diff --git a/include/sot-core/binary-op.h b/include/sot-core/binary-op.h
index 241d50b3691763f0162078cc5f8f233fda2ed8af..48b2f2b6498a8bfb8fe3e5988ce5813cb6c814dc 100644
--- a/include/sot-core/binary-op.h
+++ b/include/sot-core/binary-op.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/clamp-workspace.h b/include/sot-core/clamp-workspace.h
index e6870d975d4f21beff35acb282d802da0582d646..eabf276360222371b7678f6df531d8ee77524b7d 100644
--- a/include/sot-core/clamp-workspace.h
+++ b/include/sot-core/clamp-workspace.h
@@ -25,7 +25,7 @@
#include <utility>
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/com-freezer.h b/include/sot-core/com-freezer.h
index c94276876f31d16a1d8a6821c8da32be8f1b1904..f5b6da9c239629524a7917a8ae36fc09658aa685 100644
--- a/include/sot-core/com-freezer.h
+++ b/include/sot-core/com-freezer.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/constraint.h b/include/sot-core/constraint.h
index 8cb9b6d1a8952a3260d19af3382d90828170150a..6af9bf75ea763676d0e33f83788a220fabdfb5e6 100644
--- a/include/sot-core/constraint.h
+++ b/include/sot-core/constraint.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* STD */
diff --git a/include/sot-core/control-gr.h b/include/sot-core/control-gr.h
index 9e18b747c66084540729b1cd16e196b6d3094154..e2069cfe8c2fe91be7b92350f71fbb9a0d0fa773 100644
--- a/include/sot-core/control-gr.h
+++ b/include/sot-core/control-gr.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/control-pd.h b/include/sot-core/control-pd.h
index 69e1814271179a592dd28ba26023320c5db06524..4b9e03e075001eb156f9a3eb3162746591ee226c 100644
--- a/include/sot-core/control-pd.h
+++ b/include/sot-core/control-pd.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/derivator.h b/include/sot-core/derivator.h
index 84c284a6bc1dc9cba88d82c5aad836ef38c76514..74ae6a2af6df9c66e0dff0dcb35b1ef358e5f947 100644
--- a/include/sot-core/derivator.h
+++ b/include/sot-core/derivator.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/feature-abstract.h b/include/sot-core/feature-abstract.h
index 74840d425aa2501f34a9e0c05deb263686b71657..b03e5bc339c6a368ac6a290fdeaed800cc0b5682 100644
--- a/include/sot-core/feature-abstract.h
+++ b/include/sot-core/feature-abstract.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/fir-filter.h b/include/sot-core/fir-filter.h
index 04608f6d366ee2b4ae03c85370c9c53a07d0c56a..3618746fa6dd5709364ffb84e2e5079c08e4e2b1 100644
--- a/include/sot-core/fir-filter.h
+++ b/include/sot-core/fir-filter.h
@@ -29,7 +29,7 @@
//#include <boost/circular_buffer.hpp>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
diff --git a/include/sot-core/gain-adaptive.h b/include/sot-core/gain-adaptive.h
index 95002f52e696d35a34fc9ca838a9da1223982c0c..ccbd3ba4f0aaec58958145fc6e1badf24c872121 100644
--- a/include/sot-core/gain-adaptive.h
+++ b/include/sot-core/gain-adaptive.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/gain-hyperbolic.h b/include/sot-core/gain-hyperbolic.h
index cdec0434f8017531ba197589e17f602251ca6769..34afa1e3e785ca1d5c66cab36925f0fc300ecede 100644
--- a/include/sot-core/gain-hyperbolic.h
+++ b/include/sot-core/gain-hyperbolic.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/gripper-control.h b/include/sot-core/gripper-control.h
index 45786ed473c1646553e99f0a870274f5148bca55..c470a1b7ea28f2a59cd1cbb11b97e34bf5179601 100644
--- a/include/sot-core/gripper-control.h
+++ b/include/sot-core/gripper-control.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/integrator-abstract.h b/include/sot-core/integrator-abstract.h
index 99230bd637d6c858852824b13075ab157731bc4e..9b8ef515c06d312a9f22fe920fa3e8a295262364 100644
--- a/include/sot-core/integrator-abstract.h
+++ b/include/sot-core/integrator-abstract.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/joint-limitator.h b/include/sot-core/joint-limitator.h
index 57303041106bbe4ad6b22509808951ede2a0b065..72fceb40eb0d62d65346cbeab4d496c7f0e1067e 100644
--- a/include/sot-core/joint-limitator.h
+++ b/include/sot-core/joint-limitator.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/kalman.h b/include/sot-core/kalman.h
index 8cff3b7171c89653639f0d90d30f87510fb0f508..a5e4198b34837c27113165d240e40dec3c7e41d2 100644
--- a/include/sot-core/kalman.h
+++ b/include/sot-core/kalman.h
@@ -27,7 +27,7 @@
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/mailbox-vector.h b/include/sot-core/mailbox-vector.h
index 4a8ef8b58bbd249744b83e524eb99d3474752f1d..d73fcf9136b9051c287c3152748e6bb10226e26d 100644
--- a/include/sot-core/mailbox-vector.h
+++ b/include/sot-core/mailbox-vector.h
@@ -26,7 +26,7 @@
/* --- SOT PLUGIN --- */
#include <sot-core/mailbox.hxx>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/include/sot-core/matrix-constant.h b/include/sot-core/matrix-constant.h
index fe76ff713671627f10fac29205ce2957499dd11a..f7c5e21eb049ea3ad9eaceecac9c041087818b36 100644
--- a/include/sot-core/matrix-constant.h
+++ b/include/sot-core/matrix-constant.h
@@ -22,7 +22,7 @@
#include <dynamic-graph/all-signals.h>
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
diff --git a/include/sot-core/matrix-force.h b/include/sot-core/matrix-force.h
index e5d2fed555a85d52bcf84683d351b9b5548a677f..5c068f085d30cefb03054b769459df72b6ca2a39 100644
--- a/include/sot-core/matrix-force.h
+++ b/include/sot-core/matrix-force.h
@@ -23,7 +23,7 @@
/* --- Matrix --- */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
#include <sot-core/sot-core-api.h>
namespace ml = maal::boost;
diff --git a/include/sot-core/matrix-homogeneous.h b/include/sot-core/matrix-homogeneous.h
index ca0cddd3bf44865a85ab93fcb94c26ffa538c96a..7dd4a7b3ee047a641345c392c1113064e7d93530 100644
--- a/include/sot-core/matrix-homogeneous.h
+++ b/include/sot-core/matrix-homogeneous.h
@@ -23,7 +23,7 @@
/* --- Matrix --- */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
#include <sot-core/sot-core-api.h>
namespace ml = maal::boost;
diff --git a/include/sot-core/matrix-rotation.h b/include/sot-core/matrix-rotation.h
index 1dd98dbe5e95ba8339018826f853324a436a7c0a..cce4b90b793084c24bdbe9f563f950f033ce3985 100644
--- a/include/sot-core/matrix-rotation.h
+++ b/include/sot-core/matrix-rotation.h
@@ -25,7 +25,7 @@
/* --- Matrix --- */
#include <sot-core/sot-core-api.h>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
namespace sot {
diff --git a/include/sot-core/matrix-twist.h b/include/sot-core/matrix-twist.h
index c2189f7b1b5b8bde62e911ba4679e8fdf600409d..8237c7d73c68ece47cd93c8ff070bdd9ed8eb17c 100644
--- a/include/sot-core/matrix-twist.h
+++ b/include/sot-core/matrix-twist.h
@@ -23,7 +23,7 @@
/* --- Matrix --- */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
#include <sot-core/sot-core-api.h>
namespace ml = maal::boost;
diff --git a/include/sot-core/motion-period.h b/include/sot-core/motion-period.h
index 2d9294136194cdc9b265d82ce047f638bf9e1d51..bd1a0daf4510bbc055785be1c2398ed0720c841a 100644
--- a/include/sot-core/motion-period.h
+++ b/include/sot-core/motion-period.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/neck-limitation.h b/include/sot-core/neck-limitation.h
index c065b2846c56c26ff5d7f5244337900dbd93eccf..0d003d4f0b01053ebebd62325b6160cd7be5bc43 100644
--- a/include/sot-core/neck-limitation.h
+++ b/include/sot-core/neck-limitation.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/op-point-modifier.h b/include/sot-core/op-point-modifier.h
index 220ca8eefe8d2f2c9f9709b6e5968264043a95a4..0151e4017dac9b4a8f10208578f3992c38390886 100644
--- a/include/sot-core/op-point-modifier.h
+++ b/include/sot-core/op-point-modifier.h
@@ -27,7 +27,7 @@
#include <sot-core/matrix-homogeneous.h>
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
diff --git a/include/sot-core/reader.h b/include/sot-core/reader.h
index 1388b3acd455685e39078cdc64c081a987e661bd..f475f7efc1f1d36e7d14de503c1bcd7f37372d3d 100644
--- a/include/sot-core/reader.h
+++ b/include/sot-core/reader.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* STD */
diff --git a/include/sot-core/robot-simu.h b/include/sot-core/robot-simu.h
index ec68eec25b7afe1ea0305329ea5b33a5b0d98f0f..afc65c6f2afdcc920b4feb45b8d6be9d575da54e 100644
--- a/include/sot-core/robot-simu.h
+++ b/include/sot-core/robot-simu.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* -- MaaL --- */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml= maal::boost;
/* SOT */
#include <dynamic-graph/entity.h>
diff --git a/include/sot-core/rotation-simple.h b/include/sot-core/rotation-simple.h
index 91a02b59053fb1f4d985464252f19775ac46386c..9caa9a1c98965703476077e5b658a63416ffb14a 100644
--- a/include/sot-core/rotation-simple.h
+++ b/include/sot-core/rotation-simple.h
@@ -23,7 +23,7 @@
/* --- BOOST --- */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
#include <boost/numeric/ublas/triangular.hpp>
#include <boost/numeric/ublas/lu.hpp>
#include <sot-core/debug.h>
diff --git a/include/sot-core/seq-play.h b/include/sot-core/seq-play.h
index d4220a0727853ed0335b78266fb3cbef75f0cbbd..41c86d3e0924c57658b9c5dcb5f48635d664fb03 100644
--- a/include/sot-core/seq-play.h
+++ b/include/sot-core/seq-play.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* -- MaaL --- */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml= maal::boost;
/* SOT */
#include <dynamic-graph/entity.h>
diff --git a/include/sot-core/sequencer.h b/include/sot-core/sequencer.h
index 7078dc1c14da451dae25115f9a59296108ed2c1a..41a1c5c4e7a3815e7352f4c00b465f58def914e4 100644
--- a/include/sot-core/sequencer.h
+++ b/include/sot-core/sequencer.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/signal-cast.h b/include/sot-core/signal-cast.h
index f2b9dad6a88a4c6fcc59af18b354351d61231374..c19e0128da82a2ef71fc9ad726d82782b2185afe 100644
--- a/include/sot-core/signal-cast.h
+++ b/include/sot-core/signal-cast.h
@@ -23,7 +23,7 @@
#include <sot-core/flags.h>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
#include <sot-core/matrix-homogeneous.h>
#include <sot-core/matrix-rotation.h>
#include <sot-core/matrix-twist.h>
diff --git a/include/sot-core/sot-qr.h b/include/sot-core/sot-qr.h
index 7d4c91aea0ea3b35047189c5c3c6e8c345f55866..f4da972eaff2cae1eb1c288dd53b99ca341a8f71 100644
--- a/include/sot-core/sot-qr.h
+++ b/include/sot-core/sot-qr.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* Classes standards. */
diff --git a/include/sot-core/sot.h b/include/sot-core/sot.h
index 47d35e8ff81b7dcd4d2dc28b23f7fef52abfdca7..b5a5afa346a6be8e4f66e9057c522b2e984f0453 100644
--- a/include/sot-core/sot.h
+++ b/include/sot-core/sot.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* Classes standards. */
diff --git a/include/sot-core/task-abstract.h b/include/sot-core/task-abstract.h
index 2cad9d777f1fe48fa91d1a6ad1deab46317d2a95..dd4777ea05eeb4d78fccf8cf2a977eafc50d2814 100644
--- a/include/sot-core/task-abstract.h
+++ b/include/sot-core/task-abstract.h
@@ -26,8 +26,8 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
-#include <MatrixAbstractLayer/boostMatrixSvd.h>
+#include <jrl/mal/boost.hh>
+#include <jrl/mal/boostmatrixsvd.hh>
namespace ml = maal::boost;
/* STD */
diff --git a/include/sot-core/task-conti.h b/include/sot-core/task-conti.h
index 45f5be9ca3ad5eae1de8f26062867ecef6e3455c..124d69565c551175252bb48ffe529f5bc5344569 100644
--- a/include/sot-core/task-conti.h
+++ b/include/sot-core/task-conti.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* STD */
diff --git a/include/sot-core/task-unilateral.h b/include/sot-core/task-unilateral.h
index f284aba2c32f4323e44af50afdbd0457d399fe4e..ca5050bb15384e71c4cfce3790ecc4b42602ccdd 100644
--- a/include/sot-core/task-unilateral.h
+++ b/include/sot-core/task-unilateral.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* STD */
diff --git a/include/sot-core/task.h b/include/sot-core/task.h
index f346c497efc882e323a4b837d59d1990456b56c6..df955cf793415a4a9eafbafbff015dfb43c325ab 100644
--- a/include/sot-core/task.h
+++ b/include/sot-core/task.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* STD */
diff --git a/include/sot-core/time-stamp.h b/include/sot-core/time-stamp.h
index f5841001bd67f10ccab38641913efb9f53ba3b71..4c6991b683943f7f274bd08edfd2eeb416288088 100644
--- a/include/sot-core/time-stamp.h
+++ b/include/sot-core/time-stamp.h
@@ -27,7 +27,7 @@
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* Classes standards. */
diff --git a/include/sot-core/timer.h b/include/sot-core/timer.h
index c299e92690218019e87287cc2b363100fd982d62..82a4621dc6d9de555324b0a6a9c930f803b74146 100644
--- a/include/sot-core/timer.h
+++ b/include/sot-core/timer.h
@@ -31,7 +31,7 @@
#include <sys/time.h>
#else /*WIN32*/
// When including Winsock2.h, the MAL must be included first
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
#include <sot-core/utils-windows.h>
#include <Winsock2.h>
#endif /*WIN32*/
diff --git a/include/sot-core/unary-op.h b/include/sot-core/unary-op.h
index 6363336a775dea48264a5010ac2ed6db5083d09f..e16021ffc6c26bdf98d3be86f926a63e9ef87704 100644
--- a/include/sot-core/unary-op.h
+++ b/include/sot-core/unary-op.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* SOT */
diff --git a/include/sot-core/vector-constant.h b/include/sot-core/vector-constant.h
index 0684da47a33c9e0b0a5cafca2dfec9dac3dbbbbe..30ea1b45affd192c8cd9b8c9e4a3b78c4404c488 100644
--- a/include/sot-core/vector-constant.h
+++ b/include/sot-core/vector-constant.h
@@ -23,7 +23,7 @@
#include <dynamic-graph/all-signals.h>
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
diff --git a/include/sot-core/vector-rotation.h b/include/sot-core/vector-rotation.h
index 5ae98a885f4584eb85fcc69dea70e4f7c26dbb89..29560c85499562a1007c235e6a807f7098218ac4 100644
--- a/include/sot-core/vector-rotation.h
+++ b/include/sot-core/vector-rotation.h
@@ -22,7 +22,7 @@
#define __SOT_VECTOR_ROTATION_H__
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* --- SOT --- */
diff --git a/include/sot-core/vector-to-rotation.h b/include/sot-core/vector-to-rotation.h
index ad62952664c81f42387a5d8b64677f8957b2401d..f9702104b9ac9d8e11bc21b8cfaba13901896428 100644
--- a/include/sot-core/vector-to-rotation.h
+++ b/include/sot-core/vector-to-rotation.h
@@ -27,7 +27,7 @@
#include <sot-core/matrix-rotation.h>
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* STD */
diff --git a/include/sot-core/weighted-sot.h b/include/sot-core/weighted-sot.h
index 0711fae2655af89bb5fbcdaa54c0be69c9f612f3..df1147564b94e8f20a520365f470bd0ea7c3f4b3 100644
--- a/include/sot-core/weighted-sot.h
+++ b/include/sot-core/weighted-sot.h
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
/* Classes standards. */
diff --git a/src/sot/weighted-sot.cpp b/src/sot/weighted-sot.cpp
index e76778dc2702875a17520a45a2d3c4026e86f4a7..5091b77c167d9bbb5efbee2fc6c69ac83310c51a 100644
--- a/src/sot/weighted-sot.cpp
+++ b/src/sot/weighted-sot.cpp
@@ -75,7 +75,7 @@ WeightedSot( const std::string& name )
/* --- A inv ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
-#include <MatrixAbstractLayer/boostspecific.h>
+#include <jrl/mal/boostspecific.hh>
ml::Matrix& WeightedSot::
computeSquareRootInvWeight( ml::Matrix& S5i,const int& time )
diff --git a/src/task/task-conti.cpp b/src/task/task-conti.cpp
index 72e2d2f0d4a6cb6c4d6feb797dd64fdf0e366e8a..b86f548d666d7b13db718bf39226b019f87fbc78 100644
--- a/src/task/task-conti.cpp
+++ b/src/task/task-conti.cpp
@@ -25,7 +25,7 @@
/* SOT */
#include <sot-core/task-conti.h>
#include <sot-core/debug.h>
-#include <MatrixAbstractLayer/boostVector.h>
+#include <jrl/mal/boostvector.hh>
#include <sot-core/factory.h>
using namespace std;
diff --git a/src/tools/mailbox-vector.cpp b/src/tools/mailbox-vector.cpp
index ed20fa6dc89316dd15a66ef2d28390d85498e456..18242aa49a286d7e7c7f4a46fed18b67c3b6c371 100644
--- a/src/tools/mailbox-vector.cpp
+++ b/src/tools/mailbox-vector.cpp
@@ -21,7 +21,7 @@
#ifdef HAVE_LIBBOOST_THREAD
/* --- SOT PLUGIN --- */
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
#include <sot-core/debug.h>
#include <sot-core/factory.h>
#include <sot-core/mailbox.t.cpp>
diff --git a/src/tools/motion-period.cpp b/src/tools/motion-period.cpp
index 6004ceeff2fa4189d635334fde4c5b3ba7f2f415..dcaa4a01baa919e5a5c2488e0545de4ce262edc3 100644
--- a/src/tools/motion-period.cpp
+++ b/src/tools/motion-period.cpp
@@ -28,7 +28,7 @@
#include <sot-core/debug.h>
#include <sot-core/factory.h>
-#include <MatrixAbstractLayer/MatrixAbstractLayer.h>
+#include <jrl/mal/matrixabstractlayer.hh>
using namespace std;
using namespace sot;
diff --git a/src/tools/timer.cpp b/src/tools/timer.cpp
index 3242a6c298710fb8b6108a0f05900894b583213c..1052351ad9665f01fdb43f7fe25acc8ca6d6c091 100644
--- a/src/tools/timer.cpp
+++ b/src/tools/timer.cpp
@@ -24,7 +24,7 @@
/* SOT */
#include <sot-core/timer.h>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
#include <sot-core/matrix-homogeneous.h>
#include <sot-core/factory.h>
diff --git a/unitTesting/signal/test_dep.cpp b/unitTesting/signal/test_dep.cpp
index c4bf959a2a1dfc40dd2c7f1ca2af3cf532148be7..c85bbd1192e17a5a5b2fffd1e853b07fee4054ed 100644
--- a/unitTesting/signal/test_dep.cpp
+++ b/unitTesting/signal/test_dep.cpp
@@ -23,7 +23,7 @@
/* -------------------------------------------------------------------------- */
#include <dynamic-graph/all-signals.h>
#include <iostream>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
using namespace std;
using namespace dynamicgraph;
diff --git a/unitTesting/signal/test_depend.cpp b/unitTesting/signal/test_depend.cpp
index 270dd5a755c4f36dea728865f5743071703a145d..81a64a14851e99a06200eca1267a3fee693a3b85 100644
--- a/unitTesting/signal/test_depend.cpp
+++ b/unitTesting/signal/test_depend.cpp
@@ -25,7 +25,7 @@
#include <sot-core/debug.h>
#include <iostream>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
using namespace std;
using namespace dynamicgraph;
diff --git a/unitTesting/signal/test_ptr.cpp b/unitTesting/signal/test_ptr.cpp
index 264b2482247a6761d48800fe610e72e5d1986b2a..efddf1b7a5ae4905f3094cbb3a80ccb513985c0f 100644
--- a/unitTesting/signal/test_ptr.cpp
+++ b/unitTesting/signal/test_ptr.cpp
@@ -25,7 +25,7 @@
#include <dynamic-graph/all-signals.h>
#include <iostream>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
#include <sot-core/vector-utheta.h>
#include <sot-core/exception-abstract.h>
diff --git a/unitTesting/signal/test_ptrcast.cpp b/unitTesting/signal/test_ptrcast.cpp
index b74b5857e3c315b2bb8f92b2c90796fb6b82f1f3..b0114aadae006f9de2c46c618df5c86bd9e44cfa 100644
--- a/unitTesting/signal/test_ptrcast.cpp
+++ b/unitTesting/signal/test_ptrcast.cpp
@@ -24,7 +24,7 @@
#include <dynamic-graph/all-signals.h>
#include <sot-core/matrix-rotation.h>
#include <iostream>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
using namespace std;
using namespace dynamicgraph;
using namespace sot;
diff --git a/unitTesting/signal/test_signal.cpp b/unitTesting/signal/test_signal.cpp
index 83a8ceb99a6336fb907cc7f4f9d9b804138309ee..405de674735ceba0be0fc39a0e5f0fac6d4fda8f 100644
--- a/unitTesting/signal/test_signal.cpp
+++ b/unitTesting/signal/test_signal.cpp
@@ -23,7 +23,7 @@
/* -------------------------------------------------------------------------- */
#include <dynamic-graph/all-signals.h>
#include <iostream>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
using namespace std;
using namespace dynamicgraph;
diff --git a/unitTesting/tools/test_boost.cpp b/unitTesting/tools/test_boost.cpp
index 51afa30eb47eff34c4ec625694c2f6b37b7cb1c6..663137b9db4814167c828204ae46eb1d270bd87a 100644
--- a/unitTesting/tools/test_boost.cpp
+++ b/unitTesting/tools/test_boost.cpp
@@ -26,7 +26,7 @@
#include <sot-core/matrix-homogeneous.h>
#include <sot-core/matrix-twist.h>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
#ifndef WIN32
#include <unistd.h>
@@ -129,7 +129,7 @@ double timerCounter;
/* ----------------------------------------------------------------------- */
/* ----------------------------------------------------------------------- */
/* ----------------------------------------------------------------------- */
-#include <MatrixAbstractLayer/MatrixAbstractLayerBoost.h>
+#include <jrl/mal/matrixabstractlayerboost.hh>
int main( int argc,char** argv )
{
diff --git a/unitTesting/tools/test_mailbox.cpp b/unitTesting/tools/test_mailbox.cpp
index 0ab43bdc173a68e454d490c6df143826aaffa880..6b2ea715441230d4923be08d4b87052037013a51 100644
--- a/unitTesting/tools/test_mailbox.cpp
+++ b/unitTesting/tools/test_mailbox.cpp
@@ -21,7 +21,7 @@
#include <iostream>
#include <sot-core/debug.h>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
#ifndef WIN32
#include <unistd.h>
diff --git a/unitTesting/traces/traces.cpp b/unitTesting/traces/traces.cpp
index cbd529271b7fd36e1082668900f6e9263a03ad49..dda0b16f2370099a5a7e9049f18eba83d462fa3b 100644
--- a/unitTesting/traces/traces.cpp
+++ b/unitTesting/traces/traces.cpp
@@ -25,7 +25,7 @@
#include <dynamic-graph/signal.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/tracer.h>
-#include <MatrixAbstractLayer/boost.h>
+#include <jrl/mal/boost.hh>
namespace ml = maal::boost;
using namespace std;