,5 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_algorithm_hpp__
+#endif // ifndef __pinocchio_python_algorithm_hpp__
 
diff --git a/bindings/python/fwd.hpp b/bindings/python/fwd.hpp
index e4139f8be..d66fab84d 100644
--- a/bindings/python/fwd.hpp
+++ b/bindings/python/fwd.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_python_hpp__
-#define __se3_python_python_hpp__
+#ifndef __pinocchio_python_python_hpp__
+#define __pinocchio_python_python_hpp__
 
 #include "pinocchio/fwd.hpp"
 
@@ -54,5 +54,5 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_python_hpp__
+#endif // ifndef __pinocchio_python_python_hpp__
 
diff --git a/bindings/python/multibody/data.hpp b/bindings/python/multibody/data.hpp
index e47f15057..183c3549d 100644
--- a/bindings/python/multibody/data.hpp
+++ b/bindings/python/multibody/data.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_data_hpp__
-#define __se3_python_data_hpp__
+#ifndef __pinocchio_python_data_hpp__
+#define __pinocchio_python_data_hpp__
 
 #include "pinocchio/multibody/data.hpp"
 
@@ -141,5 +141,5 @@ namespace se3
     
   }} // namespace se3::python
 
-#endif // ifndef __se3_python_data_hpp__
+#endif // ifndef __pinocchio_python_data_hpp__
 
diff --git a/bindings/python/multibody/fcl/collision-geometry.hpp b/bindings/python/multibody/fcl/collision-geometry.hpp
index 58c44c538..9eef16fc5 100644
--- a/bindings/python/multibody/fcl/collision-geometry.hpp
+++ b/bindings/python/multibody/fcl/collision-geometry.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_fcl_collision_geometry_hpp__
-#define __se3_python_fcl_collision_geometry_hpp__
+#ifndef __pinocchio_python_fcl_collision_geometry_hpp__
+#define __pinocchio_python_fcl_collision_geometry_hpp__
 
 #include "pinocchio/spatial/fcl-pinocchio-conversions.hpp"
 #include <hpp/fcl/collision_object.h>
@@ -105,4 +105,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // namespace __se3_python_fcl_collision_geometry_hpp__
+#endif // namespace __pinocchio_python_fcl_collision_geometry_hpp__
diff --git a/bindings/python/multibody/fcl/collision-result.hpp b/bindings/python/multibody/fcl/collision-result.hpp
index 212efe73d..9efc09153 100644
--- a/bindings/python/multibody/fcl/collision-result.hpp
+++ b/bindings/python/multibody/fcl/collision-result.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_fcl_collision_result_hpp__
-#define __se3_python_fcl_collision_result_hpp__
+#ifndef __pinocchio_python_fcl_collision_result_hpp__
+#define __pinocchio_python_fcl_collision_result_hpp__
 
 #include "pinocchio/spatial/fcl-pinocchio-conversions.hpp"
 #include <hpp/fcl/collision_data.h>
@@ -78,4 +78,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // namespace __se3_python_fcl_collision_result_hpp__
+#endif // namespace __pinocchio_python_fcl_collision_result_hpp__
diff --git a/bindings/python/multibody/fcl/contact.hpp b/bindings/python/multibody/fcl/contact.hpp
index ddf3a171b..6eae48019 100644
--- a/bindings/python/multibody/fcl/contact.hpp
+++ b/bindings/python/multibody/fcl/contact.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_fcl_contact_hpp__
-#define __se3_python_fcl_contact_hpp__
+#ifndef __pinocchio_python_fcl_contact_hpp__
+#define __pinocchio_python_fcl_contact_hpp__
 
 #include "pinocchio/spatial/fcl-pinocchio-conversions.hpp"
 #include <hpp/fcl/collision_data.h>
@@ -106,4 +106,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // namespace __se3_python_fcl_contact_hpp__
+#endif // namespace __pinocchio_python_fcl_contact_hpp__
diff --git a/bindings/python/multibody/fcl/distance-result.hpp b/bindings/python/multibody/fcl/distance-result.hpp
index 929d3d254..b599c78ef 100644
--- a/bindings/python/multibody/fcl/distance-result.hpp
+++ b/bindings/python/multibody/fcl/distance-result.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_fcl_distance_result_hpp__
-#define __se3_python_fcl_distance_result_hpp__
+#ifndef __pinocchio_python_fcl_distance_result_hpp__
+#define __pinocchio_python_fcl_distance_result_hpp__
 
 #include "pinocchio/spatial/fcl-pinocchio-conversions.hpp"
 #include <hpp/fcl/collision_data.h>
@@ -77,4 +77,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // namespace __se3_python_fcl_distance_result_hpp__
+#endif // namespace __pinocchio_python_fcl_distance_result_hpp__
diff --git a/bindings/python/multibody/frame.hpp b/bindings/python/multibody/frame.hpp
index bb0c32b96..81990178f 100644
--- a/bindings/python/multibody/frame.hpp
+++ b/bindings/python/multibody/frame.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_frame_hpp__
-#define __se3_python_frame_hpp__
+#ifndef __pinocchio_python_frame_hpp__
+#define __pinocchio_python_frame_hpp__
 
 #include "pinocchio/multibody/fwd.hpp"
 #include "pinocchio/multibody/frame.hpp"
@@ -75,4 +75,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_frame_hpp__
+#endif // ifndef __pinocchio_python_frame_hpp__
diff --git a/bindings/python/multibody/geometry-data.hpp b/bindings/python/multibody/geometry-data.hpp
index 46c2cab6f..869684430 100644
--- a/bindings/python/multibody/geometry-data.hpp
+++ b/bindings/python/multibody/geometry-data.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_geometry_data_hpp__
-#define __se3_python_geometry_data_hpp__
+#ifndef __pinocchio_python_geometry_data_hpp__
+#define __pinocchio_python_geometry_data_hpp__
 
 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
 #include <eigenpy/memory.hpp>
@@ -125,5 +125,5 @@ namespace se3
     
   }} // namespace se3::python
 
-#endif // ifndef __se3_python_geometry_data_hpp__
+#endif // ifndef __pinocchio_python_geometry_data_hpp__
 
diff --git a/bindings/python/multibody/geometry-model.hpp b/bindings/python/multibody/geometry-model.hpp
index 636c63143..9d61ee5a7 100644
--- a/bindings/python/multibody/geometry-model.hpp
+++ b/bindings/python/multibody/geometry-model.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_geometry_model_hpp__
-#define __se3_python_geometry_model_hpp__
+#ifndef __pinocchio_python_geometry_model_hpp__
+#define __pinocchio_python_geometry_model_hpp__
 
 #include <eigenpy/memory.hpp>
 
@@ -102,4 +102,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_geometry_model_hpp__
+#endif // ifndef __pinocchio_python_geometry_model_hpp__
diff --git a/bindings/python/multibody/geometry-object.hpp b/bindings/python/multibody/geometry-object.hpp
index e67c7fd28..e241dad70 100644
--- a/bindings/python/multibody/geometry-object.hpp
+++ b/bindings/python/multibody/geometry-object.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_geometry_object_hpp__
-#define __se3_python_geometry_object_hpp__
+#ifndef __pinocchio_python_geometry_object_hpp__
+#define __pinocchio_python_geometry_object_hpp__
 
 #include <boost/python.hpp>
 #include <eigenpy/memory.hpp>
@@ -94,4 +94,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_geometry_object_hpp__
+#endif // ifndef __pinocchio_python_geometry_object_hpp__
diff --git a/bindings/python/multibody/joint/joint-derived.hpp b/bindings/python/multibody/joint/joint-derived.hpp
index ad6457296..31e70d50c 100644
--- a/bindings/python/multibody/joint/joint-derived.hpp
+++ b/bindings/python/multibody/joint/joint-derived.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_joint_dense_hpp__
-#define __se3_python_joint_dense_hpp__
+#ifndef __pinocchio_python_joint_dense_hpp__
+#define __pinocchio_python_joint_dense_hpp__
 
 #include <eigenpy/exception.hpp>
 #include <eigenpy/eigenpy.hpp>
@@ -68,5 +68,5 @@ namespace se3
 
   }} // namespace se3::python
 
-#endif // ifndef __se3_python_joint_dense_hpp__
+#endif // ifndef __pinocchio_python_joint_dense_hpp__
 
diff --git a/bindings/python/multibody/joint/joint.hpp b/bindings/python/multibody/joint/joint.hpp
index d04df0c80..7f51bcf78 100644
--- a/bindings/python/multibody/joint/joint.hpp
+++ b/bindings/python/multibody/joint/joint.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_joint_hpp__
-#define __se3_python_joint_hpp__
+#ifndef __pinocchio_python_joint_hpp__
+#define __pinocchio_python_joint_hpp__
 
 #include <eigenpy/exception.hpp>
 #include <eigenpy/eigenpy.hpp>
@@ -74,4 +74,4 @@ namespace se3
     
 }} // namespace se3::python
 
-#endif // ifndef __se3_python_joint_hpp__
+#endif // ifndef __pinocchio_python_joint_hpp__
diff --git a/bindings/python/multibody/joint/joints-models.hpp b/bindings/python/multibody/joint/joints-models.hpp
index 44554cc94..0fcd016af 100644
--- a/bindings/python/multibody/joint/joints-models.hpp
+++ b/bindings/python/multibody/joint/joints-models.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_joints_models_hpp__
-#define __se3_python_joints_models_hpp__
+#ifndef __pinocchio_python_joints_models_hpp__
+#define __pinocchio_python_joints_models_hpp__
 
 #include <eigenpy/exception.hpp>
 #include <eigenpy/eigenpy.hpp>
@@ -44,4 +44,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_joint_models_hpp__
+#endif // ifndef __pinocchio_python_joint_models_hpp__
diff --git a/bindings/python/multibody/joint/joints-variant.hpp b/bindings/python/multibody/joint/joints-variant.hpp
index 07b3419eb..ed3f7d240 100644
--- a/bindings/python/multibody/joint/joints-variant.hpp
+++ b/bindings/python/multibody/joint/joints-variant.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_joints_variant_hpp__
-#define __se3_python_joints_variant_hpp__
+#ifndef __pinocchio_python_joints_variant_hpp__
+#define __pinocchio_python_joints_variant_hpp__
 
 #include <eigenpy/exception.hpp>
 #include <eigenpy/eigenpy.hpp>
@@ -56,4 +56,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_joints_variant_hpp__
+#endif // ifndef __pinocchio_python_joints_variant_hpp__
diff --git a/bindings/python/multibody/model.hpp b/bindings/python/multibody/model.hpp
index cef236525..c30b910c3 100644
--- a/bindings/python/multibody/model.hpp
+++ b/bindings/python/multibody/model.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_model_hpp__
-#define __se3_python_model_hpp__
+#ifndef __pinocchio_python_model_hpp__
+#define __pinocchio_python_model_hpp__
 
 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
 #include <boost/python/overloads.hpp>
@@ -229,5 +229,5 @@ namespace se3
 
   }} // namespace se3::python
 
-#endif // ifndef __se3_python_model_hpp__
+#endif // ifndef __pinocchio_python_model_hpp__
 
diff --git a/bindings/python/parsers/parsers.hpp b/bindings/python/parsers/parsers.hpp
index c46c23369..53ca2d2ce 100644
--- a/bindings/python/parsers/parsers.hpp
+++ b/bindings/python/parsers/parsers.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_parsers_hpp__
-#define __se3_python_parsers_hpp__
+#ifndef __pinocchio_python_parsers_hpp__
+#define __pinocchio_python_parsers_hpp__
 
 #include <eigenpy/exception.hpp>
 #include <eigenpy/eigenpy.hpp>
@@ -238,4 +238,4 @@ namespace se3
   }
 } // namespace se3::python
 
-#endif // ifndef __se3_python_parsers_hpp__
+#endif // ifndef __pinocchio_python_parsers_hpp__
diff --git a/bindings/python/parsers/python.hpp b/bindings/python/parsers/python.hpp
index 5ad4f6b71..7948e8aec 100644
--- a/bindings/python/parsers/python.hpp
+++ b/bindings/python/parsers/python.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_pythonparser_hpp__
-#define __se3_pythonparser_hpp__
+#ifndef __pinocchio_pythonparser_hpp__
+#define __pinocchio_pythonparser_hpp__
 
 #include <boost/python.hpp>
 
@@ -43,4 +43,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_pythonparser_hpp__
+#endif // ifndef __pinocchio_pythonparser_hpp__
diff --git a/bindings/python/parsers/sample-models.hpp b/bindings/python/parsers/sample-models.hpp
index 824c5aa32..f3e9dbd38 100644
--- a/bindings/python/parsers/sample-models.hpp
+++ b/bindings/python/parsers/sample-models.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_sample_models_hpp__
-#define __se3_python_sample_models_hpp__
+#ifndef __pinocchio_python_sample_models_hpp__
+#define __pinocchio_python_sample_models_hpp__
 
 #include "pinocchio/parsers/sample-models.hpp"
 #include "pinocchio/bindings/python/multibody/data.hpp"
@@ -136,4 +136,4 @@ namespace se3
   }
 } // namespace se3::python
 
-#endif // ifndef __se3_python_sample_models_hpp__
+#endif // ifndef __pinocchio_python_sample_models_hpp__
diff --git a/bindings/python/spatial/explog.hpp b/bindings/python/spatial/explog.hpp
index 0c92b5114..a1bc2570c 100644
--- a/bindings/python/spatial/explog.hpp
+++ b/bindings/python/spatial/explog.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_explog_hpp__
-# define __se3_python_explog_hpp__
+#ifndef __pinocchio_python_explog_hpp__
+# define __pinocchio_python_explog_hpp__
 
 # include <eigenpy/eigenpy.hpp>
 
@@ -97,4 +97,4 @@ namespace se3
   } // namespace python
 } //namespace se3
 
-#endif // ifndef __se3_python_explog_hpp__
+#endif // ifndef __pinocchio_python_explog_hpp__
diff --git a/bindings/python/spatial/force.hpp b/bindings/python/spatial/force.hpp
index c499ce438..32bb8318f 100644
--- a/bindings/python/spatial/force.hpp
+++ b/bindings/python/spatial/force.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_force_hpp__
-#define __se3_python_force_hpp__
+#ifndef __pinocchio_python_force_hpp__
+#define __pinocchio_python_force_hpp__
 
 #include <eigenpy/memory.hpp>
 #include <boost/python/tuple.hpp>
@@ -147,5 +147,5 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_se3_hpp__
+#endif // ifndef __pinocchio_python_se3_hpp__
 
diff --git a/bindings/python/spatial/inertia.hpp b/bindings/python/spatial/inertia.hpp
index be6386176..7e5087cad 100644
--- a/bindings/python/spatial/inertia.hpp
+++ b/bindings/python/spatial/inertia.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_inertia_hpp__
-#define __se3_python_inertia_hpp__
+#ifndef __pinocchio_python_inertia_hpp__
+#define __pinocchio_python_inertia_hpp__
 
 #include <eigenpy/exception.hpp>
 #include <eigenpy/memory.hpp>
@@ -183,4 +183,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_se3_hpp__
+#endif // ifndef __pinocchio_python_se3_hpp__
diff --git a/bindings/python/spatial/motion.hpp b/bindings/python/spatial/motion.hpp
index 8a0f688f9..bf377f65a 100644
--- a/bindings/python/spatial/motion.hpp
+++ b/bindings/python/spatial/motion.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_motion_hpp__
-#define __se3_python_motion_hpp__
+#ifndef __pinocchio_python_motion_hpp__
+#define __pinocchio_python_motion_hpp__
 
 #include <eigenpy/memory.hpp>
 #include <boost/python/tuple.hpp>
@@ -161,5 +161,5 @@ namespace se3
 
   }} // namespace se3::python
 
-#endif // ifndef __se3_python_se3_hpp__
+#endif // ifndef __pinocchio_python_se3_hpp__
 
diff --git a/bindings/python/spatial/se3.hpp b/bindings/python/spatial/se3.hpp
index c425ddcba..2edbb50a5 100644
--- a/bindings/python/spatial/se3.hpp
+++ b/bindings/python/spatial/se3.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_se3_hpp__
-#define __se3_python_se3_hpp__
+#ifndef __pinocchio_python_se3_hpp__
+#define __pinocchio_python_se3_hpp__
 
 #include <eigenpy/memory.hpp>
 #include <boost/python/tuple.hpp>
@@ -169,5 +169,5 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_se3_hpp__
+#endif // ifndef __pinocchio_python_se3_hpp__
 
diff --git a/bindings/python/utils/constant.hpp b/bindings/python/utils/constant.hpp
index 29f71679f..5d267c26d 100644
--- a/bindings/python/utils/constant.hpp
+++ b/bindings/python/utils/constant.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_utils_constant_hpp__
-#define __se3_python_utils_constant_hpp__
+#ifndef __pinocchio_python_utils_constant_hpp__
+#define __pinocchio_python_utils_constant_hpp__
 
 #include <boost/python/scope.hpp>
 
@@ -43,4 +43,4 @@ namespace boost
   } // namespace python
 } // namespace boost
 
-#endif // ifndef __se3_python_utils_constant_hpp__
+#endif // ifndef __pinocchio_python_utils_constant_hpp__
diff --git a/bindings/python/utils/copyable.hpp b/bindings/python/utils/copyable.hpp
index 12d61e849..c3655b238 100644
--- a/bindings/python/utils/copyable.hpp
+++ b/bindings/python/utils/copyable.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_utils_copyable_hpp__
-#define __se3_python_utils_copyable_hpp__
+#ifndef __pinocchio_python_utils_copyable_hpp__
+#define __pinocchio_python_utils_copyable_hpp__
 
 #include <boost/python.hpp>
 
@@ -43,4 +43,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_utils_copyable_hpp__
+#endif // ifndef __pinocchio_python_utils_copyable_hpp__
diff --git a/bindings/python/utils/eigen_container.hpp b/bindings/python/utils/eigen_container.hpp
index 8d7caf48b..a86cd2f05 100644
--- a/bindings/python/utils/eigen_container.hpp
+++ b/bindings/python/utils/eigen_container.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_eigen_container_hpp__
-#define __se3_python_eigen_container_hpp__
+#ifndef __pinocchio_python_eigen_container_hpp__
+#define __pinocchio_python_eigen_container_hpp__
 
 #include <eigenpy/exception.hpp>
 #include <eigenpy/eigenpy.hpp>
@@ -79,5 +79,5 @@ namespace se3
 
   }} // namespace se3::python
 
-#endif // ifndef __se3_python_eigen_container_hpp__
+#endif // ifndef __pinocchio_python_eigen_container_hpp__
 
diff --git a/bindings/python/utils/handler.hpp b/bindings/python/utils/handler.hpp
index 7ff0fd7aa..bd7c56d05 100644
--- a/bindings/python/utils/handler.hpp
+++ b/bindings/python/utils/handler.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_handler_hpp__
-#define __se3_python_handler_hpp__
+#ifndef __pinocchio_python_handler_hpp__
+#define __pinocchio_python_handler_hpp__
 
 #include <boost/shared_ptr.hpp>
 
@@ -89,5 +89,5 @@ namespace se3
 
   }} // namespace se3::python
 
-#endif // ifndef __se3_python_handler_hpp__
+#endif // ifndef __pinocchio_python_handler_hpp__
 
diff --git a/bindings/python/utils/printable.hpp b/bindings/python/utils/printable.hpp
index be1a44bea..c4c892f83 100644
--- a/bindings/python/utils/printable.hpp
+++ b/bindings/python/utils/printable.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_utils_printable_hpp__
-#define __se3_python_utils_printable_hpp__
+#ifndef __pinocchio_python_utils_printable_hpp__
+#define __pinocchio_python_utils_printable_hpp__
 
 #include <boost/python.hpp>
 
@@ -45,4 +45,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_utils_printable_hpp__
+#endif // ifndef __pinocchio_python_utils_printable_hpp__
diff --git a/bindings/python/utils/std-aligned-vector.hpp b/bindings/python/utils/std-aligned-vector.hpp
index ae1d1f8f4..711a8c752 100644
--- a/bindings/python/utils/std-aligned-vector.hpp
+++ b/bindings/python/utils/std-aligned-vector.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_utils_std_aligned_vector_hpp__
-#define __se3_python_utils_std_aligned_vector_hpp__
+#ifndef __pinocchio_python_utils_std_aligned_vector_hpp__
+#define __pinocchio_python_utils_std_aligned_vector_hpp__
 
 #include <boost/python.hpp>
 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
@@ -52,4 +52,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_utils_std_aligned_vector_hpp__
+#endif // ifndef __pinocchio_python_utils_std_aligned_vector_hpp__
diff --git a/bindings/python/utils/std-vector.hpp b/bindings/python/utils/std-vector.hpp
index c32a24611..d0f666b51 100644
--- a/bindings/python/utils/std-vector.hpp
+++ b/bindings/python/utils/std-vector.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_utils_std_vector_hpp__
-#define __se3_python_utils_std_vector_hpp__
+#ifndef __pinocchio_python_utils_std_vector_hpp__
+#define __pinocchio_python_utils_std_vector_hpp__
 
 #include <boost/python.hpp>
 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
@@ -52,4 +52,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_utils_std_vector_hpp__
+#endif // ifndef __pinocchio_python_utils_std_vector_hpp__
diff --git a/bindings/python/utils/version.hpp b/bindings/python/utils/version.hpp
index 39a761752..37851ac32 100644
--- a/bindings/python/utils/version.hpp
+++ b/bindings/python/utils/version.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_python_utils_version_hpp__
-#define __se3_python_utils_version_hpp__
+#ifndef __pinocchio_python_utils_version_hpp__
+#define __pinocchio_python_utils_version_hpp__
 
 #include "pinocchio/bindings/python/fwd.hpp"
 
@@ -30,4 +30,4 @@ namespace se3
   } // namespace python
 } // namespace se3
 
-#endif // ifndef __se3_python_utils_version_hpp__
+#endif // ifndef __pinocchio_python_utils_version_hpp__
diff --git a/src/algorithm/aba-derivatives.hpp b/src/algorithm/aba-derivatives.hpp
index 68f7fd064..ae92291ca 100644
--- a/src/algorithm/aba-derivatives.hpp
+++ b/src/algorithm/aba-derivatives.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_aba_derivatives_hpp__
-#define __se3_aba_derivatives_hpp__
+#ifndef __pinocchio_aba_derivatives_hpp__
+#define __pinocchio_aba_derivatives_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -163,4 +163,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/aba-derivatives.hxx"
 
-#endif // ifndef __se3_aba_derivatives_hpp__
+#endif // ifndef __pinocchio_aba_derivatives_hpp__
diff --git a/src/algorithm/aba-derivatives.hxx b/src/algorithm/aba-derivatives.hxx
index 961f11b87..e863a5ba4 100644
--- a/src/algorithm/aba-derivatives.hxx
+++ b/src/algorithm/aba-derivatives.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_aba_derivatives_hxx__
-#define __se3_aba_derivatives_hxx__
+#ifndef __pinocchio_aba_derivatives_hxx__
+#define __pinocchio_aba_derivatives_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/algorithm/check.hpp"
@@ -481,5 +481,5 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_aba_derivatives_hxx__
+#endif // ifndef __pinocchio_aba_derivatives_hxx__
 
diff --git a/src/algorithm/aba.hpp b/src/algorithm/aba.hpp
index ae0bb918b..f31fc62a3 100644
--- a/src/algorithm/aba.hpp
+++ b/src/algorithm/aba.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_aba_hpp__
-#define __se3_aba_hpp__
+#ifndef __pinocchio_aba_hpp__
+#define __pinocchio_aba_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -101,4 +101,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/aba.hxx"
 
-#endif // ifndef __se3_aba_hpp__
+#endif // ifndef __pinocchio_aba_hpp__
diff --git a/src/algorithm/aba.hxx b/src/algorithm/aba.hxx
index 2c22abcc0..eb8c399f9 100644
--- a/src/algorithm/aba.hxx
+++ b/src/algorithm/aba.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_aba_hxx__
-#define __se3_aba_hxx__
+#ifndef __pinocchio_aba_hxx__
+#define __pinocchio_aba_hxx__
 
 #include "pinocchio/spatial/act-on-set.hpp"
 #include "pinocchio/multibody/visitor.hpp"
@@ -522,4 +522,4 @@ namespace se3
 
 /// @endcond
 
-#endif // ifndef __se3_aba_hxx__
+#endif // ifndef __pinocchio_aba_hxx__
diff --git a/src/algorithm/center-of-mass.hpp b/src/algorithm/center-of-mass.hpp
index d5777174e..68c42af7c 100644
--- a/src/algorithm/center-of-mass.hpp
+++ b/src/algorithm/center-of-mass.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_center_of_mass_hpp__
-#define __se3_center_of_mass_hpp__
+#ifndef __pinocchio_center_of_mass_hpp__
+#define __pinocchio_center_of_mass_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -201,4 +201,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/center-of-mass.hxx"
 
-#endif // ifndef __se3_center_of_mass_hpp__
+#endif // ifndef __pinocchio_center_of_mass_hpp__
diff --git a/src/algorithm/center-of-mass.hxx b/src/algorithm/center-of-mass.hxx
index 7995a334c..644f950d7 100644
--- a/src/algorithm/center-of-mass.hxx
+++ b/src/algorithm/center-of-mass.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_center_of_mass_hxx__
-#define __se3_center_of_mass_hxx__
+#ifndef __pinocchio_center_of_mass_hxx__
+#define __pinocchio_center_of_mass_hxx__
 
 #include "pinocchio/algorithm/check.hpp"
 #include "pinocchio/multibody/visitor.hpp"
@@ -323,4 +323,4 @@ namespace se3
 
 /// @endcond
 
-#endif // ifndef __se3_center_of_mass_hxx__
+#endif // ifndef __pinocchio_center_of_mass_hxx__
diff --git a/src/algorithm/centroidal-derivatives.hpp b/src/algorithm/centroidal-derivatives.hpp
index bbdce6e8b..7f111967d 100644
--- a/src/algorithm/centroidal-derivatives.hpp
+++ b/src/algorithm/centroidal-derivatives.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_algorithm_centroidal_derivatives_hpp__
-#define __se3_algorithm_centroidal_derivatives_hpp__
+#ifndef __pinocchio_algorithm_centroidal_derivatives_hpp__
+#define __pinocchio_algorithm_centroidal_derivatives_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -102,4 +102,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/centroidal-derivatives.hxx"
 
-#endif // ifndef __se3_algorithm_centroidal_derivatives_hpp__
+#endif // ifndef __pinocchio_algorithm_centroidal_derivatives_hpp__
diff --git a/src/algorithm/centroidal-derivatives.hxx b/src/algorithm/centroidal-derivatives.hxx
index 7c0a3c417..2ce2ca944 100644
--- a/src/algorithm/centroidal-derivatives.hxx
+++ b/src/algorithm/centroidal-derivatives.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_algorithm_centroidal_derivatives_hxx__
-#define __se3_algorithm_centroidal_derivatives_hxx__
+#ifndef __pinocchio_algorithm_centroidal_derivatives_hxx__
+#define __pinocchio_algorithm_centroidal_derivatives_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/spatial/act-on-set.hpp"
@@ -411,5 +411,5 @@ namespace se3
 
 /// @endcond
 
-#endif // ifndef __se3_algorithm_centroidal_derivatives_hxx__
+#endif // ifndef __pinocchio_algorithm_centroidal_derivatives_hxx__
 
diff --git a/src/algorithm/centroidal.hpp b/src/algorithm/centroidal.hpp
index e4e54e309..d6cd4303a 100644
--- a/src/algorithm/centroidal.hpp
+++ b/src/algorithm/centroidal.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_centroidal_hpp__
-#define __se3_centroidal_hpp__
+#ifndef __pinocchio_centroidal_hpp__
+#define __pinocchio_centroidal_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -127,4 +127,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/centroidal.hxx"
 
-#endif // ifndef __se3_centroidal_hpp__
+#endif // ifndef __pinocchio_centroidal_hpp__
diff --git a/src/algorithm/centroidal.hxx b/src/algorithm/centroidal.hxx
index 9a346811e..801572f8b 100644
--- a/src/algorithm/centroidal.hxx
+++ b/src/algorithm/centroidal.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_centroidal_hxx__
-#define __se3_centroidal_hxx__
+#ifndef __pinocchio_centroidal_hxx__
+#define __pinocchio_centroidal_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/spatial/act-on-set.hpp"
@@ -411,5 +411,5 @@ namespace se3
 
 /// @endcond
 
-#endif // ifndef __se3_centroidal_hxx__
+#endif // ifndef __pinocchio_centroidal_hxx__
 
diff --git a/src/algorithm/check.hpp b/src/algorithm/check.hpp
index baa259167..8b8f8ef76 100644
--- a/src/algorithm/check.hpp
+++ b/src/algorithm/check.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_check_hpp__
-#define __se3_check_hpp__
+#ifndef __pinocchio_check_hpp__
+#define __pinocchio_check_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -121,4 +121,4 @@ namespace se3
   /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/check.hxx"
 
-#endif // ifndef __se3_check_hpp__
+#endif // ifndef __pinocchio_check_hpp__
diff --git a/src/algorithm/check.hxx b/src/algorithm/check.hxx
index f0441bee6..7ce004ab8 100644
--- a/src/algorithm/check.hxx
+++ b/src/algorithm/check.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_check_hxx__
-#define __se3_check_hxx__
+#ifndef __pinocchio_check_hxx__
+#define __pinocchio_check_hxx__
 
 #include <boost/fusion/algorithm.hpp>
 #include <boost/foreach.hpp>
@@ -175,4 +175,4 @@ namespace se3
 
 } // namespace se3 
 
-#endif // ifndef __se3_check_hxx__
+#endif // ifndef __pinocchio_check_hxx__
diff --git a/src/algorithm/cholesky.hpp b/src/algorithm/cholesky.hpp
index 5dbaf0a53..b537b862c 100644
--- a/src/algorithm/cholesky.hpp
+++ b/src/algorithm/cholesky.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_cholesky_hpp__
-#define __se3_cholesky_hpp__
+#ifndef __pinocchio_cholesky_hpp__
+#define __pinocchio_cholesky_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -228,4 +228,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/cholesky.hxx"
 
-#endif // ifndef __se3_cholesky_hpp__
+#endif // ifndef __pinocchio_cholesky_hpp__
diff --git a/src/algorithm/cholesky.hxx b/src/algorithm/cholesky.hxx
index 7dcb426c8..430a212f7 100644
--- a/src/algorithm/cholesky.hxx
+++ b/src/algorithm/cholesky.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_cholesky_hxx__
-#define __se3_cholesky_hxx__
+#ifndef __pinocchio_cholesky_hxx__
+#define __pinocchio_cholesky_hxx__
 
 #include "pinocchio/algorithm/check.hpp"
 
@@ -550,4 +550,4 @@ namespace se3
 
 /// @endcond
 
-#endif // ifndef __se3_cholesky_hxx__
+#endif // ifndef __pinocchio_cholesky_hxx__
diff --git a/src/algorithm/compute-all-terms.hpp b/src/algorithm/compute-all-terms.hpp
index 32fd63202..4ca4ad495 100644
--- a/src/algorithm/compute-all-terms.hpp
+++ b/src/algorithm/compute-all-terms.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_compute_all_terms_hpp__
-#define __se3_compute_all_terms_hpp__
+#ifndef __pinocchio_compute_all_terms_hpp__
+#define __pinocchio_compute_all_terms_hpp__
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/model.hpp"
@@ -262,5 +262,5 @@ namespace se3
 } // namespace se3
 
 
-#endif // ifndef __se3_compute_all_terms_hpp__
+#endif // ifndef __pinocchio_compute_all_terms_hpp__
 
diff --git a/src/algorithm/copy.hpp b/src/algorithm/copy.hpp
index 05831d372..df5260790 100644
--- a/src/algorithm/copy.hpp
+++ b/src/algorithm/copy.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_copy_hpp__
-#define __se3_copy_hpp__
+#ifndef __pinocchio_copy_hpp__
+#define __pinocchio_copy_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -81,4 +81,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_copy_hpp__
+#endif // ifndef __pinocchio_copy_hpp__
diff --git a/src/algorithm/crba.hpp b/src/algorithm/crba.hpp
index 25c1a098a..50863fec9 100644
--- a/src/algorithm/crba.hpp
+++ b/src/algorithm/crba.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_crba_hpp__
-#define __se3_crba_hpp__
+#ifndef __pinocchio_crba_hpp__
+#define __pinocchio_crba_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -82,4 +82,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/crba.hxx"
 
-#endif // ifndef __se3_crba_hpp__
+#endif // ifndef __pinocchio_crba_hpp__
diff --git a/src/algorithm/crba.hxx b/src/algorithm/crba.hxx
index 3e9e20f67..6dc3d18d4 100644
--- a/src/algorithm/crba.hxx
+++ b/src/algorithm/crba.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_crba_hxx__
-#define __se3_crba_hxx__
+#ifndef __pinocchio_crba_hxx__
+#define __pinocchio_crba_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/spatial/act-on-set.hpp"
@@ -297,4 +297,4 @@ namespace se3
 
 /// @endcond
 
-#endif // ifndef __se3_crba_hxx__
+#endif // ifndef __pinocchio_crba_hxx__
diff --git a/src/algorithm/default-check.hpp b/src/algorithm/default-check.hpp
index 1e091d3c7..c647611a6 100644
--- a/src/algorithm/default-check.hpp
+++ b/src/algorithm/default-check.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_default_check_hpp__
-#define __se3_default_check_hpp__
+#ifndef __pinocchio_default_check_hpp__
+#define __pinocchio_default_check_hpp__
 
 #include <pinocchio/algorithm/check.hpp>
 #include <pinocchio/algorithm/aba.hpp>
@@ -36,4 +36,4 @@ namespace se3
 
 } // namespace se3 
 
-#endif // ifndef __se3_default_check_hpp__
+#endif // ifndef __pinocchio_default_check_hpp__
diff --git a/src/algorithm/dynamics.hpp b/src/algorithm/dynamics.hpp
index 9b4199059..8ff642056 100644
--- a/src/algorithm/dynamics.hpp
+++ b/src/algorithm/dynamics.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_dynamics_hpp__
-#define __se3_dynamics_hpp__
+#ifndef __pinocchio_dynamics_hpp__
+#define __pinocchio_dynamics_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -193,4 +193,4 @@ namespace se3
 } // namespace se3
 
 
-#endif // ifndef __se3_dynamics_hpp__
+#endif // ifndef __pinocchio_dynamics_hpp__
diff --git a/src/algorithm/energy.hpp b/src/algorithm/energy.hpp
index 750f79068..ec3663f77 100644
--- a/src/algorithm/energy.hpp
+++ b/src/algorithm/energy.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_energy_hpp__
-#define __se3_energy_hpp__
+#ifndef __pinocchio_energy_hpp__
+#define __pinocchio_energy_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -133,4 +133,4 @@ namespace se3
     return data.potential_energy;
   }
 }
-#endif // __se3_energy_hpp__
+#endif // __pinocchio_energy_hpp__
diff --git a/src/algorithm/finite-differences.hpp b/src/algorithm/finite-differences.hpp
index b54f30dfb..c7cf7a399 100644
--- a/src/algorithm/finite-differences.hpp
+++ b/src/algorithm/finite-differences.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_finite_differences_hpp__
-#define __se3_finite_differences_hpp__
+#ifndef __pinocchio_finite_differences_hpp__
+#define __pinocchio_finite_differences_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 
@@ -39,4 +39,4 @@ namespace se3 {
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/finite-differences.hxx"
 
-#endif // ifndef __se3_finite_differences_hpp__
+#endif // ifndef __pinocchio_finite_differences_hpp__
diff --git a/src/algorithm/finite-differences.hxx b/src/algorithm/finite-differences.hxx
index 5f93e883d..b814b2a8d 100644
--- a/src/algorithm/finite-differences.hxx
+++ b/src/algorithm/finite-differences.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_finite_differences_hxx__
-#define __se3_finite_differences_hxx__
+#ifndef __pinocchio_finite_differences_hxx__
+#define __pinocchio_finite_differences_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
 
@@ -68,4 +68,4 @@ namespace se3
 
 /// @endcond
 
-#endif // ifndef __se3_finite_differences_hxx__
+#endif // ifndef __pinocchio_finite_differences_hxx__
diff --git a/src/algorithm/frames.hpp b/src/algorithm/frames.hpp
index c1d5c6cf6..f8d08c6a4 100644
--- a/src/algorithm/frames.hpp
+++ b/src/algorithm/frames.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_frames_hpp__
-#define __se3_frames_hpp__
+#ifndef __pinocchio_frames_hpp__
+#define __pinocchio_frames_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -233,4 +233,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/frames.hxx"
 
-#endif // ifndef __se3_frames_hpp__
+#endif // ifndef __pinocchio_frames_hpp__
diff --git a/src/algorithm/frames.hxx b/src/algorithm/frames.hxx
index 9bb78140c..12e31df66 100644
--- a/src/algorithm/frames.hxx
+++ b/src/algorithm/frames.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_frames_hxx__
-#define __se3_frames_hxx__
+#ifndef __pinocchio_frames_hxx__
+#define __pinocchio_frames_hxx__
 
 #include "pinocchio/algorithm/kinematics.hpp"
 #include "pinocchio/algorithm/jacobian.hpp"
@@ -204,4 +204,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_frames_hxx__
+#endif // ifndef __pinocchio_frames_hxx__
diff --git a/src/algorithm/geometry.hpp b/src/algorithm/geometry.hpp
index 449814313..a6c492c6a 100644
--- a/src/algorithm/geometry.hpp
+++ b/src/algorithm/geometry.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_algo_geometry_hpp__
-#define __se3_algo_geometry_hpp__
+#ifndef __pinocchio_algo_geometry_hpp__
+#define __pinocchio_algo_geometry_hpp__
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/model.hpp"
@@ -223,4 +223,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/geometry.hxx"
 
-#endif // ifndef __se3_algo_geometry_hpp__
+#endif // ifndef __pinocchio_algo_geometry_hpp__
diff --git a/src/algorithm/geometry.hxx b/src/algorithm/geometry.hxx
index 64569cb83..56357c227 100644
--- a/src/algorithm/geometry.hxx
+++ b/src/algorithm/geometry.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_algo_geometry_hxx__
-#define __se3_algo_geometry_hxx__
+#ifndef __pinocchio_algo_geometry_hxx__
+#define __pinocchio_algo_geometry_hxx__
 
 #include <boost/foreach.hpp>
 
@@ -322,4 +322,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifnded __se3_algo_geometry_hxx__
+#endif // ifnded __pinocchio_algo_geometry_hxx__
diff --git a/src/algorithm/jacobian.hpp b/src/algorithm/jacobian.hpp
index a62546f1f..646068457 100644
--- a/src/algorithm/jacobian.hpp
+++ b/src/algorithm/jacobian.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_jacobian_hpp__
-#define __se3_jacobian_hpp__
+#ifndef __pinocchio_jacobian_hpp__
+#define __pinocchio_jacobian_hpp__
 
 #include "pinocchio/multibody/fwd.hpp"
 #include "pinocchio/multibody/model.hpp"
@@ -355,4 +355,4 @@ namespace se3
 
 #include "pinocchio/algorithm/jacobian.hxx"
 
-#endif // ifndef __se3_jacobian_hpp__
+#endif // ifndef __pinocchio_jacobian_hpp__
diff --git a/src/algorithm/jacobian.hxx b/src/algorithm/jacobian.hxx
index 5248beccc..8e4095a76 100644
--- a/src/algorithm/jacobian.hxx
+++ b/src/algorithm/jacobian.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_jacobian_hxx__
-#define __se3_jacobian_hxx__
+#ifndef __pinocchio_jacobian_hxx__
+#define __pinocchio_jacobian_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/algorithm/check.hpp"
@@ -326,4 +326,4 @@ namespace se3
 
 /// @endcond
 
-#endif // ifndef __se3_jacobian_hxx__
+#endif // ifndef __pinocchio_jacobian_hxx__
diff --git a/src/algorithm/joint-configuration.hpp b/src/algorithm/joint-configuration.hpp
index 122e91388..fabbe5b11 100644
--- a/src/algorithm/joint-configuration.hpp
+++ b/src/algorithm/joint-configuration.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_configuration_hpp__
-#define __se3_joint_configuration_hpp__
+#ifndef __pinocchio_joint_configuration_hpp__
+#define __pinocchio_joint_configuration_hpp__
 
 #include "pinocchio/multibody/fwd.hpp"
 
@@ -194,5 +194,5 @@ namespace se3
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/joint-configuration.hxx"
 
-#endif // ifndef __se3_joint_configuration_hpp__
+#endif // ifndef __pinocchio_joint_configuration_hpp__
 
diff --git a/src/algorithm/joint-configuration.hxx b/src/algorithm/joint-configuration.hxx
index b227cebec..608159b62 100644
--- a/src/algorithm/joint-configuration.hxx
+++ b/src/algorithm/joint-configuration.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_configuration_hxx__
-#define __se3_joint_configuration_hxx__
+#ifndef __pinocchio_joint_configuration_hxx__
+#define __pinocchio_joint_configuration_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/model.hpp"
@@ -326,5 +326,5 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_joint_configuration_hxx__
+#endif // ifndef __pinocchio_joint_configuration_hxx__
 
diff --git a/src/algorithm/kinematics-derivatives.hpp b/src/algorithm/kinematics-derivatives.hpp
index a6853b29a..92abd248d 100644
--- a/src/algorithm/kinematics-derivatives.hpp
+++ b/src/algorithm/kinematics-derivatives.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_kinematics_derivatives_hpp__
-#define __se3_kinematics_derivatives_hpp__
+#ifndef __pinocchio_kinematics_derivatives_hpp__
+#define __pinocchio_kinematics_derivatives_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -108,4 +108,4 @@ namespace se3
 
 #include "pinocchio/algorithm/kinematics-derivatives.hxx"
 
-#endif // ifndef __se3_kinematics_derivatives_hpp__
+#endif // ifndef __pinocchio_kinematics_derivatives_hpp__
diff --git a/src/algorithm/kinematics-derivatives.hxx b/src/algorithm/kinematics-derivatives.hxx
index d1164d252..46f39931f 100644
--- a/src/algorithm/kinematics-derivatives.hxx
+++ b/src/algorithm/kinematics-derivatives.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_kinematics_derivatives_hxx__
-#define __se3_kinematics_derivatives_hxx__
+#ifndef __pinocchio_kinematics_derivatives_hxx__
+#define __pinocchio_kinematics_derivatives_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/algorithm/check.hpp"
@@ -389,5 +389,5 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_kinematics_derivatives_hxx__
+#endif // ifndef __pinocchio_kinematics_derivatives_hxx__
 
diff --git a/src/algorithm/kinematics.hpp b/src/algorithm/kinematics.hpp
index 4d3b4aca8..f7bce1e3b 100644
--- a/src/algorithm/kinematics.hpp
+++ b/src/algorithm/kinematics.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_kinematics_hpp__
-#define __se3_kinematics_hpp__
+#ifndef __pinocchio_kinematics_hpp__
+#define __pinocchio_kinematics_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -114,4 +114,4 @@ namespace se3
 #include "pinocchio/algorithm/kinematics.hxx"
 
 
-#endif // ifndef __se3_kinematics_hpp__
+#endif // ifndef __pinocchio_kinematics_hpp__
diff --git a/src/algorithm/kinematics.hxx b/src/algorithm/kinematics.hxx
index 6544aed13..d99265ccb 100644
--- a/src/algorithm/kinematics.hxx
+++ b/src/algorithm/kinematics.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_kinematics_hxx__
-#define __se3_kinematics_hxx__
+#ifndef __pinocchio_kinematics_hxx__
+#define __pinocchio_kinematics_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/algorithm/check.hpp"
@@ -268,4 +268,4 @@ namespace se3
   }
 } // namespace se3
 
-#endif // ifndef __se3_kinematics_hxx__
+#endif // ifndef __pinocchio_kinematics_hxx__
diff --git a/src/algorithm/regressor.hpp b/src/algorithm/regressor.hpp
index fa62da9b0..241973ff5 100644
--- a/src/algorithm/regressor.hpp
+++ b/src/algorithm/regressor.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_regressor_hpp__
-#define __se3_regressor_hpp__
+#ifndef __pinocchio_regressor_hpp__
+#define __pinocchio_regressor_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -53,4 +53,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/regressor.hxx"
 
-#endif // ifndef __se3_regressor_hpp__
+#endif // ifndef __pinocchio_regressor_hpp__
diff --git a/src/algorithm/regressor.hxx b/src/algorithm/regressor.hxx
index b1e22d4f0..de008a680 100644
--- a/src/algorithm/regressor.hxx
+++ b/src/algorithm/regressor.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_regressor_hxx__
-#define __se3_regressor_hxx__
+#ifndef __pinocchio_regressor_hxx__
+#define __pinocchio_regressor_hxx__
 
 #include "pinocchio/algorithm/check.hpp"
 #include "pinocchio/algorithm/kinematics.hpp"
@@ -67,4 +67,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_regressor_hxx__
+#endif // ifndef __pinocchio_regressor_hxx__
diff --git a/src/algorithm/rnea-derivatives.hpp b/src/algorithm/rnea-derivatives.hpp
index 42b290924..ca6909919 100644
--- a/src/algorithm/rnea-derivatives.hpp
+++ b/src/algorithm/rnea-derivatives.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_rnea_derivatives_hpp__
-#define __se3_rnea_derivatives_hpp__
+#ifndef __pinocchio_rnea_derivatives_hpp__
+#define __pinocchio_rnea_derivatives_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -201,4 +201,4 @@ namespace se3
 
 #include "pinocchio/algorithm/rnea-derivatives.hxx"
 
-#endif // ifndef __se3_rnea_derivatives_hpp__
+#endif // ifndef __pinocchio_rnea_derivatives_hpp__
diff --git a/src/algorithm/rnea-derivatives.hxx b/src/algorithm/rnea-derivatives.hxx
index 61c188f85..ec4aa3a9f 100644
--- a/src/algorithm/rnea-derivatives.hxx
+++ b/src/algorithm/rnea-derivatives.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_rnea_derivatives_hxx__
-#define __se3_rnea_derivatives_hxx__
+#ifndef __pinocchio_rnea_derivatives_hxx__
+#define __pinocchio_rnea_derivatives_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/algorithm/check.hpp"
@@ -480,5 +480,5 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_rnea_derivatives_hxx__
+#endif // ifndef __pinocchio_rnea_derivatives_hxx__
 
diff --git a/src/algorithm/rnea.hpp b/src/algorithm/rnea.hpp
index 8b56fbc9d..a8a05f0c5 100644
--- a/src/algorithm/rnea.hpp
+++ b/src/algorithm/rnea.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_rnea_hpp__
-#define __se3_rnea_hpp__
+#ifndef __pinocchio_rnea_hpp__
+#define __pinocchio_rnea_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -148,4 +148,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------------- */
 #include "pinocchio/algorithm/rnea.hxx"
 
-#endif // ifndef __se3_rnea_hpp__
+#endif // ifndef __pinocchio_rnea_hpp__
diff --git a/src/algorithm/rnea.hxx b/src/algorithm/rnea.hxx
index 477f59bb1..f4395a437 100644
--- a/src/algorithm/rnea.hxx
+++ b/src/algorithm/rnea.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_rnea_hxx__
-#define __se3_rnea_hxx__
+#ifndef __pinocchio_rnea_hxx__
+#define __pinocchio_rnea_hxx__
 
 /// @cond DEV
 
@@ -522,4 +522,4 @@ namespace se3
 
 /// @endcond
 
-#endif // ifndef __se3_rnea_hxx__
+#endif // ifndef __pinocchio_rnea_hxx__
diff --git a/src/assert.hpp b/src/assert.hpp
index bc7ac9f5b..aafd73fd3 100644
--- a/src/assert.hpp
+++ b/src/assert.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_assert_hpp__
-#define __se3_assert_hpp__
+#ifndef __pinocchio_assert_hpp__
+#define __pinocchio_assert_hpp__
 
 namespace se3
 {
@@ -49,4 +49,4 @@ namespace se3
 #define SE3_STATIC_ASSERT(CONDITION,MSG)			\
   if(se3::internal::static_assertion<bool(CONDITION)>::MSG) {}
 
-#endif // ifndef __se3_assert_hpp__
+#endif // ifndef __pinocchio_assert_hpp__
diff --git a/src/codegen/code-generator-algo.hpp b/src/codegen/code-generator-algo.hpp
index 252de971b..dab4b0423 100644
--- a/src/codegen/code-generator-algo.hpp
+++ b/src/codegen/code-generator-algo.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_utils_code_generator_algo_hpp__
-#define __se3_utils_code_generator_algo_hpp__
+#ifndef __pinocchio_utils_code_generator_algo_hpp__
+#define __pinocchio_utils_code_generator_algo_hpp__
 
 #ifdef PINOCCHIO_WITH_CPPADCG_SUPPORT
 
@@ -620,4 +620,4 @@ namespace se3
 
 #endif // ifdef PINOCCHIO_WITH_CPPADCG_SUPPORT
 
-#endif // ifndef __se3_utils_code_generator_base_hpp__
+#endif // ifndef __pinocchio_utils_code_generator_base_hpp__
diff --git a/src/codegen/code-generator-base.hpp b/src/codegen/code-generator-base.hpp
index a27b7ca42..bcf05aaaa 100644
--- a/src/codegen/code-generator-base.hpp
+++ b/src/codegen/code-generator-base.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_utils_code_generator_base_hpp__
-#define __se3_utils_code_generator_base_hpp__
+#ifndef __pinocchio_utils_code_generator_base_hpp__
+#define __pinocchio_utils_code_generator_base_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/data.hpp"
@@ -190,4 +190,4 @@ namespace se3
 
 #endif // PINOCCHIO_WITH_CPPADCG_SUPPORT
 
-#endif // ifndef __se3_utils_code_generator_base_hpp__
+#endif // ifndef __pinocchio_utils_code_generator_base_hpp__
diff --git a/src/container/aligned-vector.hpp b/src/container/aligned-vector.hpp
index 6af163feb..17da3ddfc 100644
--- a/src/container/aligned-vector.hpp
+++ b/src/container/aligned-vector.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_container_aligned_vector_hpp__
-#define __se3_container_aligned_vector_hpp__
+#ifndef __pinocchio_container_aligned_vector_hpp__
+#define __pinocchio_container_aligned_vector_hpp__
 
 #include <vector>
 #include <Eigen/StdVector>
@@ -66,4 +66,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_container_aligned_vector_hpp__
+#endif // ifndef __pinocchio_container_aligned_vector_hpp__
diff --git a/src/deprecated-macros.hpp b/src/deprecated-macros.hpp
index ead167de6..4e54b8ac7 100644
--- a/src/deprecated-macros.hpp
+++ b/src/deprecated-macros.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_deprecated_macros_hpp__
-#define __se3_deprecated_macros_hpp__
+#ifndef __pinocchio_deprecated_macros_hpp__
+#define __pinocchio_deprecated_macros_hpp__
 
 #ifdef PINOCCHIO_WITH_HPP_FCL
   #ifndef WITH_HPP_FCL
@@ -45,4 +45,4 @@
   #endif
 #endif
 
-#endif // ifndef __se3_deprecated_macros_hpp__
+#endif // ifndef __pinocchio_deprecated_macros_hpp__
diff --git a/src/deprecated-namespaces.hpp b/src/deprecated-namespaces.hpp
index c72593c2a..277e1b3db 100644
--- a/src/deprecated-namespaces.hpp
+++ b/src/deprecated-namespaces.hpp
@@ -15,11 +15,11 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_deprecated_namespaces_hpp__
-#define __se3_deprecated_namespaces_hpp__
+#ifndef __pinocchio_deprecated_namespaces_hpp__
+#define __pinocchio_deprecated_namespaces_hpp__
 
 #ifdef PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_1
 #define se3 PINOCCHIO_PRAGMA_MESSAGE_CALL("The se3 namespace has been set to deprecated since version 2.0.0. Please use namespace pinocchio instead") pinocchio
 #endif
 
-#endif // ifndef __se3_deprecated_namespaces_hpp__
+#endif // ifndef __pinocchio_deprecated_namespaces_hpp__
diff --git a/src/deprecation.hpp b/src/deprecation.hpp
index 3dc7267d5..bdd799a23 100644
--- a/src/deprecation.hpp
+++ b/src/deprecation.hpp
@@ -15,11 +15,11 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_deprecation_hpp__
-#define __se3_deprecation_hpp__
+#ifndef __pinocchio_deprecation_hpp__
+#define __pinocchio_deprecation_hpp__
 
 #include "pinocchio/deprecated.hpp"
 #include "pinocchio/deprecated-macros.hpp"
 #include "pinocchio/deprecated-namespaces.hpp"
 
-#endif // ifndef __se3_deprecation_hpp__
+#endif // ifndef __pinocchio_deprecation_hpp__
diff --git a/src/eigen-macros.hpp b/src/eigen-macros.hpp
index 39bb7bb4d..45be2e21d 100644
--- a/src/eigen-macros.hpp
+++ b/src/eigen-macros.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_eigen_macros_hpp__
-#define __se3_eigen_macros_hpp__
+#ifndef __pinocchio_eigen_macros_hpp__
+#define __pinocchio_eigen_macros_hpp__
 
 #include "pinocchio/utils/eigen-fix.hpp"
 
@@ -54,4 +54,4 @@ Eigen::internal::scalar_product_traits<typename Eigen::internal::traits< D1 >::S
 /// \brief Macro for an automatic const_cast
 #define EIGEN_CONST_CAST(TYPE,OBJ) const_cast<TYPE &>(OBJ.derived())
 
-#endif // ifndef __se3_eigen_macros_hpp__
+#endif // ifndef __pinocchio_eigen_macros_hpp__
diff --git a/src/exception.hpp b/src/exception.hpp
index 7a36530f5..663168d37 100644
--- a/src/exception.hpp
+++ b/src/exception.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_exception_hpp__
-#define __se3_exception_hpp__
+#ifndef __pinocchio_exception_hpp__
+#define __pinocchio_exception_hpp__
 
 #include <exception>
 #include <string>
@@ -42,4 +42,4 @@ namespace se3
 
 } // namespace 
 
-#endif // ifndef __se3_exception_hpp__
+#endif // ifndef __pinocchio_exception_hpp__
diff --git a/src/fwd.hpp b/src/fwd.hpp
index 52378cab2..4d50a33a9 100644
--- a/src/fwd.hpp
+++ b/src/fwd.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_fwd_hpp__
-#define __se3_fwd_hpp__
+#ifndef __pinocchio_fwd_hpp__
+#define __pinocchio_fwd_hpp__
 
 #include "pinocchio/macros.hpp"
 #include "pinocchio/deprecation.hpp"
@@ -56,4 +56,4 @@ namespace se3
   };
 }
 
-#endif // #ifndef __se3_fwd_hpp__
+#endif // #ifndef __pinocchio_fwd_hpp__
diff --git a/src/macros.hpp b/src/macros.hpp
index 9403cd86e..f73853924 100644
--- a/src/macros.hpp
+++ b/src/macros.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_macros_hpp__
-#define __se3_macros_hpp__
+#ifndef __pinocchio_macros_hpp__
+#define __pinocchio_macros_hpp__
 
 #if __cplusplus >= 201103L
   #define PINOCCHIO_WITH_CXX11_SUPPORT
@@ -74,4 +74,4 @@ namespace se3
   }
 }
 
-#endif // ifndef __se3_macros_hpp__
+#endif // ifndef __pinocchio_macros_hpp__
diff --git a/src/math/cppad.hpp b/src/math/cppad.hpp
index 93fdcb9e3..804a943b9 100644
--- a/src/math/cppad.hpp
+++ b/src/math/cppad.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_math_ccpad_hpp__
-#define __se3_math_ccpad_hpp__
+#ifndef __pinocchio_math_ccpad_hpp__
+#define __pinocchio_math_ccpad_hpp__
 
 // Do not include this file directly.
 // Copy and use directly the intructions from <cppad/example/cppad_eigen.hpp>
@@ -123,4 +123,4 @@ namespace CppAD
   {  return x * x; }
 }
 
-#endif // #ifndef __se3_math_ccpad_hpp__
+#endif // #ifndef __pinocchio_math_ccpad_hpp__
diff --git a/src/math/cppadcg.hpp b/src/math/cppadcg.hpp
index 4f79d6345..fa6aa7784 100644
--- a/src/math/cppadcg.hpp
+++ b/src/math/cppadcg.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_math_ccpadcg_hpp__
-#define __se3_math_ccpadcg_hpp__
+#ifndef __pinocchio_math_ccpadcg_hpp__
+#define __pinocchio_math_ccpadcg_hpp__
 
 #include <cmath>
 #include <cppad/cg/support/cppadcg_eigen.hpp>
@@ -40,4 +40,4 @@ namespace Eigen
   }
 }
 
-#endif // #ifndef __se3_math_ccpadcg_hpp__
+#endif // #ifndef __pinocchio_math_ccpadcg_hpp__
diff --git a/src/math/fwd.hpp b/src/math/fwd.hpp
index 6f51cf041..1c8fadbb6 100644
--- a/src/math/fwd.hpp
+++ b/src/math/fwd.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_math_fwd_hpp__
-#define __se3_math_fwd_hpp__
+#ifndef __pinocchio_math_fwd_hpp__
+#define __pinocchio_math_fwd_hpp__
 
 #include "pinocchio/fwd.hpp"
 #include <math.h>
@@ -86,4 +86,4 @@ namespace se3
   }
 }
 
-#endif //#ifndef __se3_math_fwd_hpp__
+#endif //#ifndef __pinocchio_math_fwd_hpp__
diff --git a/src/math/taylor-expansion.hpp b/src/math/taylor-expansion.hpp
index bdee705c2..c23ef8721 100644
--- a/src/math/taylor-expansion.hpp
+++ b/src/math/taylor-expansion.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_math_taylor_expansion_hpp__
-#define __se3_math_taylor_expansion_hpp__
+#ifndef __pinocchio_math_taylor_expansion_hpp__
+#define __pinocchio_math_taylor_expansion_hpp__
 
 #include <cmath>
 #include <limits>
@@ -49,4 +49,4 @@ namespace se3
   
 }
 
-#endif // ifndef __se3_math_taylor_expansion_hpp__
+#endif // ifndef __pinocchio_math_taylor_expansion_hpp__
diff --git a/src/multibody/constraint.hpp b/src/multibody/constraint.hpp
index f4767ac1c..5d8dcddfe 100644
--- a/src/multibody/constraint.hpp
+++ b/src/multibody/constraint.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_constraint_hpp__
-#define __se3_constraint_hpp__
+#ifndef __pinocchio_constraint_hpp__
+#define __pinocchio_constraint_hpp__
 
 
 #include "pinocchio/macros.hpp"
@@ -252,4 +252,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_constraint_hpp__
+#endif // ifndef __pinocchio_constraint_hpp__
diff --git a/src/multibody/data.hpp b/src/multibody/data.hpp
index 9891b1c34..8ad4d010c 100644
--- a/src/multibody/data.hpp
+++ b/src/multibody/data.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_data_hpp__
-#define __se3_data_hpp__
+#ifndef __pinocchio_data_hpp__
+#define __pinocchio_data_hpp__
 
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/spatial/se3.hpp"
@@ -353,5 +353,5 @@ namespace se3
 /* --- Details -------------------------------------------------------------- */
 #include "pinocchio/multibody/data.hxx"
 
-#endif // ifndef __se3_data_hpp__
+#endif // ifndef __pinocchio_data_hpp__
 
diff --git a/src/multibody/data.hxx b/src/multibody/data.hxx
index 33ed4357c..db4781189 100644
--- a/src/multibody/data.hxx
+++ b/src/multibody/data.hxx
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_data_hxx__
-#define __se3_data_hxx__
+#ifndef __pinocchio_data_hxx__
+#define __pinocchio_data_hxx__
 
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/multibody/model.hpp"
@@ -192,4 +192,4 @@ namespace se3
 
 /// @endcond
 
-#endif // ifndef __se3_data_hxx__
+#endif // ifndef __pinocchio_data_hxx__
diff --git a/src/multibody/fcl.hpp b/src/multibody/fcl.hpp
index e79d82d83..27a098bbf 100644
--- a/src/multibody/fcl.hpp
+++ b/src/multibody/fcl.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_fcl_hpp__
-#define __se3_fcl_hpp__
+#ifndef __pinocchio_fcl_hpp__
+#define __pinocchio_fcl_hpp__
 
 #include "pinocchio/spatial/se3.hpp"
 #include "pinocchio/multibody/fwd.hpp"
@@ -169,4 +169,4 @@ struct GeometryObject
 #include "pinocchio/multibody/fcl.hxx"
 
 
-#endif // ifndef __se3_fcl_hpp__
+#endif // ifndef __pinocchio_fcl_hpp__
diff --git a/src/multibody/fcl.hxx b/src/multibody/fcl.hxx
index 552824fd7..c056109e8 100644
--- a/src/multibody/fcl.hxx
+++ b/src/multibody/fcl.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_fcl_hxx__
-#define __se3_fcl_hxx__
+#ifndef __pinocchio_fcl_hxx__
+#define __pinocchio_fcl_hxx__
 
 
 #include <iostream>
@@ -92,4 +92,4 @@ namespace se3
 } // namespace se3
 
 
-#endif // ifndef __se3_fcl_hxx__
+#endif // ifndef __pinocchio_fcl_hxx__
diff --git a/src/multibody/force-set.hpp b/src/multibody/force-set.hpp
index e8590ebb8..ad71e896e 100644
--- a/src/multibody/force-set.hpp
+++ b/src/multibody/force-set.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_force_set_hpp__
-#define __se3_force_set_hpp__
+#ifndef __pinocchio_force_set_hpp__
+#define __pinocchio_force_set_hpp__
 
 #include "pinocchio/spatial/fwd.hpp"
 #include <Eigen/Geometry>
@@ -177,5 +177,5 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_force_set_hpp__
+#endif // ifndef __pinocchio_force_set_hpp__
 
diff --git a/src/multibody/frame.hpp b/src/multibody/frame.hpp
index dd4f00678..c39a533aa 100644
--- a/src/multibody/frame.hpp
+++ b/src/multibody/frame.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_frame_hpp__
-#define __se3_frame_hpp__
+#ifndef __pinocchio_frame_hpp__
+#define __pinocchio_frame_hpp__
 
 #include "pinocchio/spatial/se3.hpp"
 #include "pinocchio/multibody/fwd.hpp"
@@ -140,4 +140,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_frame_hpp__
+#endif // ifndef __pinocchio_frame_hpp__
diff --git a/src/multibody/fwd.hpp b/src/multibody/fwd.hpp
index 44340d8bb..8546a2f35 100644
--- a/src/multibody/fwd.hpp
+++ b/src/multibody/fwd.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_multibody_fwd_hpp__
-#define __se3_multibody_fwd_hpp__
+#ifndef __pinocchio_multibody_fwd_hpp__
+#define __pinocchio_multibody_fwd_hpp__
 
 #include "pinocchio/fwd.hpp"
 
@@ -56,4 +56,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // #ifndef __se3_multibody_fwd_hpp__
+#endif // #ifndef __pinocchio_multibody_fwd_hpp__
diff --git a/src/multibody/geometry.hpp b/src/multibody/geometry.hpp
index f2ccdf571..a66022aca 100644
--- a/src/multibody/geometry.hpp
+++ b/src/multibody/geometry.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_multibody_geometry_hpp__
-#define __se3_multibody_geometry_hpp__
+#ifndef __pinocchio_multibody_geometry_hpp__
+#define __pinocchio_multibody_geometry_hpp__
 
 #include "pinocchio/multibody/fcl.hpp"
 #include "pinocchio/multibody/model.hpp"
@@ -320,4 +320,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------- */
 #include "pinocchio/multibody/geometry.hxx"
 
-#endif // ifndef __se3_multibody_geometry_hpp__
+#endif // ifndef __pinocchio_multibody_geometry_hpp__
diff --git a/src/multibody/geometry.hxx b/src/multibody/geometry.hxx
index 794e76c0e..f2c4c19a3 100644
--- a/src/multibody/geometry.hxx
+++ b/src/multibody/geometry.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_multibody_geometry_hxx__
-#define __se3_multibody_geometry_hxx__
+#ifndef __pinocchio_multibody_geometry_hxx__
+#define __pinocchio_multibody_geometry_hxx__
 
 #include <iostream>
 #include <map>
@@ -245,4 +245,4 @@ namespace se3
 
 /// @endcond
 
-#endif // ifndef __se3_multibody_geometry_hxx__
+#endif // ifndef __pinocchio_multibody_geometry_hxx__
diff --git a/src/multibody/joint/fwd.hpp b/src/multibody/joint/fwd.hpp
index b80ffda5f..ffec61563 100644
--- a/src/multibody/joint/fwd.hpp
+++ b/src/multibody/joint/fwd.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_fwd_hpp__
-#define __se3_joint_fwd_hpp__
+#ifndef __pinocchio_joint_fwd_hpp__
+#define __pinocchio_joint_fwd_hpp__
 
 #include "pinocchio/fwd.hpp"
 
@@ -99,4 +99,4 @@ namespace se3
   
 }
 
-#endif // ifndef __se3_joint_fwd_hpp__
+#endif // ifndef __pinocchio_joint_fwd_hpp__
diff --git a/src/multibody/joint/joint-base.hpp b/src/multibody/joint/joint-base.hpp
index 59349dfa8..0dd9a2e1c 100644
--- a/src/multibody/joint/joint-base.hpp
+++ b/src/multibody/joint/joint-base.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_base_hpp__
-#define __se3_joint_base_hpp__
+#ifndef __pinocchio_joint_base_hpp__
+#define __pinocchio_joint_base_hpp__
 
 #include "pinocchio/multibody/fwd.hpp"
 #include "pinocchio/multibody/joint/fwd.hpp"
@@ -375,4 +375,4 @@ struct CastType< NewScalar, JointModelTpl<Scalar,Options> > \
 
 } // namespace se3
 
-#endif // ifndef __se3_joint_base_hpp__
+#endif // ifndef __pinocchio_joint_base_hpp__
diff --git a/src/multibody/joint/joint-basic-visitors.hpp b/src/multibody/joint/joint-basic-visitors.hpp
index 0d66b5570..5dd03fa0a 100644
--- a/src/multibody/joint/joint-basic-visitors.hpp
+++ b/src/multibody/joint/joint-basic-visitors.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_basic_visitors_hpp__
-#define __se3_joint_basic_visitors_hpp__
+#ifndef __pinocchio_joint_basic_visitors_hpp__
+#define __pinocchio_joint_basic_visitors_hpp__
 
 #include "pinocchio/multibody/joint/fwd.hpp"
 
@@ -295,4 +295,4 @@ namespace se3
 // #include "pinocchio/multibody/joint/joint-basic-visitors.hxx"
 
 
-#endif // ifndef __se3_joint_basic_visitors_hpp__
+#endif // ifndef __pinocchio_joint_basic_visitors_hpp__
diff --git a/src/multibody/joint/joint-basic-visitors.hxx b/src/multibody/joint/joint-basic-visitors.hxx
index 10d1e0340..b4946ba30 100644
--- a/src/multibody/joint/joint-basic-visitors.hxx
+++ b/src/multibody/joint/joint-basic-visitors.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_basic_visitors_hxx__
-#define __se3_joint_basic_visitors_hxx__
+#ifndef __pinocchio_joint_basic_visitors_hxx__
+#define __pinocchio_joint_basic_visitors_hxx__
 
 #include "pinocchio/assert.hpp"
 #include "pinocchio/multibody/joint/joint-basic-visitors.hpp"
@@ -542,4 +542,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_joint_basic_visitors_hxx__
+#endif // ifndef __pinocchio_joint_basic_visitors_hxx__
diff --git a/src/multibody/joint/joint-collection.hpp b/src/multibody/joint/joint-collection.hpp
index 33d148c7c..036d67db4 100644
--- a/src/multibody/joint/joint-collection.hpp
+++ b/src/multibody/joint/joint-collection.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_collection_hpp__
-#define __se3_joint_collection_hpp__
+#ifndef __pinocchio_joint_collection_hpp__
+#define __pinocchio_joint_collection_hpp__
 
 #include "pinocchio/multibody/joint/fwd.hpp"
 #include "pinocchio/multibody/joint/joint-free-flyer.hpp"
@@ -154,4 +154,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_joint_collection_hpp__
+#endif // ifndef __pinocchio_joint_collection_hpp__
diff --git a/src/multibody/joint/joint-composite.hpp b/src/multibody/joint/joint-composite.hpp
index 319c1464d..c5eb1ba1f 100644
--- a/src/multibody/joint/joint-composite.hpp
+++ b/src/multibody/joint/joint-composite.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_composite_hpp__
-#define __se3_joint_composite_hpp__
+#ifndef __pinocchio_joint_composite_hpp__
+#define __pinocchio_joint_composite_hpp__
 
 #include "pinocchio/multibody/joint/fwd.hpp"
 #include "pinocchio/multibody/joint/joint-collection.hpp"
@@ -483,4 +483,4 @@ namespace boost
 /* --- Details -------------------------------------------------------------- */
 #include "pinocchio/multibody/joint/joint-composite.hxx"
 
-#endif // ifndef __se3_joint_composite_hpp__
+#endif // ifndef __pinocchio_joint_composite_hpp__
diff --git a/src/multibody/joint/joint-composite.hxx b/src/multibody/joint/joint-composite.hxx
index 2723ab28a..557477bbf 100644
--- a/src/multibody/joint/joint-composite.hxx
+++ b/src/multibody/joint/joint-composite.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_composite_hxx__
-#define __se3_joint_composite_hxx__
+#ifndef __pinocchio_joint_composite_hxx__
+#define __pinocchio_joint_composite_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
 
@@ -163,4 +163,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_joint_composite_hxx__
+#endif // ifndef __pinocchio_joint_composite_hxx__
diff --git a/src/multibody/joint/joint-free-flyer.hpp b/src/multibody/joint/joint-free-flyer.hpp
index 00cdb68a1..9b48d0b80 100644
--- a/src/multibody/joint/joint-free-flyer.hpp
+++ b/src/multibody/joint/joint-free-flyer.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_free_flyer_hpp__
-#define __se3_joint_free_flyer_hpp__
+#ifndef __pinocchio_joint_free_flyer_hpp__
+#define __pinocchio_joint_free_flyer_hpp__
 
 #include "pinocchio/macros.hpp"
 #include "pinocchio/spatial/inertia.hpp"
@@ -330,4 +330,4 @@ namespace boost
   : public integral_constant<bool,true> {};
 }
 
-#endif // ifndef __se3_joint_free_flyer_hpp__
+#endif // ifndef __pinocchio_joint_free_flyer_hpp__
diff --git a/src/multibody/joint/joint-generic.hpp b/src/multibody/joint/joint-generic.hpp
index e3747a567..2803ce000 100644
--- a/src/multibody/joint/joint-generic.hpp
+++ b/src/multibody/joint/joint-generic.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_generic_hpp__
-#define __se3_joint_generic_hpp__
+#ifndef __pinocchio_joint_generic_hpp__
+#define __pinocchio_joint_generic_hpp__
 
 #include "pinocchio/assert.hpp"
 #include "pinocchio/multibody/joint/joint-collection.hpp"
@@ -229,4 +229,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_joint_generic_hpp__
+#endif // ifndef __pinocchio_joint_generic_hpp__
diff --git a/src/multibody/joint/joint-planar.hpp b/src/multibody/joint/joint-planar.hpp
index 5bfce1435..232829b54 100644
--- a/src/multibody/joint/joint-planar.hpp
+++ b/src/multibody/joint/joint-planar.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_planar_hpp__
-#define __se3_joint_planar_hpp__
+#ifndef __pinocchio_joint_planar_hpp__
+#define __pinocchio_joint_planar_hpp__
 
 #include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
@@ -569,4 +569,4 @@ namespace boost
   : public integral_constant<bool,true> {};
 }
 
-#endif // ifndef __se3_joint_planar_hpp__
+#endif // ifndef __pinocchio_joint_planar_hpp__
diff --git a/src/multibody/joint/joint-prismatic-unaligned.hpp b/src/multibody/joint/joint-prismatic-unaligned.hpp
index c29385871..cdb5cf858 100644
--- a/src/multibody/joint/joint-prismatic-unaligned.hpp
+++ b/src/multibody/joint/joint-prismatic-unaligned.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_prismatic_unaligned_hpp__
-#define __se3_joint_prismatic_unaligned_hpp__
+#ifndef __pinocchio_joint_prismatic_unaligned_hpp__
+#define __pinocchio_joint_prismatic_unaligned_hpp__
 
 #include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
@@ -559,4 +559,4 @@ namespace boost
 }
 
 
-#endif // ifndef __se3_joint_prismatic_unaligned_hpp__
+#endif // ifndef __pinocchio_joint_prismatic_unaligned_hpp__
diff --git a/src/multibody/joint/joint-prismatic.hpp b/src/multibody/joint/joint-prismatic.hpp
index 16e4a0718..812d7be14 100644
--- a/src/multibody/joint/joint-prismatic.hpp
+++ b/src/multibody/joint/joint-prismatic.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_prismatic_hpp__
-#define __se3_joint_prismatic_hpp__
+#ifndef __pinocchio_joint_prismatic_hpp__
+#define __pinocchio_joint_prismatic_hpp__
 
 #include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
@@ -613,4 +613,4 @@ namespace boost
   : public integral_constant<bool,true> {};
 }
 
-#endif // ifndef __se3_joint_prismatic_hpp__
+#endif // ifndef __pinocchio_joint_prismatic_hpp__
diff --git a/src/multibody/joint/joint-revolute-unaligned.hpp b/src/multibody/joint/joint-revolute-unaligned.hpp
index f3b9466a6..53ed7e987 100644
--- a/src/multibody/joint/joint-revolute-unaligned.hpp
+++ b/src/multibody/joint/joint-revolute-unaligned.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_revolute_unaligned_hpp__
-#define __se3_joint_revolute_unaligned_hpp__
+#ifndef __pinocchio_joint_revolute_unaligned_hpp__
+#define __pinocchio_joint_revolute_unaligned_hpp__
 
 #include "pinocchio/fwd.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
@@ -576,4 +576,4 @@ namespace boost
 }
 
 
-#endif // ifndef __se3_joint_revolute_unaligned_hpp__
+#endif // ifndef __pinocchio_joint_revolute_unaligned_hpp__
diff --git a/src/multibody/joint/joint-revolute-unbounded.hpp b/src/multibody/joint/joint-revolute-unbounded.hpp
index a01ea85ee..e8b7c6956 100644
--- a/src/multibody/joint/joint-revolute-unbounded.hpp
+++ b/src/multibody/joint/joint-revolute-unbounded.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_revolute_unbounded_hpp__
-#define __se3_joint_revolute_unbounded_hpp__
+#ifndef __pinocchio_joint_revolute_unbounded_hpp__
+#define __pinocchio_joint_revolute_unbounded_hpp__
 
 #include "pinocchio/math/fwd.hpp"
 #include "pinocchio/math/sincos.hpp"
@@ -206,4 +206,4 @@ namespace boost
   : public integral_constant<bool,true> {};
 }
 
-#endif // ifndef __se3_joint_revolute_unbounded_hpp__
+#endif // ifndef __pinocchio_joint_revolute_unbounded_hpp__
diff --git a/src/multibody/joint/joint-revolute.hpp b/src/multibody/joint/joint-revolute.hpp
index 2f46929eb..b3d92cf40 100644
--- a/src/multibody/joint/joint-revolute.hpp
+++ b/src/multibody/joint/joint-revolute.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_revolute_hpp__
-#define __se3_joint_revolute_hpp__
+#ifndef __pinocchio_joint_revolute_hpp__
+#define __pinocchio_joint_revolute_hpp__
 
 #include "pinocchio/math/sincos.hpp"
 #include "pinocchio/spatial/inertia.hpp"
@@ -683,4 +683,4 @@ namespace boost
   : public integral_constant<bool,true> {};
 }
 
-#endif // ifndef __se3_joint_revolute_hpp__
+#endif // ifndef __pinocchio_joint_revolute_hpp__
diff --git a/src/multibody/joint/joint-spherical-ZYX.hpp b/src/multibody/joint/joint-spherical-ZYX.hpp
index 303b4fdb6..14e1bedf4 100644
--- a/src/multibody/joint/joint-spherical-ZYX.hpp
+++ b/src/multibody/joint/joint-spherical-ZYX.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_spherical_ZYX_hpp__
-#define __se3_joint_spherical_ZYX_hpp__
+#ifndef __pinocchio_joint_spherical_ZYX_hpp__
+#define __pinocchio_joint_spherical_ZYX_hpp__
 #include <iostream>
 #include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
@@ -451,4 +451,4 @@ namespace boost
   : public integral_constant<bool,true> {};
 }
 
-#endif // ifndef __se3_joint_spherical_ZYX_hpp__
+#endif // ifndef __pinocchio_joint_spherical_ZYX_hpp__
diff --git a/src/multibody/joint/joint-spherical.hpp b/src/multibody/joint/joint-spherical.hpp
index a769c1ee2..1525aded4 100644
--- a/src/multibody/joint/joint-spherical.hpp
+++ b/src/multibody/joint/joint-spherical.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_spherical_hpp__
-#define __se3_joint_spherical_hpp__
+#ifndef __pinocchio_joint_spherical_hpp__
+#define __pinocchio_joint_spherical_hpp__
 
 #include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
@@ -526,4 +526,4 @@ namespace boost
   : public integral_constant<bool,true> {};
 }
 
-#endif // ifndef __se3_joint_spherical_hpp__
+#endif // ifndef __pinocchio_joint_spherical_hpp__
diff --git a/src/multibody/joint/joint-translation.hpp b/src/multibody/joint/joint-translation.hpp
index 6be4501fb..32f6b6371 100644
--- a/src/multibody/joint/joint-translation.hpp
+++ b/src/multibody/joint/joint-translation.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_joint_translation_hpp__
-#define __se3_joint_translation_hpp__
+#ifndef __pinocchio_joint_translation_hpp__
+#define __pinocchio_joint_translation_hpp__
 
 #include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
@@ -585,4 +585,4 @@ namespace boost
   : public integral_constant<bool,true> {};
 }
 
-#endif // ifndef __se3_joint_translation_hpp__
+#endif // ifndef __pinocchio_joint_translation_hpp__
diff --git a/src/multibody/liegroup/cartesian-product-variant.hpp b/src/multibody/liegroup/cartesian-product-variant.hpp
index 695312cc8..94af86be8 100644
--- a/src/multibody/liegroup/cartesian-product-variant.hpp
+++ b/src/multibody/liegroup/cartesian-product-variant.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_cartesian_product_variant_hpp__
-#define __se3_cartesian_product_variant_hpp__
+#ifndef __pinocchio_cartesian_product_variant_hpp__
+#define __pinocchio_cartesian_product_variant_hpp__
 
 #include "pinocchio/multibody/liegroup/operation-base.hpp"
 #include "pinocchio/multibody/liegroup/liegroup-variant.hpp"
@@ -155,4 +155,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_cartesian_product_variant_hpp__
+#endif // ifndef __pinocchio_cartesian_product_variant_hpp__
diff --git a/src/multibody/liegroup/cartesian-product.hpp b/src/multibody/liegroup/cartesian-product.hpp
index 57f539724..22e1f2ce6 100644
--- a/src/multibody/liegroup/cartesian-product.hpp
+++ b/src/multibody/liegroup/cartesian-product.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_cartesian_product_operation_hpp__
-#define __se3_cartesian_product_operation_hpp__
+#ifndef __pinocchio_cartesian_product_operation_hpp__
+#define __pinocchio_cartesian_product_operation_hpp__
 
 #include <pinocchio/multibody/liegroup/liegroup-base.hpp>
 
@@ -228,4 +228,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_cartesian_product_operation_hpp__
+#endif // ifndef __pinocchio_cartesian_product_operation_hpp__
diff --git a/src/multibody/liegroup/fwd.hpp b/src/multibody/liegroup/fwd.hpp
index d23699fe9..4d9b752fb 100644
--- a/src/multibody/liegroup/fwd.hpp
+++ b/src/multibody/liegroup/fwd.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_lie_group_fwd_hpp__
-#define __se3_lie_group_fwd_hpp__
+#ifndef __pinocchio_lie_group_fwd_hpp__
+#define __pinocchio_lie_group_fwd_hpp__
 
 #include "pinocchio/fwd.hpp"
 
@@ -25,4 +25,4 @@ namespace se3
   template<typename LieGroupCollection> struct LieGroupGenericTpl;
 }
 
-#endif // ifndef __se3_lie_group_fwd_hpp__
+#endif // ifndef __pinocchio_lie_group_fwd_hpp__
diff --git a/src/multibody/liegroup/liegroup-algo.hpp b/src/multibody/liegroup/liegroup-algo.hpp
index ad550c58d..39f6e9b39 100644
--- a/src/multibody/liegroup/liegroup-algo.hpp
+++ b/src/multibody/liegroup/liegroup-algo.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_lie_group_algo_hpp__
-#define __se3_lie_group_algo_hpp__
+#ifndef __pinocchio_lie_group_algo_hpp__
+#define __pinocchio_lie_group_algo_hpp__
 
 #include "pinocchio/multibody/joint/joint-base.hpp"
 #include "pinocchio/multibody/liegroup/liegroup.hpp"
@@ -24,4 +24,4 @@
 /// Details
 #include "pinocchio/multibody/liegroup/liegroup-algo.hxx"
 
-#endif // ifndef __se3_lie_group_algo_hpp__
+#endif // ifndef __pinocchio_lie_group_algo_hpp__
diff --git a/src/multibody/liegroup/liegroup-algo.hxx b/src/multibody/liegroup/liegroup-algo.hxx
index 8c0969ab5..2f3048554 100644
--- a/src/multibody/liegroup/liegroup-algo.hxx
+++ b/src/multibody/liegroup/liegroup-algo.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_lie_group_algo_hxx__
-#define __se3_lie_group_algo_hxx__
+#ifndef __pinocchio_lie_group_algo_hxx__
+#define __pinocchio_lie_group_algo_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/joint/joint-composite.hpp"
@@ -410,4 +410,4 @@ namespace se3
   
 }
 
-#endif // ifndef __se3_lie_group_algo_hxx__
+#endif // ifndef __pinocchio_lie_group_algo_hxx__
diff --git a/src/multibody/liegroup/liegroup-base.hpp b/src/multibody/liegroup/liegroup-base.hpp
index 0fd965376..368a16582 100644
--- a/src/multibody/liegroup/liegroup-base.hpp
+++ b/src/multibody/liegroup/liegroup-base.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_lie_group_operation_base_hpp__
-#define __se3_lie_group_operation_base_hpp__
+#ifndef __pinocchio_lie_group_operation_base_hpp__
+#define __pinocchio_lie_group_operation_base_hpp__
 
 #include "pinocchio/multibody/liegroup/fwd.hpp"
 
@@ -347,4 +347,4 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
 
 #include "pinocchio/multibody/liegroup/liegroup-base.hxx"
 
-#endif // ifndef __se3_lie_group_operation_base_hpp__
+#endif // ifndef __pinocchio_lie_group_operation_base_hpp__
diff --git a/src/multibody/liegroup/liegroup-base.hxx b/src/multibody/liegroup/liegroup-base.hxx
index d3c0ac617..327d1f9e1 100644
--- a/src/multibody/liegroup/liegroup-base.hxx
+++ b/src/multibody/liegroup/liegroup-base.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_lie_group_operation_base_hxx__
-#define __se3_lie_group_operation_base_hxx__
+#ifndef __pinocchio_lie_group_operation_base_hxx__
+#define __pinocchio_lie_group_operation_base_hxx__
 
 #include "pinocchio/macros.hpp"
 
@@ -353,4 +353,4 @@ namespace se3 {
 
 } // namespace se3
 
-#endif // __se3_lie_group_operation_base_hxx__
+#endif // __pinocchio_lie_group_operation_base_hxx__
diff --git a/src/multibody/liegroup/liegroup-collection.hpp b/src/multibody/liegroup/liegroup-collection.hpp
index 0c4d29926..48e7ec527 100644
--- a/src/multibody/liegroup/liegroup-collection.hpp
+++ b/src/multibody/liegroup/liegroup-collection.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_lie_group_collection_hpp__
-#define __se3_lie_group_collection_hpp__
+#ifndef __pinocchio_lie_group_collection_hpp__
+#define __pinocchio_lie_group_collection_hpp__
 
 #include "pinocchio/multibody/liegroup/vector-space.hpp"
 #include "pinocchio/multibody/liegroup/cartesian-product.hpp"
@@ -50,5 +50,5 @@ namespace se3
   
 }
 
-#endif // ifndef __se3_lie_group_collection_hpp__
+#endif // ifndef __pinocchio_lie_group_collection_hpp__
 
diff --git a/src/multibody/liegroup/liegroup-generic.hpp b/src/multibody/liegroup/liegroup-generic.hpp
index b07f8194d..8e6ad8308 100644
--- a/src/multibody/liegroup/liegroup-generic.hpp
+++ b/src/multibody/liegroup/liegroup-generic.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_lie_group_generic_hpp__
-#define __se3_lie_group_generic_hpp__
+#ifndef __pinocchio_lie_group_generic_hpp__
+#define __pinocchio_lie_group_generic_hpp__
 
 #include "pinocchio/multibody/liegroup/liegroup-base.hpp"
 #include "pinocchio/multibody/liegroup/liegroup-variant-visitors.hpp"
@@ -68,5 +68,5 @@ namespace se3
   
 }
 
-#endif // ifndef __se3_lie_group_generic_hpp__
+#endif // ifndef __pinocchio_lie_group_generic_hpp__
 
diff --git a/src/multibody/liegroup/liegroup-variant-visitors.hpp b/src/multibody/liegroup/liegroup-variant-visitors.hpp
index c47bf8909..4151bf705 100644
--- a/src/multibody/liegroup/liegroup-variant-visitors.hpp
+++ b/src/multibody/liegroup/liegroup-variant-visitors.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_lie_group_variant_visitor_hpp__
-#define __se3_lie_group_variant_visitor_hpp__
+#ifndef __pinocchio_lie_group_variant_visitor_hpp__
+#define __pinocchio_lie_group_variant_visitor_hpp__
 
 #include "pinocchio/multibody/liegroup/fwd.hpp"
 
@@ -85,4 +85,4 @@ namespace se3
 /// Details
 #include "pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx"
 
-#endif // ifndef __se3_lie_group_variant_visitor_hpp__
+#endif // ifndef __pinocchio_lie_group_variant_visitor_hpp__
diff --git a/src/multibody/liegroup/liegroup-variant-visitors.hxx b/src/multibody/liegroup/liegroup-variant-visitors.hxx
index d364b5e25..7fa646c79 100644
--- a/src/multibody/liegroup/liegroup-variant-visitors.hxx
+++ b/src/multibody/liegroup/liegroup-variant-visitors.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_lie_group_variant_visitor_hxx__
-#define __se3_lie_group_variant_visitor_hxx__
+#ifndef __pinocchio_lie_group_variant_visitor_hxx__
+#define __pinocchio_lie_group_variant_visitor_hxx__
 
 #include "pinocchio/multibody/liegroup/liegroup-base.hpp"
 #include "pinocchio/multibody/visitor.hpp"
@@ -174,5 +174,5 @@ namespace se3
   }
 }
 
-#endif // ifndef __se3_lie_group_variant_visitor_hxx__
+#endif // ifndef __pinocchio_lie_group_variant_visitor_hxx__
 
diff --git a/src/multibody/liegroup/liegroup-variant.hpp b/src/multibody/liegroup/liegroup-variant.hpp
index 9095eb30d..f64c358e3 100644
--- a/src/multibody/liegroup/liegroup-variant.hpp
+++ b/src/multibody/liegroup/liegroup-variant.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_lie_group_variant_hpp__
-#define __se3_lie_group_variant_hpp__
+#ifndef __pinocchio_lie_group_variant_hpp__
+#define __pinocchio_lie_group_variant_hpp__
 
 #include "pinocchio/multibody/liegroup/vector-space.hpp"
 #include "pinocchio/multibody/liegroup/cartesian-product.hpp"
@@ -39,4 +39,4 @@ namespace se3
   
 }
 
-#endif // ifndef __se3_lie_group_variant_hpp__
+#endif // ifndef __pinocchio_lie_group_variant_hpp__
diff --git a/src/multibody/liegroup/liegroup.hpp b/src/multibody/liegroup/liegroup.hpp
index 02e7bee83..eb3461c77 100644
--- a/src/multibody/liegroup/liegroup.hpp
+++ b/src/multibody/liegroup/liegroup.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_lie_group_hpp__
-#define __se3_lie_group_hpp__
+#ifndef __pinocchio_lie_group_hpp__
+#define __pinocchio_lie_group_hpp__
 
 #include "pinocchio/assert.hpp"
 #include "pinocchio/multibody/liegroup/vector-space.hpp"
@@ -73,4 +73,4 @@ namespace se3
   
 }
 
-#endif // ifndef __se3_lie_group_hpp__
+#endif // ifndef __pinocchio_lie_group_hpp__
diff --git a/src/multibody/liegroup/special-euclidean.hpp b/src/multibody/liegroup/special-euclidean.hpp
index 5dadae6b6..6a0e3968c 100644
--- a/src/multibody/liegroup/special-euclidean.hpp
+++ b/src/multibody/liegroup/special-euclidean.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_special_euclidean_operation_hpp__
-#define __se3_special_euclidean_operation_hpp__
+#ifndef __pinocchio_special_euclidean_operation_hpp__
+#define __pinocchio_special_euclidean_operation_hpp__
 
 #include <limits>
 
@@ -601,4 +601,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_special_euclidean_operation_hpp__
+#endif // ifndef __pinocchio_special_euclidean_operation_hpp__
diff --git a/src/multibody/liegroup/special-orthogonal.hpp b/src/multibody/liegroup/special-orthogonal.hpp
index 49ff8b71b..f9be06c22 100644
--- a/src/multibody/liegroup/special-orthogonal.hpp
+++ b/src/multibody/liegroup/special-orthogonal.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_special_orthogonal_operation_hpp__
-#define __se3_special_orthogonal_operation_hpp__
+#ifndef __pinocchio_special_orthogonal_operation_hpp__
+#define __pinocchio_special_orthogonal_operation_hpp__
 
 #include <limits>
 
@@ -452,4 +452,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_special_orthogonal_operation_hpp__
+#endif // ifndef __pinocchio_special_orthogonal_operation_hpp__
diff --git a/src/multibody/liegroup/vector-space.hpp b/src/multibody/liegroup/vector-space.hpp
index 7d2b5547f..fba29f6c1 100644
--- a/src/multibody/liegroup/vector-space.hpp
+++ b/src/multibody/liegroup/vector-space.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_vector_space_operation_hpp__
-#define __se3_vector_space_operation_hpp__
+#ifndef __pinocchio_vector_space_operation_hpp__
+#define __pinocchio_vector_space_operation_hpp__
 
 #include <stdexcept>
 
@@ -175,4 +175,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_vector_space_operation_hpp__
+#endif // ifndef __pinocchio_vector_space_operation_hpp__
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index c46f94f3c..c79833cfa 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_model_hpp__
-#define __se3_model_hpp__
+#ifndef __pinocchio_model_hpp__
+#define __pinocchio_model_hpp__
 
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/spatial/se3.hpp"
@@ -492,4 +492,4 @@ namespace se3
 /* --- Details -------------------------------------------------------------- */
 #include "pinocchio/multibody/model.hxx"
 
-#endif // ifndef __se3_model_hpp__
+#endif // ifndef __pinocchio_model_hpp__
diff --git a/src/multibody/model.hxx b/src/multibody/model.hxx
index 71007c6f7..511a50fdb 100644
--- a/src/multibody/model.hxx
+++ b/src/multibody/model.hxx
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_model_hxx__
-#define __se3_model_hxx__
+#ifndef __pinocchio_model_hxx__
+#define __pinocchio_model_hxx__
 
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/utils/string-generator.hpp"
@@ -283,4 +283,4 @@ namespace se3
 
 /// @endcond
 
-#endif // ifndef __se3_model_hxx__
+#endif // ifndef __pinocchio_model_hxx__
diff --git a/src/multibody/visitor.hpp b/src/multibody/visitor.hpp
index e06ad54bf..11e782996 100644
--- a/src/multibody/visitor.hpp
+++ b/src/multibody/visitor.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_visitor_hpp__
-#define __se3_visitor_hpp__
+#ifndef __pinocchio_visitor_hpp__
+#define __pinocchio_visitor_hpp__
 
 #define BOOST_FUSION_INVOKE_MAX_ARITY 10
 
@@ -210,4 +210,4 @@ namespace se3
   } // namespace fusion
 } // namespace se3
 
-#endif // ifndef __se3_visitor_hpp__
+#endif // ifndef __pinocchio_visitor_hpp__
diff --git a/src/parsers/lua.hpp b/src/parsers/lua.hpp
index f0cc2636e..95ff0a602 100644
--- a/src/parsers/lua.hpp
+++ b/src/parsers/lua.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_lua_hpp__
-#define __se3_lua_hpp__
+#ifndef __pinocchio_lua_hpp__
+#define __pinocchio_lua_hpp__
 
 #include <string>
 #include "pinocchio/multibody/model.hpp"
@@ -29,4 +29,4 @@ namespace se3
   } // namespace lua
 } // namespace se3
 
-#endif // ifndef __se3_lua_hpp__
+#endif // ifndef __pinocchio_lua_hpp__
diff --git a/src/parsers/lua/lua_tables.hpp b/src/parsers/lua/lua_tables.hpp
index cc814a4b3..7a3eac497 100644
--- a/src/parsers/lua/lua_tables.hpp
+++ b/src/parsers/lua/lua_tables.hpp
@@ -25,8 +25,8 @@
  * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#ifndef __se3_parser_lua_tables_hpp____
-#define __se3_parser_lua_tables_hpp____
+#ifndef __pinocchio_parser_lua_tables_hpp____
+#define __pinocchio_parser_lua_tables_hpp____
 
 #include <iostream>
 #include <assert.h>
@@ -220,4 +220,4 @@ struct LuaTable {
 };
 
 
-#endif // ifndef __se3_parser_lua_tables_hpp____
+#endif // ifndef __pinocchio_parser_lua_tables_hpp____
diff --git a/src/parsers/sample-models.hpp b/src/parsers/sample-models.hpp
index b96a79d1b..265ae596e 100644
--- a/src/parsers/sample-models.hpp
+++ b/src/parsers/sample-models.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_sample_models_hpp__
-#define __se3_sample_models_hpp__
+#ifndef __pinocchio_sample_models_hpp__
+#define __pinocchio_sample_models_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/geometry.hpp"
@@ -95,4 +95,4 @@ namespace se3
   } // namespace buildModels
 } // namespace se3
 
-#endif // ifndef __se3_sample_models_hpp__
+#endif // ifndef __pinocchio_sample_models_hpp__
diff --git a/src/parsers/srdf.hpp b/src/parsers/srdf.hpp
index 7d23feb2e..13c854aca 100644
--- a/src/parsers/srdf.hpp
+++ b/src/parsers/srdf.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_parser_srdf_hpp__
-#define __se3_parser_srdf_hpp__
+#ifndef __pinocchio_parser_srdf_hpp__
+#define __pinocchio_parser_srdf_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/geometry.hpp"
@@ -138,4 +138,4 @@ namespace se3
 
 #include "pinocchio/parsers/srdf.hxx"
 
-#endif // ifndef __se3_parser_srdf_hpp__
+#endif // ifndef __pinocchio_parser_srdf_hpp__
diff --git a/src/parsers/srdf.hxx b/src/parsers/srdf.hxx
index 634d5922c..a0a57cc2c 100644
--- a/src/parsers/srdf.hxx
+++ b/src/parsers/srdf.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_parser_srdf_hxx__
-#define __se3_parser_srdf_hxx__
+#ifndef __pinocchio_parser_srdf_hxx__
+#define __pinocchio_parser_srdf_hxx__
 
 #include "pinocchio/parsers/srdf.hpp"
 
@@ -293,4 +293,4 @@ namespace se3
   }
 } // namespace se3
 
-#endif // ifndef __se3_parser_srdf_hxx__
+#endif // ifndef __pinocchio_parser_srdf_hxx__
diff --git a/src/parsers/urdf.hpp b/src/parsers/urdf.hpp
index 37bfc81cd..9508a4e88 100644
--- a/src/parsers/urdf.hpp
+++ b/src/parsers/urdf.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_parsers_urdf_hpp__
-#define __se3_parsers_urdf_hpp__
+#ifndef __pinocchio_parsers_urdf_hpp__
+#define __pinocchio_parsers_urdf_hpp__
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/geometry.hpp"
@@ -258,4 +258,4 @@ namespace se3
 #include "pinocchio/parsers/urdf/model.hxx"
 #include "pinocchio/parsers/urdf/geometry.hxx"
 
-#endif // ifndef __se3_parsers_urdf_hpp__
+#endif // ifndef __pinocchio_parsers_urdf_hpp__
diff --git a/src/parsers/urdf/geometry.hxx b/src/parsers/urdf/geometry.hxx
index a52727d88..4ea242c25 100644
--- a/src/parsers/urdf/geometry.hxx
+++ b/src/parsers/urdf/geometry.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_multibody_parsers_urdf_geometry_hxx__
-#define __se3_multibody_parsers_urdf_geometry_hxx__
+#ifndef __pinocchio_multibody_parsers_urdf_geometry_hxx__
+#define __pinocchio_multibody_parsers_urdf_geometry_hxx__
 
 #include "pinocchio/parsers/urdf.hpp"
 #include "pinocchio/parsers/urdf/utils.hpp"
@@ -465,4 +465,4 @@ namespace se3
   } // namespace urdf
 } // namespace se3
             
-#endif // ifndef __se3_multibody_parsers_urdf_geometry_hxx__
+#endif // ifndef __pinocchio_multibody_parsers_urdf_geometry_hxx__
diff --git a/src/parsers/urdf/model.hxx b/src/parsers/urdf/model.hxx
index ee9756a8a..caade4820 100644
--- a/src/parsers/urdf/model.hxx
+++ b/src/parsers/urdf/model.hxx
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_multibody_parsers_urdf_model_hxx__
-#define __se3_multibody_parsers_urdf_model_hxx__
+#ifndef __pinocchio_multibody_parsers_urdf_model_hxx__
+#define __pinocchio_multibody_parsers_urdf_model_hxx__
 
 #include "pinocchio/math/matrix.hpp"
 #include "pinocchio/parsers/urdf.hpp"
@@ -729,4 +729,4 @@ namespace se3
   } // namespace urdf
 } // namespace se3
 
-#endif // ifndef __se3_multibody_parsers_urdf_model_hxx__
+#endif // ifndef __pinocchio_multibody_parsers_urdf_model_hxx__
diff --git a/src/parsers/urdf/types.hpp b/src/parsers/urdf/types.hpp
index 7dc3d40a8..8a6c7712f 100644
--- a/src/parsers/urdf/types.hpp
+++ b/src/parsers/urdf/types.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_parsers_urdf_types_hpp__
-#define __se3_parsers_urdf_types_hpp__
+#ifndef __pinocchio_parsers_urdf_types_hpp__
+#define __pinocchio_parsers_urdf_types_hpp__
 
 #include <urdf_model/model.h>
 
@@ -93,4 +93,4 @@ namespace urdf
 
 #endif // PINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR
 
-#endif // ifndef __se3_parsers_urdf_types_hpp__
+#endif // ifndef __pinocchio_parsers_urdf_types_hpp__
diff --git a/src/parsers/urdf/utils.hpp b/src/parsers/urdf/utils.hpp
index d13b85bc6..1ca2cb4ba 100644
--- a/src/parsers/urdf/utils.hpp
+++ b/src/parsers/urdf/utils.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_parsers_urdf_utils_hpp__
-#define __se3_parsers_urdf_utils_hpp__
+#ifndef __pinocchio_parsers_urdf_utils_hpp__
+#define __pinocchio_parsers_urdf_utils_hpp__
 
 #include <urdf_model/model.h>
 
@@ -90,4 +90,4 @@ namespace se3
 
   } //urdf
 } // se3
-#endif // __se3_parsers_urdf_utils_hpp__
+#endif // __pinocchio_parsers_urdf_utils_hpp__
diff --git a/src/parsers/utils.hpp b/src/parsers/utils.hpp
index cd992b70c..ffdfb0c49 100644
--- a/src/parsers/utils.hpp
+++ b/src/parsers/utils.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_parsers_utils_hpp__
-#define __se3_parsers_utils_hpp__
+#ifndef __pinocchio_parsers_utils_hpp__
+#define __pinocchio_parsers_utils_hpp__
 
 #include <iostream>
 #include <limits>
@@ -125,4 +125,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // __se3_parsers_utils_hpp__
+#endif // __pinocchio_parsers_utils_hpp__
diff --git a/src/spatial/act-on-set.hpp b/src/spatial/act-on-set.hpp
index 2c1329e16..012e8da9f 100644
--- a/src/spatial/act-on-set.hpp
+++ b/src/spatial/act-on-set.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_act_on_set_hpp__
-#define __se3_act_on_set_hpp__
+#ifndef __pinocchio_act_on_set_hpp__
+#define __pinocchio_act_on_set_hpp__
 
 #include "pinocchio/macros.hpp"
 #include "pinocchio/spatial/fwd.hpp"
@@ -166,4 +166,4 @@ namespace se3
 
 #include "pinocchio/spatial/act-on-set.hxx"
 
-#endif // ifndef __se3_act_on_set_hpp__
+#endif // ifndef __pinocchio_act_on_set_hpp__
diff --git a/src/spatial/act-on-set.hxx b/src/spatial/act-on-set.hxx
index 653fadb01..ba3113064 100644
--- a/src/spatial/act-on-set.hxx
+++ b/src/spatial/act-on-set.hxx
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_act_on_set_hxx__
-#define __se3_act_on_set_hxx__
+#ifndef __pinocchio_act_on_set_hxx__
+#define __pinocchio_act_on_set_hxx__
 
 namespace se3
 {
@@ -656,4 +656,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_act_on_set_hxx__
+#endif // ifndef __pinocchio_act_on_set_hxx__
diff --git a/src/spatial/cartesian-axis.hpp b/src/spatial/cartesian-axis.hpp
index d38abdaa1..3e2c4039a 100644
--- a/src/spatial/cartesian-axis.hpp
+++ b/src/spatial/cartesian-axis.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_cartesian_axis_hpp__
-#define __se3_cartesian_axis_hpp__
+#ifndef __pinocchio_cartesian_axis_hpp__
+#define __pinocchio_cartesian_axis_hpp__
 
 #include "pinocchio/fwd.hpp"
 
@@ -159,4 +159,4 @@ namespace se3
 
 }
 
-#endif // __se3_cartesian_axis_hpp__
+#endif // __pinocchio_cartesian_axis_hpp__
diff --git a/src/spatial/explog-quaternion.hpp b/src/spatial/explog-quaternion.hpp
index a535e2d2c..0a6dafe41 100644
--- a/src/spatial/explog-quaternion.hpp
+++ b/src/spatial/explog-quaternion.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_spatial_explog_quaternion_hpp__
-#define __se3_spatial_explog_quaternion_hpp__
+#ifndef __pinocchio_spatial_explog_quaternion_hpp__
+#define __pinocchio_spatial_explog_quaternion_hpp__
 
 #include "pinocchio/math/quaternion.hpp"
 
@@ -198,4 +198,4 @@ namespace se3
   } // namespace quaternion
 }
 
-#endif // ifndef __se3_spatial_explog_quaternion_hpp__
+#endif // ifndef __pinocchio_spatial_explog_quaternion_hpp__
diff --git a/src/spatial/fcl-pinocchio-conversions.hpp b/src/spatial/fcl-pinocchio-conversions.hpp
index a8530a781..2e2f092fb 100644
--- a/src/spatial/fcl-pinocchio-conversions.hpp
+++ b/src/spatial/fcl-pinocchio-conversions.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_fcl_convertion_hpp__
-#define __se3_fcl_convertion_hpp__
+#ifndef __pinocchio_fcl_convertion_hpp__
+#define __pinocchio_fcl_convertion_hpp__
 
 #include <hpp/fcl/math/transform.h>
 #include "pinocchio/spatial/se3.hpp"
@@ -35,4 +35,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_fcl_convertion_hpp__
+#endif // ifndef __pinocchio_fcl_convertion_hpp__
diff --git a/src/spatial/force-base.hpp b/src/spatial/force-base.hpp
index 0fb94e5e9..e281e53cd 100644
--- a/src/spatial/force-base.hpp
+++ b/src/spatial/force-base.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_force_base_hpp__
-#define __se3_force_base_hpp__
+#ifndef __pinocchio_force_base_hpp__
+#define __pinocchio_force_base_hpp__
 
 /** \addtogroup Force_group Force
  *
@@ -220,4 +220,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_force_base_hpp__
+#endif // ifndef __pinocchio_force_base_hpp__
diff --git a/src/spatial/force-dense.hpp b/src/spatial/force-dense.hpp
index f60256ac5..0ca68102a 100644
--- a/src/spatial/force-dense.hpp
+++ b/src/spatial/force-dense.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_force_dense_hpp__
-#define __se3_force_dense_hpp__
+#ifndef __pinocchio_force_dense_hpp__
+#define __pinocchio_force_dense_hpp__
 
 namespace se3
 {
@@ -206,4 +206,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_force_dense_hpp__
+#endif // ifndef __pinocchio_force_dense_hpp__
diff --git a/src/spatial/force-ref.hpp b/src/spatial/force-ref.hpp
index b2c1c105b..a3caaa501 100644
--- a/src/spatial/force-ref.hpp
+++ b/src/spatial/force-ref.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_force_ref_hpp__
-#define __se3_force_ref_hpp__
+#ifndef __pinocchio_force_ref_hpp__
+#define __pinocchio_force_ref_hpp__
 
 namespace se3
 {
@@ -144,4 +144,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_force_ref_hpp__
+#endif // ifndef __pinocchio_force_ref_hpp__
diff --git a/src/spatial/force-tpl.hpp b/src/spatial/force-tpl.hpp
index b4e0acac0..e7c3897ee 100644
--- a/src/spatial/force-tpl.hpp
+++ b/src/spatial/force-tpl.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_force_tpl_hpp__
-#define __se3_force_tpl_hpp__
+#ifndef __pinocchio_force_tpl_hpp__
+#define __pinocchio_force_tpl_hpp__
 
 namespace se3
 {
@@ -130,4 +130,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_force_tpl_hpp__
+#endif // ifndef __pinocchio_force_tpl_hpp__
diff --git a/src/spatial/force.hpp b/src/spatial/force.hpp
index 53be8581c..40eb2696c 100644
--- a/src/spatial/force.hpp
+++ b/src/spatial/force.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_force_hpp__
-#define __se3_force_hpp__
+#ifndef __pinocchio_force_hpp__
+#define __pinocchio_force_hpp__
 
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/spatial/se3.hpp"
@@ -51,5 +51,5 @@ FORCE_TYPEDEF_GENERIC(Derived,PINOCCHIO_MACRO_EMPTY_ARG)
 #include "pinocchio/spatial/force-tpl.hpp"
 #include "pinocchio/spatial/force-ref.hpp"
 
-#endif // ifndef __se3_force_hpp__
+#endif // ifndef __pinocchio_force_hpp__
 
diff --git a/src/spatial/fwd.hpp b/src/spatial/fwd.hpp
index 9afe44d3b..77b40d173 100644
--- a/src/spatial/fwd.hpp
+++ b/src/spatial/fwd.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_spatial_fwd_hpp__
-#define __se3_spatial_fwd_hpp__
+#ifndef __pinocchio_spatial_fwd_hpp__
+#define __pinocchio_spatial_fwd_hpp__
 
 #include "pinocchio/fwd.hpp"
 #include "pinocchio/macros.hpp"
@@ -80,4 +80,4 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_spatial_fwd_hpp__
+#endif // ifndef __pinocchio_spatial_fwd_hpp__
diff --git a/src/spatial/inertia.hpp b/src/spatial/inertia.hpp
index 0fdc5d0f5..f07c5be7b 100644
--- a/src/spatial/inertia.hpp
+++ b/src/spatial/inertia.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_inertia_hpp__
-#define __se3_inertia_hpp__
+#ifndef __pinocchio_inertia_hpp__
+#define __pinocchio_inertia_hpp__
 
 #include <iostream>
 
@@ -500,4 +500,4 @@ namespace se3
     
 } // namespace se3
 
-#endif // ifndef __se3_inertia_hpp__
+#endif // ifndef __pinocchio_inertia_hpp__
diff --git a/src/spatial/motion-base.hpp b/src/spatial/motion-base.hpp
index db43fcaea..259c1f6f8 100644
--- a/src/spatial/motion-base.hpp
+++ b/src/spatial/motion-base.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_motion_base_hpp__
-#define __se3_motion_base_hpp__
+#ifndef __pinocchio_motion_base_hpp__
+#define __pinocchio_motion_base_hpp__
 
 namespace se3
 {
@@ -109,4 +109,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_motion_base_hpp__
+#endif // ifndef __pinocchio_motion_base_hpp__
diff --git a/src/spatial/motion-dense.hpp b/src/spatial/motion-dense.hpp
index e171b6c0d..8ba5fb885 100644
--- a/src/spatial/motion-dense.hpp
+++ b/src/spatial/motion-dense.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_motion_dense_hpp__
-#define __se3_motion_dense_hpp__
+#ifndef __pinocchio_motion_dense_hpp__
+#define __pinocchio_motion_dense_hpp__
 
 #include "pinocchio/spatial/skew.hpp"
 
@@ -244,4 +244,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_motion_dense_hpp__
+#endif // ifndef __pinocchio_motion_dense_hpp__
diff --git a/src/spatial/motion-ref.hpp b/src/spatial/motion-ref.hpp
index ae37d9f0f..1d7ce003a 100644
--- a/src/spatial/motion-ref.hpp
+++ b/src/spatial/motion-ref.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_motion_ref_hpp__
-#define __se3_motion_ref_hpp__
+#ifndef __pinocchio_motion_ref_hpp__
+#define __pinocchio_motion_ref_hpp__
 
 namespace se3
 {
@@ -219,4 +219,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_motion_ref_hpp__
+#endif // ifndef __pinocchio_motion_ref_hpp__
diff --git a/src/spatial/motion-tpl.hpp b/src/spatial/motion-tpl.hpp
index 9bf303f06..b1c8d0241 100644
--- a/src/spatial/motion-tpl.hpp
+++ b/src/spatial/motion-tpl.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_motion_tpl_hpp__
-#define __se3_motion_tpl_hpp__
+#ifndef __pinocchio_motion_tpl_hpp__
+#define __pinocchio_motion_tpl_hpp__
 
 namespace se3
 {
@@ -179,4 +179,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_motion_tpl_hpp__
+#endif // ifndef __pinocchio_motion_tpl_hpp__
diff --git a/src/spatial/motion-zero.hpp b/src/spatial/motion-zero.hpp
index eaf0624d1..cdb743ecd 100644
--- a/src/spatial/motion-zero.hpp
+++ b/src/spatial/motion-zero.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_motion_zero_hpp__
-#define __se3_motion_zero_hpp__
+#ifndef __pinocchio_motion_zero_hpp__
+#define __pinocchio_motion_zero_hpp__
 
 namespace se3
 {
@@ -126,4 +126,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_motion_zero_hpp__
+#endif // ifndef __pinocchio_motion_zero_hpp__
diff --git a/src/spatial/motion.hpp b/src/spatial/motion.hpp
index 6e851c0d2..a4e1a0662 100644
--- a/src/spatial/motion.hpp
+++ b/src/spatial/motion.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_motion_hpp__
-#define __se3_motion_hpp__
+#ifndef __pinocchio_motion_hpp__
+#define __pinocchio_motion_hpp__
 
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/macros.hpp"
@@ -66,4 +66,4 @@ namespace se3
 #include "pinocchio/spatial/motion-ref.hpp"
 #include "pinocchio/spatial/motion-zero.hpp"
 
-#endif // ifndef __se3_motion_hpp__
+#endif // ifndef __pinocchio_motion_hpp__
diff --git a/src/spatial/se3-base.hpp b/src/spatial/se3-base.hpp
index 3d92324ca..c6bc67b18 100644
--- a/src/spatial/se3-base.hpp
+++ b/src/spatial/se3-base.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_se3_base_hpp__
-#define __se3_se3_base_hpp__
+#ifndef __pinocchio_se3_base_hpp__
+#define __pinocchio_se3_base_hpp__
 
 namespace se3
 {
@@ -116,4 +116,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_se3_base_hpp__
+#endif // ifndef __pinocchio_se3_base_hpp__
diff --git a/src/spatial/se3-tpl.hpp b/src/spatial/se3-tpl.hpp
index b6576cba6..3cb37d26a 100644
--- a/src/spatial/se3-tpl.hpp
+++ b/src/spatial/se3-tpl.hpp
@@ -16,8 +16,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_se3_tpl_hpp__
-#define __se3_se3_tpl_hpp__
+#ifndef __pinocchio_se3_tpl_hpp__
+#define __pinocchio_se3_tpl_hpp__
 
 #include <Eigen/Geometry>
 #include "pinocchio/math/quaternion.hpp"
@@ -275,5 +275,5 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_se3_tpl_hpp__
+#endif // ifndef __pinocchio_se3_tpl_hpp__
 
diff --git a/src/spatial/se3.hpp b/src/spatial/se3.hpp
index f470e8a74..acd8f2523 100644
--- a/src/spatial/se3.hpp
+++ b/src/spatial/se3.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_se3_hpp__
-#define __se3_se3_hpp__
+#ifndef __pinocchio_se3_hpp__
+#define __pinocchio_se3_hpp__
 
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/macros.hpp"
@@ -58,4 +58,4 @@ namespace se3
 #include "pinocchio/spatial/se3-base.hpp"
 #include "pinocchio/spatial/se3-tpl.hpp"
 
-#endif // ifndef __se3_se3_hpp__
+#endif // ifndef __pinocchio_se3_hpp__
diff --git a/src/spatial/skew.hpp b/src/spatial/skew.hpp
index cf429b7ce..6499fe78d 100644
--- a/src/spatial/skew.hpp
+++ b/src/spatial/skew.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_skew_hpp__
-#define __se3_skew_hpp__
+#ifndef __pinocchio_skew_hpp__
+#define __pinocchio_skew_hpp__
 
 #include "pinocchio/macros.hpp"
 
@@ -256,4 +256,4 @@ namespace se3
   
 } // namespace se3
 
-#endif // ifndef __se3_skew_hpp__
+#endif // ifndef __pinocchio_skew_hpp__
diff --git a/src/spatial/spatial-axis.hpp b/src/spatial/spatial-axis.hpp
index a5aaf7236..566b1a7a9 100644
--- a/src/spatial/spatial-axis.hpp
+++ b/src/spatial/spatial-axis.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_spatial_axis_hpp__
-#define __se3_spatial_axis_hpp__
+#ifndef __pinocchio_spatial_axis_hpp__
+#define __pinocchio_spatial_axis_hpp__
 
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/spatial/cartesian-axis.hpp"
@@ -160,4 +160,4 @@ namespace se3
   typedef SpatialAxis<5> AxisWZ;
 }
 
-#endif // __se3_spatial_axis_hpp__
+#endif // __pinocchio_spatial_axis_hpp__
diff --git a/src/spatial/symmetric3.hpp b/src/spatial/symmetric3.hpp
index aff468c20..73578168a 100644
--- a/src/spatial/symmetric3.hpp
+++ b/src/spatial/symmetric3.hpp
@@ -24,8 +24,8 @@
 // the Free Software Foundation, either version 3 of the License, or
 // (at your option) any later version.
 
-#ifndef __se3_symmetric3_hpp__
-#define __se3_symmetric3_hpp__
+#ifndef __pinocchio_symmetric3_hpp__
+#define __pinocchio_symmetric3_hpp__
 
 #include "pinocchio/macros.hpp"
 
@@ -490,5 +490,5 @@ namespace se3
 
 } // namespace se3
 
-#endif // ifndef __se3_symmetric3_hpp__
+#endif // ifndef __pinocchio_symmetric3_hpp__
 
diff --git a/src/utils/axis-label.hpp b/src/utils/axis-label.hpp
index c9bd4f248..ef5ccb08c 100644
--- a/src/utils/axis-label.hpp
+++ b/src/utils/axis-label.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_axis_label_hpp__
-#define __se3_axis_label_hpp__
+#ifndef __pinocchio_axis_label_hpp__
+#define __pinocchio_axis_label_hpp__
 
 namespace se3
 {
@@ -35,4 +35,4 @@ namespace se3
   template<> inline char axisLabel<2>() { return 'Z'; }
 }
 
-#endif // __se3_axis_label_hpp__
+#endif // __pinocchio_axis_label_hpp__
diff --git a/src/utils/eigen-fix.hpp b/src/utils/eigen-fix.hpp
index 9421ee9a8..70b5f0210 100644
--- a/src/utils/eigen-fix.hpp
+++ b/src/utils/eigen-fix.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_utils_eigen_fix_hpp__
-#define __se3_utils_eigen_fix_hpp__
+#ifndef __pinocchio_utils_eigen_fix_hpp__
+#define __pinocchio_utils_eigen_fix_hpp__
 
 /// \brief Fix issue concerning 3.2.90 and more versions of Eigen that do not define size_of_xpr_at_compile_time structure.
 #if EIGEN_VERSION_AT_LEAST(3,2,90) && !EIGEN_VERSION_AT_LEAST(3,3,0)
@@ -59,5 +59,5 @@ namespace Eigen
   }
 } // namespace fix
 
-#endif // ifndef __se3_utils_eigen_fix_hpp__
+#endif // ifndef __pinocchio_utils_eigen_fix_hpp__
 
diff --git a/src/utils/file-explorer.hpp b/src/utils/file-explorer.hpp
index 9078771ed..e9e196800 100644
--- a/src/utils/file-explorer.hpp
+++ b/src/utils/file-explorer.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_file_explorer_hpp__
-#define __se3_file_explorer_hpp__
+#ifndef __pinocchio_file_explorer_hpp__
+#define __pinocchio_file_explorer_hpp__
 
 #include <string>
 #include <iostream>
@@ -73,4 +73,4 @@ namespace se3
 
 }
 
-#endif // __se3_file_explorer_hpp__
+#endif // __pinocchio_file_explorer_hpp__
diff --git a/src/utils/string-generator.hpp b/src/utils/string-generator.hpp
index 4eb637f49..0fd6d3207 100644
--- a/src/utils/string-generator.hpp
+++ b/src/utils/string-generator.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_string_generator_hpp__
-#define __se3_string_generator_hpp__
+#ifndef __pinocchio_string_generator_hpp__
+#define __pinocchio_string_generator_hpp__
 
 #include <string>
 #include <cstdlib>
@@ -45,4 +45,4 @@ namespace se3
   }
 }
 
-#endif // __se3_string_generator_hpp__
+#endif // __pinocchio_string_generator_hpp__
diff --git a/src/utils/version.hpp b/src/utils/version.hpp
index ca8e39b81..8ca2c2bdd 100644
--- a/src/utils/version.hpp
+++ b/src/utils/version.hpp
@@ -15,8 +15,8 @@
 // Pinocchio If not, see
 // <http://www.gnu.org/licenses/>.
 
-#ifndef __se3_utils_version_hpp__
-#define __se3_utils_version_hpp__
+#ifndef __pinocchio_utils_version_hpp__
+#define __pinocchio_utils_version_hpp__
 
 #include "pinocchio/config.hpp"
 
@@ -65,4 +65,4 @@ namespace se3
   }
 }
 
-#endif // __se3_utils_version_hpp__
+#endif // __pinocchio_utils_version_hpp__
-- 
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