diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 5a9e0034efc7490a91c4245e03bb7bec71240217..05cdacc125454884f24d83f0459d5aca9be9f81c 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -51,37 +51,37 @@ vector-rotation.h
vector-utheta.h
#feature
-sotFeaturePoint6d.h
-sotFeatureVector3.h
-sotFeatureAbstract.h
-sotFeatureGeneric.h
-sotFeatureJointLimits.h
-sotFeature1D.h
-sotFeaturePoint6dRelative.h
-sotFeatureVisualPoint.h
-sotFeatureTask.h
-sotFeatureLineDistance.h
+feature-point6d.h
+feature-vector3.h
+feature-abstract.h
+feature-generic.h
+feature-joint-limits.h
+feature-1d.h
+feature-point6d-relative.h
+feature-visual-point.h
+feature-task.h
+feature-line-distance.h
#task
-sotTaskAbstract.h
-sotTaskUnilateral.h
-sotTaskPD.h
-sotTaskConti.h
-sotMultiBound.h
-sotConstraint.h
-sotGainAdaptative.h
-sotTask.h
-sotGainHyperbolic.h
+task-abstract.h
+task-unilateral.h
+task-pd.h
+task-conti.h
+task-multi-bound.h
+constraint.h
+gain-adaptive.h
+task.h
+gain-hyperbolic.h
#sot
-sotFlags.h
-sotSOTQr.h
-sotMemoryTaskSOT.h
-sotSOTH.h
-sotSOT.h
-sotRotationSimple.h
-sotWeightedSOT.h
-sotSolverHierarchicalInequalities.h
+flags.h
+sot-qr.h
+memory-task-sot.h
+sot-h.h
+sot.h
+rotation-simple.h
+weighted-sot.h
+solver-hierarchical-inequalities.h
)
# Recreate correct path for the headers
diff --git a/include/sot-core/binary-op.h b/include/sot-core/binary-op.h
index 82e25233079d7681553e3ec19732812f6def203b..d44917d7bf7e302151e2cc40510deba9a9027958 100644
--- a/include/sot-core/binary-op.h
+++ b/include/sot-core/binary-op.h
@@ -31,7 +31,7 @@
namespace ml = maal::boost;
/* SOT */
-#include <sot-core/sotFlags.h>
+#include <sot-core/flags.h>
#include <dynamic-graph/entity.h>
#include <sot-core/pool.h>
#include <dynamic-graph/all-signals.h>
diff --git a/include/sot-core/sotConstraint.h b/include/sot-core/constraint.h
similarity index 94%
rename from include/sot-core/sotConstraint.h
rename to include/sot-core/constraint.h
index 5df4447ffe7635b78ab22ad0cd9df47ba17807ef..68c6a88394a59f4a070edae0cdd417374ea64d97 100644
--- a/include/sot-core/sotConstraint.h
+++ b/include/sot-core/constraint.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotConstraint.h
+ * File: constraint.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -34,9 +34,9 @@ namespace ml = maal::boost;
#include <string>
/* SOT */
-#include <sot-core/sotFeatureAbstract.h>
-#include <sot-core/sotFlags.h>
-#include <sot-core/sotTaskAbstract.h>
+#include <sot-core/feature-abstract.h>
+#include <sot-core/flags.h>
+#include <sot-core/task-abstract.h>
#include <dynamic-graph/all-signals.h>
#include <sot-core/exception-task.h>
#include <sot-core/exception-signal.h>
diff --git a/include/sot-core/derivator.h b/include/sot-core/derivator.h
index a2cd7a796e730d3bbbcf1f9f1d11a3fa73c49c79..cde2caf196a24bc3dfd911d9f753754a2fc7c87d 100644
--- a/include/sot-core/derivator.h
+++ b/include/sot-core/derivator.h
@@ -31,7 +31,7 @@
namespace ml = maal::boost;
/* SOT */
-#include <sot-core/sotFlags.h>
+#include <sot-core/flags.h>
#include <dynamic-graph/entity.h>
#include <sot-core/pool.h>
#include <dynamic-graph/all-signals.h>
diff --git a/include/sot-core/sotFeature1D.h b/include/sot-core/feature-1d.h
similarity index 98%
rename from include/sot-core/sotFeature1D.h
rename to include/sot-core/feature-1d.h
index b5240e456732bdac676a11a7b61d9a2f39f80c03..1ad8d2718cd4d0c8298c653de6eaec72cab2a8f9 100644
--- a/include/sot-core/sotFeature1D.h
+++ b/include/sot-core/feature-1d.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFeature1D.h
+ * File: feature-1d.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotFeatureAbstract.h>
+#include <sot-core/feature-abstract.h>
#include <sot-core/exception-task.h>
/* --------------------------------------------------------------------- */
diff --git a/include/sot-core/sotFeatureAbstract.h b/include/sot-core/feature-abstract.h
similarity index 98%
rename from include/sot-core/sotFeatureAbstract.h
rename to include/sot-core/feature-abstract.h
index 86a1491206f9abdd49496c0439c5179e1d2301ca..12b1b337ea3bd3f66240d36eb95bfb42a2f89292 100644
--- a/include/sot-core/sotFeatureAbstract.h
+++ b/include/sot-core/feature-abstract.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFeatureAbstract.h
+ * File: feature-abstract.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -31,7 +31,7 @@
namespace ml = maal::boost;
/* SOT */
-#include <sot-core/sotFlags.h>
+#include <sot-core/flags.h>
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/entity.h>
#include <sot-core/sot-core-api.h>
diff --git a/include/sot-core/sotFeatureGeneric.h b/include/sot-core/feature-generic.h
similarity index 98%
rename from include/sot-core/sotFeatureGeneric.h
rename to include/sot-core/feature-generic.h
index 686cf2f5defeba0d306db1d70b58f3c33fe9965a..280e1d6c771a1511dc9f6411af907165c4a39cdd 100644
--- a/include/sot-core/sotFeatureGeneric.h
+++ b/include/sot-core/feature-generic.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFeatureGeneric.h
+ * File: feature-generic.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotFeatureAbstract.h>
+#include <sot-core/feature-abstract.h>
#include <sot-core/exception-task.h>
/* --------------------------------------------------------------------- */
diff --git a/include/sot-core/sotFeatureJointLimits.h b/include/sot-core/feature-joint-limits.h
similarity index 97%
rename from include/sot-core/sotFeatureJointLimits.h
rename to include/sot-core/feature-joint-limits.h
index 249268262151b77a1480f237548533ffd8ddb995..bf07615ebd36991ed608a6b5c9e5f65ee6553fc2 100644
--- a/include/sot-core/sotFeatureJointLimits.h
+++ b/include/sot-core/feature-joint-limits.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFeatureJointLimits.h
+ * File: feature-joint-limits.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotFeatureAbstract.h>
+#include <sot-core/feature-abstract.h>
#include <sot-core/exception-task.h>
/* --------------------------------------------------------------------- */
diff --git a/include/sot-core/sotFeatureLineDistance.h b/include/sot-core/feature-line-distance.h
similarity index 97%
rename from include/sot-core/sotFeatureLineDistance.h
rename to include/sot-core/feature-line-distance.h
index f2d03acca89941459f5650795a873743cd659eb9..01ee9ddc951e2a58c19a4a4f775bd5259bd6ed27 100644
--- a/include/sot-core/sotFeatureLineDistance.h
+++ b/include/sot-core/feature-line-distance.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFeatureLineDistance.h
+ * File: feature-line-distance.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotFeatureAbstract.h>
+#include <sot-core/feature-abstract.h>
#include <sot-core/exception-task.h>
#include <sot-core/matrix-homogeneous.h>
diff --git a/include/sot-core/sotFeaturePoint6dRelative.h b/include/sot-core/feature-point6d-relative.h
similarity index 96%
rename from include/sot-core/sotFeaturePoint6dRelative.h
rename to include/sot-core/feature-point6d-relative.h
index cdb9b5113a2c7c1f51471fd7fdd84261499f6b11..3243d3d918bf0558d365bc205e03ab93d189f873 100644
--- a/include/sot-core/sotFeaturePoint6dRelative.h
+++ b/include/sot-core/feature-point6d-relative.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFeaturePoint6dRelative.h
+ * File: feature-point6d-relative.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -26,8 +26,8 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotFeatureAbstract.h>
-#include <sot-core/sotFeaturePoint6d.h>
+#include <sot-core/feature-abstract.h>
+#include <sot-core/feature-point6d.h>
#include <sot-core/exception-task.h>
#include <sot-core/vector-utheta.h>
diff --git a/include/sot-core/sotFeaturePoint6d.h b/include/sot-core/feature-point6d.h
similarity index 97%
rename from include/sot-core/sotFeaturePoint6d.h
rename to include/sot-core/feature-point6d.h
index 887c4e4914c66cec14515807d522de7e77149362..2b345b5cb496f658019d89680bcefedd250ec238 100644
--- a/include/sot-core/sotFeaturePoint6d.h
+++ b/include/sot-core/feature-point6d.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFeaturePoint6d.h
+ * File: feature-point6d.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotFeatureAbstract.h>
+#include <sot-core/feature-abstract.h>
#include <sot-core/exception-task.h>
#include <sot-core/matrix-homogeneous.h>
diff --git a/include/sot-core/sotFeatureTask.h b/include/sot-core/feature-task.h
similarity index 95%
rename from include/sot-core/sotFeatureTask.h
rename to include/sot-core/feature-task.h
index 38978a8ea7ff36bea7a3f17f35e544fa850a7a68..1ecbed5b307e165993ea70cedd498f1b50ee137b 100644
--- a/include/sot-core/sotFeatureTask.h
+++ b/include/sot-core/feature-task.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFeatureTask.h
+ * File: feature-task.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -26,8 +26,8 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotFeatureGeneric.h>
-#include <sot-core/sotTaskAbstract.h>
+#include <sot-core/feature-generic.h>
+#include <sot-core/task-abstract.h>
#include <sot-core/exception-task.h>
/* --------------------------------------------------------------------- */
diff --git a/include/sot-core/sotFeatureVector3.h b/include/sot-core/feature-vector3.h
similarity index 97%
rename from include/sot-core/sotFeatureVector3.h
rename to include/sot-core/feature-vector3.h
index da3bd622320af5d9140995d4f60479ef8a5b6c98..80379550e1e3b405d835e7742851ea2167ab05a1 100644
--- a/include/sot-core/sotFeatureVector3.h
+++ b/include/sot-core/feature-vector3.h
@@ -2,7 +2,7 @@
* Copyright Projet LAAS/CNRS, 2009
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFeatureVector3.h
+ * File: feature-vector3.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotFeatureAbstract.h>
+#include <sot-core/feature-abstract.h>
#include <sot-core/exception-task.h>
#include <sot-core/matrix-homogeneous.h>
diff --git a/include/sot-core/sotFeatureVisualPoint.h b/include/sot-core/feature-visual-point.h
similarity index 97%
rename from include/sot-core/sotFeatureVisualPoint.h
rename to include/sot-core/feature-visual-point.h
index b7d4f0586f1c1cc2f8b1ebe76a0377c4b208b869..614fffb1b55388fa6fb9027e5ebde627a57ce411 100644
--- a/include/sot-core/sotFeatureVisualPoint.h
+++ b/include/sot-core/feature-visual-point.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFeatureVisualPoint.h
+ * File: feature-visual-point.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -26,7 +26,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotFeatureAbstract.h>
+#include <sot-core/feature-abstract.h>
#include <sot-core/exception-task.h>
/* --------------------------------------------------------------------- */
diff --git a/include/sot-core/sotFlags.h b/include/sot-core/flags.h
similarity index 99%
rename from include/sot-core/sotFlags.h
rename to include/sot-core/flags.h
index 1b8b8aefda97a711d9e99d3c0ffacbc89b07900e..ee3e5ec059ed321e05265d84c56ac75f3d8b92d3 100644
--- a/include/sot-core/sotFlags.h
+++ b/include/sot-core/flags.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFlags.h
+ * File: flags.h
* Project: SOT
* Author: Nicolas Mansard
*
diff --git a/include/sot-core/sotGainAdaptative.h b/include/sot-core/gain-adaptive.h
similarity index 99%
rename from include/sot-core/sotGainAdaptative.h
rename to include/sot-core/gain-adaptive.h
index 38751fe48f4baead00a27aa3221f7ea4d95869cd..bd30df204721897536b9047998af70e7b12e4e8e 100644
--- a/include/sot-core/sotGainAdaptative.h
+++ b/include/sot-core/gain-adaptive.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotTask.h
+ * File: task.h
* Project: SOT
* Author: Nicolas Mansard
*
diff --git a/include/sot-core/sotGainHyperbolic.h b/include/sot-core/gain-hyperbolic.h
similarity index 99%
rename from include/sot-core/sotGainHyperbolic.h
rename to include/sot-core/gain-hyperbolic.h
index 4e8a96b11f4d47f9baea4022ed221c2481666d09..2339350e566e33764a73a7399fb019896cb5b364 100644
--- a/include/sot-core/sotGainHyperbolic.h
+++ b/include/sot-core/gain-hyperbolic.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotTask.h
+ * File: task.h
* Project: SOT
* Author: Nicolas Mansard
*
diff --git a/include/sot-core/integrator-abstract.h b/include/sot-core/integrator-abstract.h
index de43b02c9227bd075c06675b591877cc68bbe265..e914a41f5eaa301649a34415accbf74edacc0065 100644
--- a/include/sot-core/integrator-abstract.h
+++ b/include/sot-core/integrator-abstract.h
@@ -31,7 +31,7 @@
namespace ml = maal::boost;
/* SOT */
-#include <sot-core/sotFlags.h>
+#include <sot-core/flags.h>
#include <dynamic-graph/entity.h>
#include <dynamic-graph/pool.h>
#include <dynamic-graph/all-signals.h>
diff --git a/include/sot-core/sotMemoryTaskSOT.h b/include/sot-core/memory-task-sot.h
similarity index 97%
rename from include/sot-core/sotMemoryTaskSOT.h
rename to include/sot-core/memory-task-sot.h
index 023f0ef5a874c18da6ae6acdbeb48141ceee27a2..e505ef60373b2ed820d6b2658809a8dfdfb8880b 100644
--- a/include/sot-core/sotMemoryTaskSOT.h
+++ b/include/sot-core/memory-task-sot.h
@@ -2,7 +2,7 @@
* Copyright Projet Gepetto, LAAS, CNRS, 2009
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotMemoryTaskSOT.h
+ * File: memory-task-sot.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -22,7 +22,7 @@
#define __SOT_MEMORY_TASK_HH
-#include <sot-core/sotTaskAbstract.h>
+#include <sot-core/task-abstract.h>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/include/sot-core/sotRotationSimple.h b/include/sot-core/rotation-simple.h
similarity index 100%
rename from include/sot-core/sotRotationSimple.h
rename to include/sot-core/rotation-simple.h
diff --git a/include/sot-core/signal-cast.h b/include/sot-core/signal-cast.h
index ad8b51b6d9696bb9d4d10ba0c3a03403ae798b9f..2cf622c2c2f09fc7bb9a91290d9c2025db85792c 100644
--- a/include/sot-core/signal-cast.h
+++ b/include/sot-core/signal-cast.h
@@ -23,7 +23,7 @@
#define __SOT_SIGNAL_CAST_HH__
-#include <sot-core/sotFlags.h>
+#include <sot-core/flags.h>
#include <MatrixAbstractLayer/boost.h>
#include <sot-core/matrix-homogeneous.h>
#include <sot-core/matrix-twist.h>
@@ -31,7 +31,7 @@
#include <sot-core/vector-quaternion.h>
#include <sot-core/vector-roll-pitch-yaw.h>
#include <sot-core/matrix-force.h>
-#include <sot-core/sotMultiBound.h>
+#include <sot-core/task-multi-bound.h>
#include <sot-core/sot-core-api.h>
#ifdef WIN32
#include <sot-core/sotUtilsWindows.h>
diff --git a/include/sot-core/sotSolverHierarchicalInequalities.h b/include/sot-core/solver-hierarchical-inequalities.h
similarity index 99%
rename from include/sot-core/sotSolverHierarchicalInequalities.h
rename to include/sot-core/solver-hierarchical-inequalities.h
index 2782d5b2d6cc8974d8d21e46470599548fe312d2..a5c826b330ebb3a24f5b47cabc9efbf58c4d442c 100644
--- a/include/sot-core/sotSolverHierarchicalInequalities.h
+++ b/include/sot-core/solver-hierarchical-inequalities.h
@@ -2,7 +2,7 @@
* Copyright Projet Gepetto, LAAS, 2009
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotSolverHierarchicalInequalities.h
+ * File: solver-hierarchical-inequalities.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -31,7 +31,7 @@
#include <algorithm>
-#include <sot-core/sotRotationSimple.h>
+#include <sot-core/rotation-simple.h>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/include/sot-core/sotSOTH.h b/include/sot-core/sot-h.h
similarity index 97%
rename from include/sot-core/sotSOTH.h
rename to include/sot-core/sot-h.h
index 03745cae06e12d3e2bcc2168136a01544b6fe63d..db6688747ba8c942c4d96789a1a291d0fa09345d 100644
--- a/include/sot-core/sotSOTH.h
+++ b/include/sot-core/sot-h.h
@@ -2,7 +2,7 @@
* Copyright Projet Gepetto, LAAS, 2009
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotSOTH.h
+ * File: sot-h.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -27,8 +27,8 @@
/* --------------------------------------------------------------------- */
/* Matrix */
-#include <sot-core/sotSOT.h>
-#include <sot-core/sotSolverHierarchicalInequalities.h>
+#include <sot-core/sot.h>
+#include <sot-core/solver-hierarchical-inequalities.h>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/include/sot-core/sotSOTQr.h b/include/sot-core/sot-qr.h
similarity index 98%
rename from include/sot-core/sotSOTQr.h
rename to include/sot-core/sot-qr.h
index 64783802f7bda1adcffe3c94062d5ae2404d5ad9..a30af9ea1394e1fca181d5eeefc96b857361d2e3 100644
--- a/include/sot-core/sotSOTQr.h
+++ b/include/sot-core/sot-qr.h
@@ -34,10 +34,10 @@ namespace ml = maal::boost;
#include <list> /* Classe std::list */
/* SOT */
-#include <sot-core/sotTaskAbstract.h>
-#include <sot-core/sotFlags.h>
+#include <sot-core/task-abstract.h>
+#include <sot-core/flags.h>
#include <dynamic-graph/entity.h>
-#include <sot-core/sotConstraint.h>
+#include <sot-core/constraint.h>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/include/sot-core/sotSOT.h b/include/sot-core/sot.h
similarity index 98%
rename from include/sot-core/sotSOT.h
rename to include/sot-core/sot.h
index 04c773174ba9d22e7a97b3c3a37f88be5154b3d5..51a34a5115e0b17e051f99709f51ce973fa058b4 100644
--- a/include/sot-core/sotSOT.h
+++ b/include/sot-core/sot.h
@@ -34,10 +34,10 @@ namespace ml = maal::boost;
#include <list> /* Classe std::list */
/* SOT */
-#include <sot-core/sotTaskAbstract.h>
-#include <sot-core/sotFlags.h>
+#include <sot-core/task-abstract.h>
+#include <sot-core/flags.h>
#include <dynamic-graph/entity.h>
-#include <sot-core/sotConstraint.h>
+#include <sot-core/constraint.h>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/include/sot-core/sotTaskAbstract.h b/include/sot-core/task-abstract.h
similarity index 97%
rename from include/sot-core/sotTaskAbstract.h
rename to include/sot-core/task-abstract.h
index 426c071bd6843b4a5eaa235e9aecd0aaaadc7731..68f7bc548bf9b1b74eb1f0877ffbfbc763613fb9 100644
--- a/include/sot-core/sotTaskAbstract.h
+++ b/include/sot-core/task-abstract.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotTaskAbstract.h
+ * File: task-abstract.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -38,7 +38,7 @@ namespace ml = maal::boost;
#include <dynamic-graph/entity.h>
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/all-signals.h>
-#include <sot-core/sotMultiBound.h>
+#include <sot-core/task-multi-bound.h>
#include <sot-core/sot-core-api.h>
/* --------------------------------------------------------------------- */
diff --git a/include/sot-core/sotTaskConti.h b/include/sot-core/task-conti.h
similarity index 95%
rename from include/sot-core/sotTaskConti.h
rename to include/sot-core/task-conti.h
index 61195428929bd24293affa1c78c18882ecc374f1..010d2d1a6ccdd1f1d0dd6cae78ae9a82572f7219 100644
--- a/include/sot-core/sotTaskConti.h
+++ b/include/sot-core/task-conti.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotTaskConti.h
+ * File: task-conti.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -34,9 +34,9 @@ namespace ml = maal::boost;
#include <string>
/* SOT */
-#include <sot-core/sotFeatureAbstract.h>
-#include <sot-core/sotFlags.h>
-#include <sot-core/sotTask.h>
+#include <sot-core/feature-abstract.h>
+#include <sot-core/flags.h>
+#include <sot-core/task.h>
#include <sot-core/exception-task.h>
diff --git a/include/sot-core/sotMultiBound.h b/include/sot-core/task-multi-bound.h
similarity index 98%
rename from include/sot-core/sotMultiBound.h
rename to include/sot-core/task-multi-bound.h
index e0601acd146cdca2ba2f41a528fcbc00383e824d..42809510a2765fc94e3c741bd67a3b94a0fadb13 100644
--- a/include/sot-core/sotMultiBound.h
+++ b/include/sot-core/task-multi-bound.h
@@ -2,7 +2,7 @@
* Copyright Projet Gepetto, Laas, CNRS, 2009
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotMultiBound.h
+ * File: task-multi-bound.h
* Project: SOT
* Author: Nicolas Mansard
*
diff --git a/include/sot-core/sotTaskPD.h b/include/sot-core/task-pd.h
similarity index 97%
rename from include/sot-core/sotTaskPD.h
rename to include/sot-core/task-pd.h
index a709ad2817733f8e55561c4c5ca5f7df5dd161ee..6d28b55bc22b4b5411e5f497ba26e018d52c57fd 100644
--- a/include/sot-core/sotTaskPD.h
+++ b/include/sot-core/task-pd.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotTaskPD.h
+ * File: task-pd.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -28,7 +28,7 @@
/* SOT */
-#include <sot-core/sotTask.h>
+#include <sot-core/task.h>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/include/sot-core/sotTaskUnilateral.h b/include/sot-core/task-unilateral.h
similarity index 94%
rename from include/sot-core/sotTaskUnilateral.h
rename to include/sot-core/task-unilateral.h
index 46678650bab8aa115715de8c47649d8e265e0f76..dddb35b40824e7b4d99b0f8d78383f7722a4ad01 100644
--- a/include/sot-core/sotTaskUnilateral.h
+++ b/include/sot-core/task-unilateral.h
@@ -2,7 +2,7 @@
* Copyright Projet Gepetto, LAAS-CNRS, 2009
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotTaskUnilateral.h
+ * File: task-unilateral.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -36,9 +36,9 @@ namespace ml = maal::boost;
#include <string>
/* SOT */
-#include <sot-core/sotFeatureAbstract.h>
-#include <sot-core/sotFlags.h>
-#include <sot-core/sotTask.h>
+#include <sot-core/feature-abstract.h>
+#include <sot-core/flags.h>
+#include <sot-core/task.h>
#include <sot-core/exception-task.h>
diff --git a/include/sot-core/sotTask.h b/include/sot-core/task.h
similarity index 96%
rename from include/sot-core/sotTask.h
rename to include/sot-core/task.h
index e02e67510d6874c16329ed7c191f0caba8d71709..8d10d9e83b75ec03fb540c133f8d6dbfb1c77d77 100644
--- a/include/sot-core/sotTask.h
+++ b/include/sot-core/task.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotTask.h
+ * File: task.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -36,9 +36,9 @@ namespace ml = maal::boost;
#include <string>
/* SOT */
-#include <sot-core/sotFeatureAbstract.h>
-#include <sot-core/sotFlags.h>
-#include <sot-core/sotTaskAbstract.h>
+#include <sot-core/feature-abstract.h>
+#include <sot-core/flags.h>
+#include <sot-core/task-abstract.h>
#include <sot-core/exception-task.h>
diff --git a/include/sot-core/unary-op.h b/include/sot-core/unary-op.h
index c21280f52f8f7201a4705d22b99c789027fa1a69..24b6660abc2d0629b0ec3a41dec3a88231d5dbd4 100644
--- a/include/sot-core/unary-op.h
+++ b/include/sot-core/unary-op.h
@@ -31,7 +31,7 @@
namespace ml = maal::boost;
/* SOT */
-#include <sot-core/sotFlags.h>
+#include <sot-core/flags.h>
#include <dynamic-graph/entity.h>
#include <sot-core/pool.h>
#include <dynamic-graph/all-signals.h>
diff --git a/include/sot-core/sotWeightedSOT.h b/include/sot-core/weighted-sot.h
similarity index 98%
rename from include/sot-core/sotWeightedSOT.h
rename to include/sot-core/weighted-sot.h
index b980343d8955d9e91988857f80ebd31dc601725f..e497466968a0d9ad5d681f8c4d39196a0acf1dc4 100644
--- a/include/sot-core/sotWeightedSOT.h
+++ b/include/sot-core/weighted-sot.h
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotWeightedSOT.h
+ * File: weighted-sot.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -34,7 +34,7 @@ namespace ml = maal::boost;
#include <list> /* Classe std::list */
/* SOT */
-#include <sot-core/sotSOT.h>
+#include <sot-core/sot.h>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index c757a6bbb44b0f38347966705eb21bd971e65076..f7684bed408521bb936a606ea07214afb7b1801e 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -42,35 +42,35 @@ SET(${LIBRARY_NAME}_SOURCES
math/vector-roll-pitch-yaw.cpp
math/vector-utheta.cpp
- feature/sotFeaturePoint6d.cpp
- feature/sotFeatureVector3.cpp
- feature/sotFeatureAbstract.cpp
- feature/sotFeatureGeneric.cpp
- feature/sotFeatureJointLimits.cpp
- feature/sotFeature1D.cpp
- feature/sotFeaturePoint6dRelative.cpp
- feature/sotFeatureVisualPoint.cpp
- feature/sotFeatureTask.cpp
- feature/sotFeatureLineDistance.cpp
+ feature/feature-point6d.cpp
+ feature/feature-vector3.cpp
+ feature/feature-abstract.cpp
+ feature/feature-generic.cpp
+ feature/feature-joint-limits.cpp
+ feature/feature-1d.cpp
+ feature/feature-point6d-relative.cpp
+ feature/feature-visual-point.cpp
+ feature/feature-task.cpp
+ feature/feature-line-distance.cpp
- task/sotGainAdaptative.cpp
- task/sotTaskPD.cpp
- task/sotConstraint.cpp
- task/sotGainHyperbolic.cpp
- task/sotTask.cpp
- task/sotMultiBound.cpp
- task/sotTaskConti.cpp
- task/sotTaskUnilateral.cpp
- task/sotTaskAbstract.cpp
+ task/gain-adaptative.cpp
+ task/task-pd.cpp
+ task/constraint.cpp
+ task/gain-hyperbolic.cpp
+ task/task.cpp
+ task/multi-bound.cpp
+ task/task-conti.cpp
+ task/task-unilateral.cpp
+ task/task-abstract.cpp
- sot/sotFlags.cpp
- sot/sotSOTQr.cpp
- sot/sotMemoryTaskSOT.cpp
- sot/sotSOTH.cpp
- sot/sotSOT.cpp
- sot/sotRotationSimple.cpp
- sot/sotWeightedSOT.cpp
- sot/sotSolverHierarchicalInequalities.cpp
+ sot/flags.cpp
+ sot/sot-qr.cpp
+ sot/memory-task-sot.cpp
+ sot/sot-h.cpp
+ sot/sot.cpp
+ sot/rotation-simple.cpp
+ sot/weighted-sot.cpp
+ sot/solver-hierarchical-inequalities.cpp
)
INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
diff --git a/src/factory/additional-functions.cpp b/src/factory/additional-functions.cpp
index d7f296e9f274528bb0afe587be4a7e40b99c9d87..b3f195dbf8f353087633f302ae31e88cd8780e98 100644
--- a/src/factory/additional-functions.cpp
+++ b/src/factory/additional-functions.cpp
@@ -25,7 +25,7 @@
#include <sot-core/additional-functions.h>
#include <sot-core/signal-cast.h>
#include <dynamic-graph/all-signals.h>
-#include <sot-core/sotFlags.h>
+#include <sot-core/flags.h>
using namespace std;
/* \brief Constructor. At creation, overloads (deregisters-then registers
diff --git a/src/factory/pool.cpp b/src/factory/pool.cpp
index a45cf5657a4b14d4a0a78f2acf42b29b8bdd3f4a..cc9ce22eb8bba349da7c8ddcf8789a191efd378f 100644
--- a/src/factory/pool.cpp
+++ b/src/factory/pool.cpp
@@ -115,8 +115,8 @@ getFeature( const std::string& name )
/* --------------------------------------------------------------------- */
#include <dynamic-graph/entity.h>
-#include <sot-core/sotTaskAbstract.h>
-#include <sot-core/sotFeatureAbstract.h>
+#include <sot-core/task-abstract.h>
+#include <sot-core/feature-abstract.h>
#ifdef WIN32
#include <time.h>
diff --git a/src/feature/sotFeature1D.cpp b/src/feature/feature-1d.cpp
similarity index 99%
rename from src/feature/sotFeature1D.cpp
rename to src/feature/feature-1d.cpp
index 63d5301a6cd010a31657208bb3a33f5395e150ea..8a811fedabcc126f6558b1469dbb9b015e832037 100644
--- a/src/feature/sotFeature1D.cpp
+++ b/src/feature/feature-1d.cpp
@@ -24,7 +24,7 @@
/* --- SOT --- */
#include <sot-core/sotDebug.h>
-#include <sot-core/sotFeature1D.h>
+#include <sot-core/feature-1d.h>
#include <sot-core/exception-feature.h>
using namespace std;
diff --git a/src/feature/sotFeatureAbstract.cpp b/src/feature/feature-abstract.cpp
similarity index 96%
rename from src/feature/sotFeatureAbstract.cpp
rename to src/feature/feature-abstract.cpp
index ab2374c0644239b5b0071a80da79a844794e9530..5c0b6203114b1d16f1335b717c7356d3be5be42d 100644
--- a/src/feature/sotFeatureAbstract.cpp
+++ b/src/feature/feature-abstract.cpp
@@ -2,7 +2,7 @@
* Copyright Projet JRL-Japan, 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotFeatureAbstract.h
+ * File: feature-abstract.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -17,7 +17,7 @@
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotFeatureAbstract.h>
+#include <sot-core/feature-abstract.h>
#include <sot-core/pool.h>
const std::string
diff --git a/src/feature/sotFeatureGeneric.cpp b/src/feature/feature-generic.cpp
similarity index 99%
rename from src/feature/sotFeatureGeneric.cpp
rename to src/feature/feature-generic.cpp
index ccc988e29e6ce902fce5b83ea8736d2cb37f27a7..a2464d3a72a7a63016fc1f15aaea26075fcbcdf3 100644
--- a/src/feature/sotFeatureGeneric.cpp
+++ b/src/feature/feature-generic.cpp
@@ -24,7 +24,7 @@
/* --- SOT --- */
#include <sot-core/sotDebug.h>
-#include <sot-core/sotFeatureGeneric.h>
+#include <sot-core/feature-generic.h>
#include <sot-core/exception-feature.h>
using namespace std;
diff --git a/src/feature/sotFeatureJointLimits.cpp b/src/feature/feature-joint-limits.cpp
similarity index 99%
rename from src/feature/sotFeatureJointLimits.cpp
rename to src/feature/feature-joint-limits.cpp
index 8de7b1862d250ff68a70de645ced95092d88f777..ed10b284171b06e944c1a9b152fa2486df3d5b91 100644
--- a/src/feature/sotFeatureJointLimits.cpp
+++ b/src/feature/feature-joint-limits.cpp
@@ -23,7 +23,7 @@
/* --------------------------------------------------------------------- */
/* --- SOT --- */
-#include <sot-core/sotFeatureJointLimits.h>
+#include <sot-core/feature-joint-limits.h>
#include <sot-core/exception-feature.h>
#include <sot-core/sotDebug.h>
using namespace std;
diff --git a/src/feature/sotFeatureLineDistance.cpp b/src/feature/feature-line-distance.cpp
similarity index 99%
rename from src/feature/sotFeatureLineDistance.cpp
rename to src/feature/feature-line-distance.cpp
index 397212bef25e5b30a41e8223ad6a56f6ff18eaf3..4abe49c465a78cf1cf35dac484bf62ce16e2aac0 100644
--- a/src/feature/sotFeatureLineDistance.cpp
+++ b/src/feature/feature-line-distance.cpp
@@ -24,7 +24,7 @@
/* --- SOT --- */
#include <sot-core/sotDebug.h>
-#include <sot-core/sotFeatureLineDistance.h>
+#include <sot-core/feature-line-distance.h>
#include <sot-core/exception-feature.h>
#include <sot-core/matrix-homogeneous.h>
diff --git a/src/feature/sotFeaturePoint6dRelative.cpp b/src/feature/feature-point6d-relative.cpp
similarity index 99%
rename from src/feature/sotFeaturePoint6dRelative.cpp
rename to src/feature/feature-point6d-relative.cpp
index 5a2a648a2f19802de3b6a2f046c142725ee2375e..35042721357c6d37707a3b04f9ce0467099ca592 100644
--- a/src/feature/sotFeaturePoint6dRelative.cpp
+++ b/src/feature/feature-point6d-relative.cpp
@@ -24,7 +24,7 @@
/* --- SOT --- */
#include <sot-core/sotDebug.h>
-#include <sot-core/sotFeaturePoint6dRelative.h>
+#include <sot-core/feature-point6d-relative.h>
#include <sot-core/exception-feature.h>
#include <sot-core/matrix-homogeneous.h>
diff --git a/src/feature/sotFeaturePoint6d.cpp b/src/feature/feature-point6d.cpp
similarity index 99%
rename from src/feature/sotFeaturePoint6d.cpp
rename to src/feature/feature-point6d.cpp
index 6480eb2df32eb61f74e222b736e6758d043e7818..497d47e6c345bc84847d5197309ba323fdb146ce 100644
--- a/src/feature/sotFeaturePoint6d.cpp
+++ b/src/feature/feature-point6d.cpp
@@ -26,7 +26,7 @@
//#define VP_DEBUG
#define VP_DEBUG_MODE 45
#include <sot-core/sotDebug.h>
-#include <sot-core/sotFeaturePoint6d.h>
+#include <sot-core/feature-point6d.h>
#include <sot-core/exception-feature.h>
#include <sot-core/matrix-homogeneous.h>
diff --git a/src/feature/sotFeatureTask.cpp b/src/feature/feature-task.cpp
similarity index 99%
rename from src/feature/sotFeatureTask.cpp
rename to src/feature/feature-task.cpp
index 008f694e4f8c492d44304dcb372a0b5cdee3dd4a..3f9d425a1a360e877d7bf7ac882d2bbe1a9f722d 100644
--- a/src/feature/sotFeatureTask.cpp
+++ b/src/feature/feature-task.cpp
@@ -24,7 +24,7 @@
/* --- SOT --- */
#include <sot-core/sotDebug.h>
-#include <sot-core/sotFeatureTask.h>
+#include <sot-core/feature-task.h>
#include <sot-core/exception-feature.h>
#include <dynamic-graph/pool.h>
using namespace std;
diff --git a/src/feature/sotFeatureVector3.cpp b/src/feature/feature-vector3.cpp
similarity index 99%
rename from src/feature/sotFeatureVector3.cpp
rename to src/feature/feature-vector3.cpp
index f811f7e5ee7bb4cc6107db6b7cd436c2e0ae7cd1..cb7cf65afe2e7b3cbcd1ab9e4ff42314b86cc3d2 100644
--- a/src/feature/sotFeatureVector3.cpp
+++ b/src/feature/feature-vector3.cpp
@@ -26,7 +26,7 @@
#define VP_DEBUG
#define VP_DEBUG_MODE 45
#include <sot-core/sotDebug.h>
-#include <sot-core/sotFeatureVector3.h>
+#include <sot-core/feature-vector3.h>
#include <sot-core/exception-feature.h>
#include <sot-core/matrix-homogeneous.h>
diff --git a/src/feature/sotFeatureVisualPoint.cpp b/src/feature/feature-visual-point.cpp
similarity index 99%
rename from src/feature/sotFeatureVisualPoint.cpp
rename to src/feature/feature-visual-point.cpp
index 07ce16eab684f17718dddb9b30a16a85da82b9a5..9137618cce7e4b878f7b98935713818620f18a00 100644
--- a/src/feature/sotFeatureVisualPoint.cpp
+++ b/src/feature/feature-visual-point.cpp
@@ -23,7 +23,7 @@
/* --------------------------------------------------------------------- */
/* --- SOT --- */
-#include <sot-core/sotFeatureVisualPoint.h>
+#include <sot-core/feature-visual-point.h>
#include <sot-core/exception-feature.h>
#include <sot-core/sotDebug.h>
using namespace std;
diff --git a/src/signal/signal-cast.cpp b/src/signal/signal-cast.cpp
index e9dd28f9e7ca723635fe7311eb6567168497dd2b..30016a87c1f9d88afcd78a75cf908c685de03ea8 100644
--- a/src/signal/signal-cast.cpp
+++ b/src/signal/signal-cast.cpp
@@ -20,7 +20,7 @@
#include <sot-core/pool.h>
#include <sot-core/signal-cast.h>
#include <iomanip>
-#include <sot-core/sotFeatureAbstract.h>
+#include <sot-core/feature-abstract.h>
using namespace std;
diff --git a/src/sot/sotFlags.cpp b/src/sot/flags.cpp
similarity index 99%
rename from src/sot/sotFlags.cpp
rename to src/sot/flags.cpp
index 1f57c71ff151f3e1a4940f70f4b715cc171e431c..3d1eb073391def415ae108b55ef380baa709dcb1 100644
--- a/src/sot/sotFlags.cpp
+++ b/src/sot/flags.cpp
@@ -27,7 +27,7 @@
#include <stdlib.h>
/*! Local Framework */
-#include <sot-core/sotFlags.h>
+#include <sot-core/flags.h>
#include <sot-core/sotDebug.h>
using namespace std;
diff --git a/src/sot/sotMemoryTaskSOT.cpp b/src/sot/memory-task-sot.cpp
similarity index 98%
rename from src/sot/sotMemoryTaskSOT.cpp
rename to src/sot/memory-task-sot.cpp
index 863667f6aec7bc583cb70625b961c1962666d649..07ebdaf63f32e242053cb4b3085274f675dc1316 100644
--- a/src/sot/sotMemoryTaskSOT.cpp
+++ b/src/sot/memory-task-sot.cpp
@@ -18,7 +18,7 @@
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotMemoryTaskSOT.h>
+#include <sot-core/memory-task-sot.h>
#include <sot-core/sotDebug.h>
diff --git a/src/sot/sotRotationSimple.cpp b/src/sot/rotation-simple.cpp
similarity index 84%
rename from src/sot/sotRotationSimple.cpp
rename to src/sot/rotation-simple.cpp
index 614e194dd8e03482787e9f92b14af4d00cde1fb0..2b5b5fe5b4526f6f1937b641595f676b6eb44278 100644
--- a/src/sot/sotRotationSimple.cpp
+++ b/src/sot/rotation-simple.cpp
@@ -1,4 +1,4 @@
-#include <sot-core/sotRotationSimple.h>
+#include <sot-core/rotation-simple.h>
bool MATLAB::fullPrec = false;
diff --git a/src/sot/sotSolverHierarchicalInequalities.cpp b/src/sot/solver-hierarchical-inequalities.cpp
similarity index 99%
rename from src/sot/sotSolverHierarchicalInequalities.cpp
rename to src/sot/solver-hierarchical-inequalities.cpp
index 30613586463f14938534caa02e1247e5957c4cfd..8d8721f79a6bd0e43c8844634421924abc2d1380 100644
--- a/src/sot/sotSolverHierarchicalInequalities.cpp
+++ b/src/sot/solver-hierarchical-inequalities.cpp
@@ -33,7 +33,7 @@
// };
// sotIneq__INIT sotIneq_initiator;
-#include <sot-core/sotSolverHierarchicalInequalities.h>
+#include <sot-core/solver-hierarchical-inequalities.h>
#ifndef WIN32
# include <sys/time.h>
diff --git a/src/sot/sotSOTH.cpp b/src/sot/sot-h.cpp
similarity index 99%
rename from src/sot/sotSOTH.cpp
rename to src/sot/sot-h.cpp
index 9066db3180c60fcaaa14e2f5f174b1e8272bd81b..13ba19b368a4ebbea2dc0fb82f701cfe198010ca 100644
--- a/src/sot/sotSOTH.cpp
+++ b/src/sot/sot-h.cpp
@@ -29,10 +29,10 @@
sotSOTH__INIT sotSOTH_initiator;
-#include <sot-core/sotSOTH.h>
+#include <sot-core/sot-h.h>
#include <sot-core/pool.h>
-#include <sot-core/sotTask.h>
-#include <sot-core/sotTaskUnilateral.h>
+#include <sot-core/task.h>
+#include <sot-core/task-unilateral.h>
using namespace std;
diff --git a/src/sot/sotSOTQr.cpp b/src/sot/sot-qr.cpp
similarity index 99%
rename from src/sot/sotSOTQr.cpp
rename to src/sot/sot-qr.cpp
index 3d4014e60786f8c1790d0529c418112decc4ca3a..97f5856c0590d6856d1ab13d2b69cd52d8c5ed64 100644
--- a/src/sot/sotSOTQr.cpp
+++ b/src/sot/sot-qr.cpp
@@ -30,11 +30,11 @@
//sotSOTQr__INIT sotSOTQr_initiator;
-#include <sot-core/sotSOTQr.h>
+#include <sot-core/sot-qr.h>
#include <sot-core/pool.h>
-#include <sot-core/sotTask.h>
-#include <sot-core/sotSOT.h>
-#include <sot-core/sotMemoryTaskSOT.h>
+#include <sot-core/task.h>
+#include <sot-core/sot.h>
+#include <sot-core/memory-task-sot.h>
#include <sot-core/sotDebug.h>
#define FORTRAN_ID( id ) id##_
diff --git a/src/sot/sotSOT.cpp b/src/sot/sot.cpp
similarity index 99%
rename from src/sot/sotSOT.cpp
rename to src/sot/sot.cpp
index d974e93640f53443b5e20015fac7722e05da1d9c..2e7c8d5dea6df948cb5e367e3f8c470bd828207a 100644
--- a/src/sot/sotSOT.cpp
+++ b/src/sot/sot.cpp
@@ -34,10 +34,10 @@
sotSOT__INIT sotSOT_initiator;
#endif //#ifdef VP_DEBUG
-#include <sot-core/sotSOT.h>
+#include <sot-core/sot.h>
#include <sot-core/pool.h>
-#include <sot-core/sotTask.h>
-#include <sot-core/sotMemoryTaskSOT.h>
+#include <sot-core/task.h>
+#include <sot-core/memory-task-sot.h>
using namespace std;
diff --git a/src/sot/sotWeightedSOT.cpp b/src/sot/weighted-sot.cpp
similarity index 99%
rename from src/sot/sotWeightedSOT.cpp
rename to src/sot/weighted-sot.cpp
index f258d22e90fa4e7452e8b6d7a63ed7c50cd1b58e..59e3874fffda1cb7a79417f9e4c1039e8db5b4eb 100644
--- a/src/sot/sotWeightedSOT.cpp
+++ b/src/sot/weighted-sot.cpp
@@ -23,10 +23,10 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotWeightedSOT.h>
-#include <sot-core/sotMemoryTaskSOT.h>
+#include <sot-core/weighted-sot.h>
+#include <sot-core/memory-task-sot.h>
#include <sot-core/pool.h>
-#include <sot-core/sotTask.h>
+#include <sot-core/task.h>
#include <sot-core/sotDebug.h>
using namespace std;
diff --git a/src/task/sotConstraint.cpp b/src/task/constraint.cpp
similarity index 99%
rename from src/task/sotConstraint.cpp
rename to src/task/constraint.cpp
index dd7abaf98ea612d3676e9bceb2a30135332dc52c..850f5e3e6a1b02eae7cd4c6e6e5eee8cf1006fa3 100644
--- a/src/task/sotConstraint.cpp
+++ b/src/task/constraint.cpp
@@ -23,7 +23,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotConstraint.h>
+#include <sot-core/constraint.h>
#include <sot-core/sotDebug.h>
using namespace std;
diff --git a/src/task/sotGainAdaptative.cpp b/src/task/gain-adaptative.cpp
similarity index 99%
rename from src/task/sotGainAdaptative.cpp
rename to src/task/gain-adaptative.cpp
index 19d7c0dd8722807bc530ccfc597850519e5a0cb9..cb1bff1e053d21831b512bae7791b608293495ab 100644
--- a/src/task/sotGainAdaptative.cpp
+++ b/src/task/gain-adaptative.cpp
@@ -19,7 +19,7 @@
/* SOT */
-#include <sot-core/sotGainAdaptative.h>
+#include <sot-core/gain-adaptive.h>
/* --------------------------------------------------------------------- */
diff --git a/src/task/sotGainHyperbolic.cpp b/src/task/gain-hyperbolic.cpp
similarity index 99%
rename from src/task/sotGainHyperbolic.cpp
rename to src/task/gain-hyperbolic.cpp
index f3d2f57f99ebc2a5ecef0b85dc2241e71e6593be..3a23dacf1e1afac121aa50486750b3693052a361 100644
--- a/src/task/sotGainHyperbolic.cpp
+++ b/src/task/gain-hyperbolic.cpp
@@ -19,7 +19,7 @@
/* SOT */
-#include <sot-core/sotGainHyperbolic.h>
+#include <sot-core/gain-hyperbolic.h>
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
diff --git a/src/task/sotMultiBound.cpp b/src/task/multi-bound.cpp
similarity index 99%
rename from src/task/sotMultiBound.cpp
rename to src/task/multi-bound.cpp
index 993dcb774f7d31d567b804464d2d401db9e2ffce..c0d5193f591cbd3a0e34dc79342702c7296b4d06 100644
--- a/src/task/sotMultiBound.cpp
+++ b/src/task/multi-bound.cpp
@@ -2,7 +2,7 @@
* Copyright Projet Gepetto, Laas, CNRS, 2009
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
- * File: sotMultiBound.h
+ * File: task-multi-bound.h
* Project: SOT
* Author: Nicolas Mansard
*
@@ -18,7 +18,7 @@
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-#include <sot-core/sotMultiBound.h>
+#include <sot-core/task-multi-bound.h>
#define VP_DEBUG
#define VP_DEBUG_MODE 25
#include <sot-core/sotDebug.h>
diff --git a/src/task/sotTaskAbstract.cpp b/src/task/task-abstract.cpp
similarity index 98%
rename from src/task/sotTaskAbstract.cpp
rename to src/task/task-abstract.cpp
index 56230461e598ac7ae18ad6b01d5b6fe5006dd26b..a4a0dbdc641cc6cf39b3b145d68ed210f5b13998 100644
--- a/src/task/sotTaskAbstract.cpp
+++ b/src/task/task-abstract.cpp
@@ -22,7 +22,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotTaskAbstract.h>
+#include <sot-core/task-abstract.h>
#include <sot-core/pool.h>
diff --git a/src/task/sotTaskConti.cpp b/src/task/task-conti.cpp
similarity index 99%
rename from src/task/sotTaskConti.cpp
rename to src/task/task-conti.cpp
index de412df2611b8945070341fc6ff526829ff20f5d..47a608a3792e2f1709753b5ebdcf62fc4969c2ff 100644
--- a/src/task/sotTaskConti.cpp
+++ b/src/task/task-conti.cpp
@@ -23,7 +23,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotTaskConti.h>
+#include <sot-core/task-conti.h>
#include <sot-core/sotDebug.h>
#include <MatrixAbstractLayer/boostVector.h>
using namespace std;
diff --git a/src/task/sotTaskPD.cpp b/src/task/task-pd.cpp
similarity index 99%
rename from src/task/sotTaskPD.cpp
rename to src/task/task-pd.cpp
index 5c10cd0132183ec0c39a304edb7a4eca6b6d3e31..98d77f73ba73fd8901a9f24737f983280a35d2d5 100644
--- a/src/task/sotTaskPD.cpp
+++ b/src/task/task-pd.cpp
@@ -23,7 +23,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotTaskPD.h>
+#include <sot-core/task-pd.h>
#include <sot-core/sotDebug.h>
using namespace std;
diff --git a/src/task/sotTaskUnilateral.cpp b/src/task/task-unilateral.cpp
similarity index 98%
rename from src/task/sotTaskUnilateral.cpp
rename to src/task/task-unilateral.cpp
index 77b12b2ad3ffe4c20f602e775955beb9a2cff352..3e870118bc98bfe577b628e60439481d078dfb94 100644
--- a/src/task/sotTaskUnilateral.cpp
+++ b/src/task/task-unilateral.cpp
@@ -26,7 +26,7 @@
#define VP_DEBUG_MODE 15
/* SOT */
-#include <sot-core/sotTaskUnilateral.h>
+#include <sot-core/task-unilateral.h>
#include <sot-core/sotDebug.h>
using namespace std;
diff --git a/src/task/sotTask.cpp b/src/task/task.cpp
similarity index 99%
rename from src/task/sotTask.cpp
rename to src/task/task.cpp
index 93a4cdb4f97249d567ca896eecc06c5a2ae9f2aa..2a16e9fe7b319c0b234c94c14054bf8b84e8c811 100644
--- a/src/task/sotTask.cpp
+++ b/src/task/task.cpp
@@ -23,7 +23,7 @@
/* --------------------------------------------------------------------- */
/* SOT */
-#include <sot-core/sotTask.h>
+#include <sot-core/task.h>
#include <sot-core/sotDebug.h>
using namespace std;