diff --git a/include/sot-core/binary-op.h b/include/sot-core/binary-op.h
index 2d85c13a657e20b265f9d0730ef007a12b18cfb1..e06f8ee8a25b7e3eedec3a5a2de6eef4c22bc571 100644
--- a/include/sot-core/binary-op.h
+++ b/include/sot-core/binary-op.h
@@ -35,7 +35,6 @@ namespace ml = maal::boost;
 #include <dynamic-graph/entity.h>
 #include <sot-core/pool.h>
 #include <dynamic-graph/all-signals.h>
-#include <dynamic-graph/all-signals.h>
 #include <sot-core/vector-quaternion.h>
 
 /* STD */
@@ -44,14 +43,14 @@ namespace ml = maal::boost;
 #include <boost/function.hpp>
 
 namespace sot {
-
+namespace dg = dynamicgraph;
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
 template< class Tin1,class Tin2,class Tout,typename Operator >
 class BinaryOp
-:public Entity
+:public dg::Entity
 {
   Operator op;
 
@@ -63,7 +62,7 @@ class BinaryOp
   static const std::string CLASS_NAME;
 
   BinaryOp( const std::string& name )
-    : Entity(name)
+    : dg::Entity(name)
     ,SIN1(NULL,BinaryOp::CLASS_NAME+"("+name+")::input("+getTypeIn1Name()+")::in1") 
     ,SIN2(NULL,CLASS_NAME+"("+name+")::input("+getTypeIn2Name()+")::in2") 
     ,SOUT( boost::bind(&BinaryOp<Tin1,Tin2,Tout,Operator>::computeOperation,this,_1,_2), 
@@ -77,9 +76,9 @@ class BinaryOp
 
  public: /* --- SIGNAL --- */
 
-  SignalPtr<Tin1,int> SIN1;
-  SignalPtr<Tin2,int> SIN2;
-  SignalTimeDependant<Tout,int> SOUT;
+  dg::SignalPtr<Tin1,int> SIN1;
+  dg::SignalPtr<Tin2,int> SIN2;
+  dg::SignalTimeDependant<Tout,int> SOUT;
 
  protected:
   Tout& computeOperation( Tout& res,int time )
diff --git a/include/sot-core/constraint.h b/include/sot-core/constraint.h
index 8955065edf831b97c1f5a2070de4c29f0c127e77..8fd216d4e7d66b722d4a538da5bb1637b26dc509 100644
--- a/include/sot-core/constraint.h
+++ b/include/sot-core/constraint.h
@@ -57,6 +57,7 @@ namespace ml = maal::boost;
 
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
@@ -68,7 +69,7 @@ class SOTCONSTRAINT_EXPORT Constraint
 : public TaskAbstract
 {
  protected:
-  typedef std::list< Signal<ml::Matrix,int>* > JacobianList;
+  typedef std::list< dg::Signal<ml::Matrix,int>* > JacobianList;
   JacobianList jacobianList;
   
  public: 
@@ -78,7 +79,7 @@ class SOTCONSTRAINT_EXPORT Constraint
  public:
   Constraint( const std::string& n );
 
-  void addJacobian( Signal<ml::Matrix,int>& sig );
+  void addJacobian( dg::Signal<ml::Matrix,int>& sig );
   void clearJacobianList( void );
 
   void setControlSelection( const Flags& act );
diff --git a/include/sot-core/derivator.h b/include/sot-core/derivator.h
index ac024504517d78dbceb1d35af8884da870954fe8..a3117448ff38f85e98ffb4f96482bf2c5737b19d 100644
--- a/include/sot-core/derivator.h
+++ b/include/sot-core/derivator.h
@@ -41,13 +41,15 @@ namespace ml = maal::boost;
 #include <string>
 
 namespace sot {
+namespace dg = dynamicgraph;
+
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
 template< class T >
 class Derivator
-:public Entity
+:public dg::Entity
 {
  protected:
   T memory;
@@ -61,7 +63,7 @@ class Derivator
   static const std::string CLASS_NAME;
 
   Derivator( const std::string& name )
-    : Entity(name)
+    : dg::Entity(name)
     ,memory(),initialized(false)
     ,timestep(TIMESTEP_DEFAULT)
     ,SIN(NULL,"sotDerivator<"+getTypeName()+">("+name+")::input("+getTypeName()+")::in") 
@@ -79,9 +81,9 @@ class Derivator
 
  public: /* --- SIGNAL --- */
 
-  SignalPtr<T,int> SIN;
-  SignalTimeDependant<T,int> SOUT;
-  Signal<double,int> timestepSIN;
+  dg::SignalPtr<T,int> SIN;
+  dg::SignalTimeDependant<T,int> SOUT;
+  dg::Signal<double,int> timestepSIN;
 
  protected:
   T& computeDerivation( T& res,int time )
diff --git a/include/sot-core/feature-1d.h b/include/sot-core/feature-1d.h
index afd7f11b93f0e1d1daa82b6eaf035a87797cb6ee..1d8e54b49f16b95494e1707ee23e296342358542 100644
--- a/include/sot-core/feature-1d.h
+++ b/include/sot-core/feature-1d.h
@@ -48,7 +48,7 @@
 /* --------------------------------------------------------------------- */
 
 namespace sot {
-
+namespace dg = dynamicgraph;
 /*!
   \class Feature1D
   \brief Simple test: the task is defined to be e_2 = .5 . e'.e, with
@@ -77,13 +77,13 @@ class SOTFEATURE1D_EXPORT Feature1D
     @{
    */
   /*! \brief Input for the error. */
-  SignalPtr< ml::Vector,int > errorSIN;
+  dg::SignalPtr< ml::Vector,int > errorSIN;
 
   /*! \brief Input for the Jacobian. */
-  SignalPtr< ml::Matrix,int > jacobianSIN;
+  dg::SignalPtr< ml::Matrix,int > jacobianSIN;
 
   /*! \brief Input for the activation. */
-  SignalPtr< ml::Vector,int > activationSIN;
+  dg::SignalPtr< ml::Vector,int > activationSIN;
   /*! @} */
   
   /*! \name Output signals 
diff --git a/include/sot-core/feature-abstract.h b/include/sot-core/feature-abstract.h
index 6dabe661836060f9acea1fc41897209c165bd727..dc6294b7e7482b22d8951f3251fb3c79767327fa 100644
--- a/include/sot-core/feature-abstract.h
+++ b/include/sot-core/feature-abstract.h
@@ -60,7 +60,7 @@ namespace dg = dynamicgraph;
   \f$ \frac{\delta {\bf s}(t)}{\delta {\bf q}(t)}\f$.
  */
 class SOT_CORE_EXPORT FeatureAbstract
-:public Entity
+:public dg::Entity
 {
  public:
   /*! \brief Store the name of the class. */
diff --git a/include/sot-core/feature-generic.h b/include/sot-core/feature-generic.h
index 15511c099f01b91efe724e97ad687855b69078fd..3db33989190f1965e3455a89bbba347a185a990e 100644
--- a/include/sot-core/feature-generic.h
+++ b/include/sot-core/feature-generic.h
@@ -48,6 +48,7 @@
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 /*!
   \class FeatureGeneric
@@ -77,23 +78,23 @@ class SOTFEATUREGENERIC_EXPORT FeatureGeneric
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
-  /*! \name Signals 
+  /*! \name dg::Signals
     @{
   */
   /*! \name Input signals 
     @{
    */
   /*! \brief Input for the error. */
-  SignalPtr< ml::Vector,int > errorSIN;
+  dg::SignalPtr< ml::Vector,int > errorSIN;
 
   /*! \brief Input for the errordot. */
-  SignalPtr< ml::Vector,int > errordotSIN;
+  dg::SignalPtr< ml::Vector,int > errordotSIN;
 
   /*! \brief Input for the Jacobian. */
-  SignalPtr< ml::Matrix,int > jacobianSIN;
+  dg::SignalPtr< ml::Matrix,int > jacobianSIN;
 
   /*! \brief Input for the activation. */
-  SignalPtr< ml::Vector,int > activationSIN;
+  dg::SignalPtr< ml::Vector,int > activationSIN;
   /*! @} */
   
   /*! \name Output signals 
@@ -109,7 +110,7 @@ class SOTFEATUREGENERIC_EXPORT FeatureGeneric
   using FeatureAbstract::activationSOUT;
 
   /*! \brief New signal the errordot. */
-  SignalTimeDependant< ml::Vector,int > errordotSOUT;
+  dg::SignalTimeDependant< ml::Vector,int > errordotSOUT;
 
  public:
 
diff --git a/include/sot-core/feature-joint-limits.h b/include/sot-core/feature-joint-limits.h
index 3912ae882d58178498abb8b5e55fd15818654ea5..79a743247e4de09e978f59f9479cd2fe38543d56 100644
--- a/include/sot-core/feature-joint-limits.h
+++ b/include/sot-core/feature-joint-limits.h
@@ -48,6 +48,7 @@
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 /*!
   \class FeatureJointLimits
@@ -73,10 +74,10 @@ class SOTFEATUREJOINTLIMITS_EXPORT FeatureJointLimits
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
 
-  SignalPtr< ml::Vector,int > jointSIN;
-  SignalPtr< ml::Vector,int > upperJlSIN;
-  SignalPtr< ml::Vector,int > lowerJlSIN;
-  SignalTimeDependant< ml::Vector,int > widthJlSINTERN;
+  dg::SignalPtr< ml::Vector,int > jointSIN;
+  dg::SignalPtr< ml::Vector,int > upperJlSIN;
+  dg::SignalPtr< ml::Vector,int > lowerJlSIN;
+  dg::SignalTimeDependant< ml::Vector,int > widthJlSINTERN;
 
   using FeatureAbstract::selectionSIN;
 
diff --git a/include/sot-core/feature-line-distance.h b/include/sot-core/feature-line-distance.h
index 0d5d09445d630eb86d4337d980d97a9366c1991d..c78d362f93e998c313800ba37442abf596a466d7 100644
--- a/include/sot-core/feature-line-distance.h
+++ b/include/sot-core/feature-line-distance.h
@@ -49,6 +49,7 @@
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 /*!
   \class FeatureLineDistance
@@ -66,11 +67,11 @@ class SOTFEATURELINEDISTANCE_EXPORT FeatureLineDistance
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
-  SignalPtr< MatrixHomogeneous,int > positionSIN;
-  SignalPtr< ml::Matrix,int > articularJacobianSIN;
-  SignalPtr< ml::Vector,int > positionRefSIN;
-  SignalPtr< ml::Vector,int > vectorSIN;
-  SignalTimeDependant<ml::Vector,int> lineSOUT;
+  dg::SignalPtr< MatrixHomogeneous,int > positionSIN;
+  dg::SignalPtr< ml::Matrix,int > articularJacobianSIN;
+  dg::SignalPtr< ml::Vector,int > positionRefSIN;
+  dg::SignalPtr< ml::Vector,int > vectorSIN;
+  dg::SignalTimeDependant<ml::Vector,int> lineSOUT;
 
   using FeatureAbstract::desiredValueSIN;
   using FeatureAbstract::selectionSIN;
diff --git a/include/sot-core/feature-point6d-relative.h b/include/sot-core/feature-point6d-relative.h
index 29c4c549b816b91ea788d9a5ed937021aedb020e..2fec1d5b1f7e33b7ac484d62a9b598a0839e8ed2 100644
--- a/include/sot-core/feature-point6d-relative.h
+++ b/include/sot-core/feature-point6d-relative.h
@@ -50,6 +50,7 @@
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 /*!
   \class FeaturePoint6dRelative
@@ -71,22 +72,22 @@ class SOTFEATUREPOINT6DRELATIVE_EXPORT FeaturePoint6dRelative
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
-  SignalPtr< MatrixHomogeneous,int > positionReferenceSIN;
-  SignalPtr< ml::Matrix,int > articularJacobianReferenceSIN;
+  dg::SignalPtr< MatrixHomogeneous,int > positionReferenceSIN;
+  dg::SignalPtr< ml::Matrix,int > articularJacobianReferenceSIN;
 
-  /*! Signals related to the computation of the derivative of 
+  /*! dg::Signals related to the computation of the derivative of
     the error 
   @{ */
 
-  /*! Signals giving the derivative of the input signals. 
+  /*! dg::Signals giving the derivative of the input signals.
     @{*/
   /*! Derivative of the relative position. */
-  SignalPtr< MatrixHomogeneous,int > dotpositionSIN;
+  dg::SignalPtr< MatrixHomogeneous,int > dotpositionSIN;
   /*! Derivative of the reference position. */
-  SignalPtr< MatrixHomogeneous,int > dotpositionReferenceSIN;
+  dg::SignalPtr< MatrixHomogeneous,int > dotpositionReferenceSIN;
   /*! @} */
   /*! The derivative of the error.*/
-  SignalTimeDependant<ml::Vector,int> errordotSOUT;
+  dg::SignalTimeDependant<ml::Vector,int> errordotSOUT;
   /*! @} */
 
  public:
diff --git a/include/sot-core/feature-point6d.h b/include/sot-core/feature-point6d.h
index f6fad3b06fe101007bc179fc34dc5784772d8e38..4c4f46a6bb9b4cdb225ed9c39feed77a50c16b5a 100644
--- a/include/sot-core/feature-point6d.h
+++ b/include/sot-core/feature-point6d.h
@@ -49,6 +49,7 @@
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 /*!
   \class FeaturePoint6d
@@ -73,8 +74,8 @@ class SOTFEATUREPOINT6D_EXPORT FeaturePoint6d
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
-  SignalPtr< MatrixHomogeneous,int > positionSIN;
-  SignalPtr< ml::Matrix,int > articularJacobianSIN;
+  dg::SignalPtr< MatrixHomogeneous,int > positionSIN;
+  dg::SignalPtr< ml::Matrix,int > articularJacobianSIN;
 
   using FeatureAbstract::desiredValueSIN;
   using FeatureAbstract::selectionSIN;
diff --git a/include/sot-core/feature-vector3.h b/include/sot-core/feature-vector3.h
index 0ec9e9cebd8d15d77fa94dfb89d344eccb403c0e..87711b257ac5e19992713e84d16a9d765a2deb18 100644
--- a/include/sot-core/feature-vector3.h
+++ b/include/sot-core/feature-vector3.h
@@ -49,6 +49,7 @@
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 /*!
   \class FeatureVector3
@@ -66,10 +67,10 @@ class SOTFEATUREVECTOR3_EXPORT FeatureVector3
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
-  SignalPtr< ml::Vector,int > vectorSIN;
-  SignalPtr< MatrixHomogeneous,int > positionSIN;
-  SignalPtr< ml::Matrix,int > articularJacobianSIN;
-  SignalPtr< ml::Vector,int > positionRefSIN;
+  dg::SignalPtr< ml::Vector,int > vectorSIN;
+  dg::SignalPtr< MatrixHomogeneous,int > positionSIN;
+  dg::SignalPtr< ml::Matrix,int > articularJacobianSIN;
+  dg::SignalPtr< ml::Vector,int > positionRefSIN;
 
   using FeatureAbstract::desiredValueSIN;
   using FeatureAbstract::selectionSIN;
diff --git a/include/sot-core/feature-visual-point.h b/include/sot-core/feature-visual-point.h
index 2c5e851a93b2b08f03f8760faa9c85fcc6b942c8..5ebf6d983b320b47f9a436af2857a878a462a0d5 100644
--- a/include/sot-core/feature-visual-point.h
+++ b/include/sot-core/feature-visual-point.h
@@ -48,6 +48,7 @@
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 /*!
   \class FeatureVisualPoint
@@ -68,11 +69,11 @@ class SOTFEATUREVISUALPOINT_EXPORT FeatureVisualPoint
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
-  SignalPtr< ml::Vector,int > xySIN;
+  dg::SignalPtr< ml::Vector,int > xySIN;
   /** FeatureVisualPoint depth (required to compute the interaction matrix)
    * default Z = 1m. */
-  SignalPtr< double,int > ZSIN;
-  SignalPtr< ml::Matrix,int > articularJacobianSIN;
+  dg::SignalPtr< double,int > ZSIN;
+  dg::SignalPtr< ml::Matrix,int > articularJacobianSIN;
 
   using FeatureAbstract::desiredValueSIN;
   using FeatureAbstract::selectionSIN;
diff --git a/include/sot-core/fir-filter.h b/include/sot-core/fir-filter.h
index d760147fe85605b9efc88c1865fac29c4b118b61..20e1b50a79519e2b068da5dd4c8efab80f5c2d7e 100644
--- a/include/sot-core/fir-filter.h
+++ b/include/sot-core/fir-filter.h
@@ -33,6 +33,8 @@ namespace ml = maal::boost;
 
 #include <dynamic-graph/entity.h>
 #include <dynamic-graph/all-signals.h>
+namespace dg = dynamicgraph;
+
 
 namespace detail
 {
@@ -76,16 +78,16 @@ namespace detail
 
 template<class sigT, class coefT>
 class FIRFilter
-  : public Entity
+  : public dg::Entity
 {
 public:
-  virtual const std::string& getClassName() const { return Entity::getClassName(); }
+  virtual const std::string& getClassName() const { return dg::Entity::getClassName(); }
   static std::string getTypeName( void ) { return "Unknown"; }
   static const std::string CLASS_NAME;
 
 public:
   FIRFilter( const std::string& name )
-    : Entity(name)
+    : dg::Entity(name)
     , SIN(NULL,"sotFIRFilter("+name+")::input(T)::in")
     , SOUT(boost::bind(&FIRFilter::compute,this,_1,_2),
 	   SIN,
@@ -131,14 +133,14 @@ public:
     else if(cmdLine == "printBuffer") {
       for(size_t i = 0; i < data.size(); ++i){ os << data[i] << std::endl; }
     }
-    else { Entity::commandLine( cmdLine, cmdArgs, os); }
+    else { dg::Entity::commandLine( cmdLine, cmdArgs, os); }
   }
 
   static void reset_signal(sigT& res, const sigT& sample) { }
 
 public:
-  SignalPtr<sigT, int> SIN;
-  SignalTimeDependant<sigT, int> SOUT;
+  dg::SignalPtr<sigT, int> SIN;
+  dg::SignalTimeDependant<sigT, int> SOUT;
 
 private:
   std::vector<coefT> coefs;
diff --git a/include/sot-core/gain-adaptive.h b/include/sot-core/gain-adaptive.h
index 254ce7527de5328c22ecc686d8d7d4e11321eec7..abeb45d89a163ce3da007c72443bb5549b06adb1 100644
--- a/include/sot-core/gain-adaptive.h
+++ b/include/sot-core/gain-adaptive.h
@@ -53,9 +53,10 @@ namespace ml = maal::boost;
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class SOTGAINADAPTATIVE_EXPORT GainAdaptative
-: public Entity
+: public dg::Entity
 {
 
  public: /* --- CONSTANTS --- */
@@ -98,8 +99,8 @@ class SOTGAINADAPTATIVE_EXPORT GainAdaptative
   void forceConstant( void );
     
  public:  /* --- SIGNALS --- */
-  SignalPtr<ml::Vector,int> errorSIN;
-  SignalTimeDependant<double,int> gainSOUT;
+  dg::SignalPtr<ml::Vector,int> errorSIN;
+  dg::SignalTimeDependant<double,int> gainSOUT;
  protected:
   double& computeGain( double& res,int t );
 
diff --git a/include/sot-core/gain-hyperbolic.h b/include/sot-core/gain-hyperbolic.h
index aa7be6e67569a9e845d2ced12e6c207f163b2366..320e6ee01a03fe04a7c6b33e0914657d68e03636 100644
--- a/include/sot-core/gain-hyperbolic.h
+++ b/include/sot-core/gain-hyperbolic.h
@@ -54,9 +54,10 @@ namespace ml = maal::boost;
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class SOTGAINHYPERBOLIC_EXPORT GainHyperbolic
-: public Entity
+: public dg::Entity
 {
 
  public: /* --- CONSTANTS --- */
@@ -102,8 +103,8 @@ class SOTGAINHYPERBOLIC_EXPORT GainHyperbolic
   void forceConstant( void );
     
  public:  /* --- SIGNALS --- */
-  SignalPtr<ml::Vector,int> errorSIN;
-  SignalTimeDependant<double,int> gainSOUT;
+  dg::SignalPtr<ml::Vector,int> errorSIN;
+  dg::SignalTimeDependant<double,int> gainSOUT;
  protected:
   double& computeGain( double& res,int t );
 
diff --git a/include/sot-core/integrator-abstract.h b/include/sot-core/integrator-abstract.h
index 099d999048382ebfec564f04cc4076d2232752b6..6904489007b35acdf720ecb6666fd906fc34e089 100644
--- a/include/sot-core/integrator-abstract.h
+++ b/include/sot-core/integrator-abstract.h
@@ -46,6 +46,7 @@ namespace ml = maal::boost;
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 /*! \brief integrates an ODE. If Y is the output and X the input, the
  * following equation is integrated:
@@ -55,16 +56,16 @@ namespace sot {
 */
 template<class sigT, class coefT>
 class IntegratorAbstract
-:public Entity
+:public dg::Entity
 {
  public:
-  virtual const std::string& getClassName() const { return Entity::getClassName(); }
+  virtual const std::string& getClassName() const { return dg::Entity::getClassName(); }
   static std::string getTypeName( void ) { return "Unknown"; }
   static const std::string CLASS_NAME;
 
  public:
   IntegratorAbstract ( const std::string& name )
-    :Entity(name)
+    :dg::Entity(name)
      ,SIN(NULL,"sotIntegratorAbstract("+name+")::input(vector)::in")
      ,SOUT(boost::bind(&IntegratorAbstract<sigT,coefT>::integrate,this,_1,_2),
 		 SIN,
@@ -83,11 +84,11 @@ class IntegratorAbstract
     if( cmdLine == "pushNumCoef" )
     {
       std::string objname, signame;
-      Interpreter::objectNameParser(cmdArgs, objname, signame);
-      Entity& obj = g_pool.getEntity(objname);
-      SignalBase<int>& sig = obj.getSignal(signame);
+      dg::Interpreter::objectNameParser(cmdArgs, objname, signame);
+      dg::Entity& obj = dg::g_pool.getEntity(objname);
+      dg::SignalBase<int>& sig = obj.getSignal(signame);
       try {
-	Signal<coefT,int>& sigc = dynamic_cast<Signal<coefT,int>&>(sig);
+	dg::Signal<coefT,int>& sigc = dynamic_cast<dg::Signal<coefT,int>&>(sig);
 	pushNumCoef(sigc.accessCopy());
       }
       catch(std::bad_cast& bc) {
@@ -98,11 +99,11 @@ class IntegratorAbstract
     else if( cmdLine == "pushDenomCoef" )
     {
       std::string objname, signame;
-      Interpreter::objectNameParser(cmdArgs, objname, signame);
-      Entity& obj = g_pool.getEntity(objname);
-      SignalBase<int>& sig = obj.getSignal(signame);
+      dg::Interpreter::objectNameParser(cmdArgs, objname, signame);
+      dg::Entity& obj = dg::g_pool.getEntity(objname);
+      dg::SignalBase<int>& sig = obj.getSignal(signame);
       try {
-	Signal<coefT,int>& sigc = dynamic_cast<Signal<coefT,int>&>(sig);
+	dg::Signal<coefT,int>& sigc = dynamic_cast<dg::Signal<coefT,int>&>(sig);
 	pushDenomCoef(sigc.accessCopy());
       }
       catch(std::bad_cast& bc) {
@@ -120,7 +121,7 @@ class IntegratorAbstract
     }
     else 
     {
-    	Entity::commandLine(cmdLine, cmdArgs, os);
+    	dg::Entity::commandLine(cmdLine, cmdArgs, os);
     }
   }
 
@@ -131,9 +132,9 @@ class IntegratorAbstract
   void popDenomCoef() { denominator.pop_back(); }
 
  public:
-  SignalPtr<sigT, int> SIN;
+  dg::SignalPtr<sigT, int> SIN;
 
-  SignalTimeDependant<sigT, int> SOUT;
+  dg::SignalTimeDependant<sigT, int> SOUT;
 
  protected:
   std::vector<coefT> numerator;
diff --git a/include/sot-core/integrator-euler.h b/include/sot-core/integrator-euler.h
index 138b10199494572a9b35b3909f52ecf71e65e6e6..2baafc2add1f737bf635d70dc9bc89bd92e5a4d3 100644
--- a/include/sot-core/integrator-euler.h
+++ b/include/sot-core/integrator-euler.h
@@ -34,6 +34,7 @@
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 /*!
  * \class IntegratorEuler
@@ -50,7 +51,7 @@ class IntegratorEuler
 {
 
  public: 
-  virtual const std::string& getClassName( void ) const { return Entity::getClassName(); }
+  virtual const std::string& getClassName( void ) const { return dg::Entity::getClassName(); }
   static std::string getTypeName( void ) { return "Unknown"; }
   static const std::string CLASS_NAME;
 
diff --git a/include/sot-core/matrix-constant.h b/include/sot-core/matrix-constant.h
index 19789cc317d5cac58016bc4ecc2164215b3d9b71..018705221416885d663ac9548f75a5b21508a24e 100644
--- a/include/sot-core/matrix-constant.h
+++ b/include/sot-core/matrix-constant.h
@@ -31,9 +31,10 @@ namespace ml = maal::boost;
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class MatrixConstant
-: public Entity
+: public dg::Entity
 {
  public: 
   static const std::string CLASS_NAME;
@@ -48,13 +49,13 @@ public:
     ,rows(0),cols(0),color(0.)
     ,SOUT( "sotMatrixConstant("+name+")::output(matrix)::out" )
     {
-      SOUT.setDependancyType( TimeDependancy<int>::BOOL_DEPENDANT );
+      SOUT.setDependancyType( dg::TimeDependancy<int>::BOOL_DEPENDANT );
       signalRegistration( SOUT );
     }
 
   virtual ~MatrixConstant( void ){}
 
-  SignalTimeDependant<ml::Matrix,int> SOUT;
+  dg::SignalTimeDependant<ml::Matrix,int> SOUT;
 
   virtual void commandLine( const std::string& cmdLine,
 			    std::istringstream& cmdArgs, 
diff --git a/include/sot-core/memory-task-sot.h b/include/sot-core/memory-task-sot.h
index 26855d0ba443fbb914a21eb058d3423622b8b2ff..b46cece84918594a9e0b3ac166feeb281e1922d0 100644
--- a/include/sot-core/memory-task-sot.h
+++ b/include/sot-core/memory-task-sot.h
@@ -45,9 +45,10 @@
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class SOTSOT_CORE_EXPORT MemoryTaskSOT
-: public TaskAbstract::MemoryTaskAbstract, public Entity
+: public TaskAbstract::MemoryTaskAbstract, public dg::Entity
 {
  public://   protected:
   /* Internal memory to reduce the dynamic allocation at task resolution. */
@@ -78,11 +79,11 @@ class SOTSOT_CORE_EXPORT MemoryTaskSOT
   virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
 
  public: /* --- SIGNALS --- */
-  Signal< ml::Matrix,int > jacobianInvSINOUT;
-  Signal< ml::Matrix,int > jacobianConstrainedSINOUT;
-  Signal< ml::Matrix,int > jacobianProjectedSINOUT;
-  Signal< ml::Matrix,int > singularBaseImageSINOUT;
-  Signal< unsigned int,int > rankSINOUT;
+  dg::Signal< ml::Matrix,int > jacobianInvSINOUT;
+  dg::Signal< ml::Matrix,int > jacobianConstrainedSINOUT;
+  dg::Signal< ml::Matrix,int > jacobianProjectedSINOUT;
+  dg::Signal< ml::Matrix,int > singularBaseImageSINOUT;
+  dg::Signal< unsigned int,int > rankSINOUT;
 
  public: /* --- PARAMS --- */
   virtual void commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
diff --git a/include/sot-core/op-point-modifier.h b/include/sot-core/op-point-modifier.h
index e0438a744158437166b7025aad1223a18491c655..dd32fa175ed3770cef655cac45b89d54ebcfe9f6 100644
--- a/include/sot-core/op-point-modifier.h
+++ b/include/sot-core/op-point-modifier.h
@@ -21,7 +21,6 @@
 #define __SOT_OP_POINT_MODIFIOR_H__
 
 #include <dynamic-graph/entity.h>
-
 #include <dynamic-graph/all-signals.h>
 #include <sot-core/debug.h>
 #include <sot-core/matrix-homogeneous.h>
@@ -49,9 +48,10 @@ namespace ml = maal::boost;
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class SOTOPPOINTMODIFIOR_EXPORT OpPointModifior
-: public Entity
+: public dg::Entity
 {
  public:
   static const std::string CLASS_NAME;
@@ -61,11 +61,11 @@ class SOTOPPOINTMODIFIOR_EXPORT OpPointModifior
 
  public:
 
-  SignalPtr<ml::Matrix,int> jacobianSIN;
-  SignalPtr<MatrixHomogeneous,int> positionSIN;
+  dg::SignalPtr<ml::Matrix,int> jacobianSIN;
+  dg::SignalPtr<MatrixHomogeneous,int> positionSIN;
   
-  SignalTimeDependant<ml::Matrix,int> jacobianSOUT;
-  SignalTimeDependant<MatrixHomogeneous,int> positionSOUT;
+  dg::SignalTimeDependant<ml::Matrix,int> jacobianSOUT;
+  dg::SignalTimeDependant<MatrixHomogeneous,int> positionSOUT;
 
 public:
   OpPointModifior( const std::string& name );
diff --git a/include/sot-core/signal-cast.h b/include/sot-core/signal-cast.h
index f55cb6c63e80690059f1bafd0614afc3bafdeafd..afebf30c742e6306864c6fa3323f9b7057fe6945 100644
--- a/include/sot-core/signal-cast.h
+++ b/include/sot-core/signal-cast.h
@@ -85,14 +85,14 @@ private:
  */
 
 #define SOT_SIGNAL_CAST_DECLARATION(TYPE) \
-		SignalCastRegisterer sotCastRegisterer_##TYPE \
+		dynamicgraph::SignalCastRegisterer sotCastRegisterer_##TYPE \
 				(typeid(TYPE), \
 				SignalCast<TYPE>::disp_, \
 				SignalCast<TYPE>::cast_, \
 				SignalCast<TYPE>::trace_);
 
 #define SOT_SIGNAL_CAST_DECLARATION_NAMED(TYPE,NAME) \
-		SignalCastRegisterer sotCastRegisterer_##NAME \
+		dynamicgraph::SignalCastRegisterer sotCastRegisterer_##NAME \
 				(typeid(TYPE), \
 				SignalCast<TYPE>::disp_, \
 				SignalCast<TYPE>::cast_, \
diff --git a/include/sot-core/sot-h.h b/include/sot-core/sot-h.h
index 65ea9ff45050b6b0edbc740eca6aeff05c54ccfb..69e36fcdd9f1945ef67edae7ddf8fed1f664763b 100644
--- a/include/sot-core/sot-h.h
+++ b/include/sot-core/sot-h.h
@@ -51,6 +51,7 @@
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class SOTSOTH_EXPORT SotH
 :public Sot
@@ -81,8 +82,8 @@ class SOTSOTH_EXPORT SotH
       static const std::string CLASS_NAME;
       virtual void display( std::ostream& os ) const;
       virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
-      Signal< ml::Matrix,int > jacobianConstrainedSINOUT;
-      Signal< ml::Vector,int > diffErrorSINOUT;
+      dg::Signal< ml::Matrix,int > jacobianConstrainedSINOUT;
+      dg::Signal< ml::Vector,int > diffErrorSINOUT;
       virtual void commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
                                 std::ostream& os );
 
diff --git a/include/sot-core/sot-qr.h b/include/sot-core/sot-qr.h
index 935256c13799e3852aea813b5d39c4b16ba145a5..e54a51763430b1b1051b153f782d9d1c37f00731 100644
--- a/include/sot-core/sot-qr.h
+++ b/include/sot-core/sot-qr.h
@@ -68,9 +68,10 @@ namespace ml = maal::boost;
 */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class SOTSOTQR_EXPORT SotQr
-:public Entity
+:public dg::Entity
 {
  public:
   /*! \brief Specify the name of the class entity. */
@@ -226,14 +227,14 @@ class SOTSOTQR_EXPORT SotQr
    * the recurence of the SOT (e.g. velocity comming from the other
    * OpenHRP plugins).
    */
-  SignalPtr<ml::Vector,int> q0SIN;
+  dg::SignalPtr<ml::Vector,int> q0SIN;
   /*! \brief This signal allow to change the threshold for the damped pseudo-inverse
     on-line */
-  SignalPtr<double,int> inversionThresholdSIN;
+  dg::SignalPtr<double,int> inversionThresholdSIN;
   /*! \brief This signal allow to get the result of the Constraint projector. */
-  SignalTimeDependant<ml::Matrix,int> constraintSOUT;
+  dg::SignalTimeDependant<ml::Matrix,int> constraintSOUT;
   /*! \brief This signal allow to get the result of the computed control law. */
-  SignalTimeDependant<ml::Vector,int> controlSOUT;
+  dg::SignalTimeDependant<ml::Vector,int> controlSOUT;
   /*! @} */
 
  public: /* --- COMMANDS --- */
diff --git a/include/sot-core/sot.h b/include/sot-core/sot.h
index 4aeb20073987edbefe9ea0885eba7ee49f068071..f83a68230da8fa5f7d94adb5b25d25c56572fa63 100644
--- a/include/sot-core/sot.h
+++ b/include/sot-core/sot.h
@@ -60,6 +60,7 @@ namespace ml = maal::boost;
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 /*! @ingroup stackoftasks
   \brief This class implements the Stack of Task.
@@ -70,7 +71,7 @@ namespace sot {
   
 */
 class SOTSOT_CORE_EXPORT Sot
-:public Entity
+:public dg::Entity
 {
  public:
   /*! \brief Specify the name of the class entity. */
@@ -241,14 +242,14 @@ class SOTSOT_CORE_EXPORT Sot
    * the recurence of the SOT (e.g. velocity comming from the other
    * OpenHRP plugins).
    */
-  SignalPtr<ml::Vector,int> q0SIN;
+  dg::SignalPtr<ml::Vector,int> q0SIN;
   /*! \brief This signal allow to change the threshold for the damped pseudo-inverse
     on-line */
-  SignalPtr<double,int> inversionThresholdSIN;
+  dg::SignalPtr<double,int> inversionThresholdSIN;
   /*! \brief This signal allow to get the result of the Constraint projector. */
-  SignalTimeDependant<ml::Matrix,int> constraintSOUT;
+  dg::SignalTimeDependant<ml::Matrix,int> constraintSOUT;
   /*! \brief This signal allow to get the result of the computed control law. */
-  SignalTimeDependant<ml::Vector,int> controlSOUT;
+  dg::SignalTimeDependant<ml::Vector,int> controlSOUT;
   /*! @} */
 
  public: /* --- COMMANDS --- */
diff --git a/include/sot-core/task-abstract.h b/include/sot-core/task-abstract.h
index 95b1173c86b1d18ec6cbae3801315237310d8cd3..2698eecbd81e1661087a01b24fb76d1f4e6f2084 100644
--- a/include/sot-core/task-abstract.h
+++ b/include/sot-core/task-abstract.h
@@ -46,9 +46,10 @@ namespace ml = maal::boost;
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class SOT_CORE_EXPORT TaskAbstract
-: public Entity
+: public dg::Entity
 {
  public:
 
@@ -81,9 +82,9 @@ class SOT_CORE_EXPORT TaskAbstract
 
  public: /* --- SIGNALS --- */
 
-  SignalTimeDependant< sotVectorMultiBound,int > taskSOUT;
-  SignalTimeDependant< ml::Matrix,int > jacobianSOUT;
-  SignalTimeDependant< ml::Vector,int > featureActivationSOUT;
+  dg::SignalTimeDependant< sotVectorMultiBound,int > taskSOUT;
+  dg::SignalTimeDependant< ml::Matrix,int > jacobianSOUT;
+  dg::SignalTimeDependant< ml::Vector,int > featureActivationSOUT;
 
  public: /* --- PARAMS --- */
   virtual void commandLine( const std::string& cmdLine
diff --git a/include/sot-core/task-conti.h b/include/sot-core/task-conti.h
index cf9c2d5b4fe927ab81fc85d879ec94b75b684531..c9b10b9b2b3e7a3ceaebf194507f5a8e07f21fe6 100644
--- a/include/sot-core/task-conti.h
+++ b/include/sot-core/task-conti.h
@@ -59,6 +59,7 @@ namespace ml = maal::boost;
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class SOTTASKCONTI_EXPORT TaskConti
 : public Task
@@ -92,7 +93,7 @@ class SOTTASKCONTI_EXPORT TaskConti
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
-  SignalPtr< ml::Vector,int > controlPrevSIN;
+  dg::SignalPtr< ml::Vector,int > controlPrevSIN;
 
   /* --- DISPLAY ------------------------------------------------------------ */
   void display( std::ostream& os ) const;
diff --git a/include/sot-core/task-pd.h b/include/sot-core/task-pd.h
index c7fe053baed74bc8ccdc0b8f9c8e068522dd318f..0db3efca78f838b065189ee1a243e1a636878546 100644
--- a/include/sot-core/task-pd.h
+++ b/include/sot-core/task-pd.h
@@ -49,6 +49,7 @@
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class SOTTASKPD_EXPORT TaskPD
 : public Task
@@ -71,8 +72,8 @@ class SOTTASKPD_EXPORT TaskPD
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
-  SignalTimeDependant< ml::Vector,int > errorDotSOUT;
-  SignalPtr< ml::Vector,int > errorDotSIN;
+  dg::SignalTimeDependant< ml::Vector,int > errorDotSOUT;
+  dg::SignalPtr< ml::Vector,int > errorDotSIN;
 
   /* --- PARAMS --- */
   virtual void commandLine( const std::string& cmdLine
diff --git a/include/sot-core/task-unilateral.h b/include/sot-core/task-unilateral.h
index 56ca84a77baf1d1b8a112e86fa4eaf5221ff76e1..a227d7eee1246051d514413e284207d421ca08bf 100644
--- a/include/sot-core/task-unilateral.h
+++ b/include/sot-core/task-unilateral.h
@@ -61,6 +61,7 @@ namespace ml = maal::boost;
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class SOTTASKUNILATERAL_EXPORT TaskUnilateral
 : public Task
@@ -82,10 +83,10 @@ class SOTTASKUNILATERAL_EXPORT TaskUnilateral
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
 
-  SignalPtr< ml::Vector,int > positionSIN;
-  SignalPtr< ml::Vector,int > referenceInfSIN;
-  SignalPtr< ml::Vector,int > referenceSupSIN;
-  SignalPtr< double,int > dtSIN;
+  dg::SignalPtr< ml::Vector,int > positionSIN;
+  dg::SignalPtr< ml::Vector,int > referenceInfSIN;
+  dg::SignalPtr< ml::Vector,int > referenceSupSIN;
+  dg::SignalPtr< double,int > dtSIN;
 
   /* --- DISPLAY ------------------------------------------------------------ */
   void display( std::ostream& os ) const;
diff --git a/include/sot-core/task.h b/include/sot-core/task.h
index 39a106f1da9496b5f921b29b8e6f79d9c1f0b6c7..e8d22861fedb8937ced57be1e431190aef95a025 100644
--- a/include/sot-core/task.h
+++ b/include/sot-core/task.h
@@ -83,6 +83,7 @@ namespace ml = maal::boost;
  */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class SOTTASK_EXPORT Task
 : public TaskAbstract
@@ -116,12 +117,12 @@ class SOTTASK_EXPORT Task
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
-  SignalPtr< double,int > controlGainSIN;
-  SignalPtr< double,int > dampingGainSINOUT;
-  SignalPtr< Flags,int > controlSelectionSIN; // At the task level or at the feature level?
+  dg::SignalPtr< double,int > controlGainSIN;
+  dg::SignalPtr< double,int > dampingGainSINOUT;
+  dg::SignalPtr< Flags,int > controlSelectionSIN; // At the task level or at the feature level?
 
  public:
-  SignalTimeDependant< ml::Vector,int > errorSOUT;
+  dg::SignalTimeDependant< ml::Vector,int > errorSOUT;
 
   /* --- DISPLAY ------------------------------------------------------------ */
   void display( std::ostream& os ) const;
diff --git a/include/sot-core/unary-op.h b/include/sot-core/unary-op.h
index 24fd4eec89a84456e5d13d2325582d52de7a1cd5..2e58acaea6c87cc5734f2c249d6b049ed773de19 100644
--- a/include/sot-core/unary-op.h
+++ b/include/sot-core/unary-op.h
@@ -47,10 +47,11 @@ namespace ml = maal::boost;
 /* --------------------------------------------------------------------- */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 template< class Tin,class Tout,typename Operator >
 class UnaryOp
-:public Entity
+:public dg::Entity
 {
   Operator op;
 
@@ -61,7 +62,7 @@ class UnaryOp
   static const std::string CLASS_NAME;
 
   UnaryOp( const std::string& name )
-    : Entity(name)
+    : dg::Entity(name)
     ,SIN(NULL,UnaryOp::CLASS_NAME+"("+name+")::input("+getTypeInName()+")::in") 
     ,SOUT( boost::bind(&UnaryOp<Tin,Tout,Operator>::computeOperation,this,_1,_2), 
 	   SIN,CLASS_NAME+"("+name+")::output("+getTypeOutName()+")::out") 
@@ -74,8 +75,8 @@ class UnaryOp
 
  public: /* --- SIGNAL --- */
 
-  SignalPtr<Tin,int> SIN;
-  SignalTimeDependant<Tout,int> SOUT;
+  dg::SignalPtr<Tin,int> SIN;
+  dg::SignalTimeDependant<Tout,int> SOUT;
 
  protected:
   Tout& computeOperation( Tout& res,int time )
diff --git a/include/sot-core/vector-constant.h b/include/sot-core/vector-constant.h
index 9f0efb183c5e0f4aa00f50b56a9e355ea1c2e7c5..c69cee531dd8efdba0ce31c375246edf1f9d0ead 100644
--- a/include/sot-core/vector-constant.h
+++ b/include/sot-core/vector-constant.h
@@ -29,9 +29,10 @@ namespace ml = maal::boost;
 /* --- VECTOR ---------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 namespace sot{
+namespace dg = dynamicgraph;
 
 class VectorConstant
-: public Entity
+: public dg::Entity
 {
   static const std::string CLASS_NAME;
   virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
@@ -45,13 +46,13 @@ public:
     ,rows(0),color(0.)
     ,SOUT( "sotVectorConstant("+name+")::output(vector)::out" )
     {
-      SOUT.setDependancyType( TimeDependancy<int>::BOOL_DEPENDANT );
+      SOUT.setDependancyType( dg::TimeDependancy<int>::BOOL_DEPENDANT );
       signalRegistration( SOUT );
     }
 
   virtual ~VectorConstant( void ){}
 
-  SignalTimeDependant<ml::Vector,int> SOUT;
+  dg::SignalTimeDependant<ml::Vector,int> SOUT;
 
   virtual void commandLine( const std::string& cmdLine,
 			    std::istringstream& cmdArgs, 
diff --git a/include/sot-core/vector-to-rotation.h b/include/sot-core/vector-to-rotation.h
index e2e0b3389dfbe1cfc99fdfc4ec5dd383be6b2bf3..b9932a412a09c87ac5525c65e950c3db26dd62b3 100644
--- a/include/sot-core/vector-to-rotation.h
+++ b/include/sot-core/vector-to-rotation.h
@@ -36,9 +36,10 @@ namespace ml = maal::boost;
 /* --- VECTOR ---------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 namespace sot {
+namespace dg = dynamicgraph;
 
 class VectorToRotation
-: public Entity
+: public dg::Entity
 {
   static const std::string CLASS_NAME;
   virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
@@ -59,8 +60,8 @@ public:
 
   virtual ~VectorToRotation( void ){}
 
-  SignalPtr<ml::Vector,int> SIN;
-  SignalTimeDependant<MatrixRotation,int> SOUT;
+  dg::SignalPtr<ml::Vector,int> SIN;
+  dg::SignalTimeDependant<MatrixRotation,int> SOUT;
 
   MatrixRotation& computeRotation( const ml::Vector& angles,
 				      MatrixRotation& res );
diff --git a/include/sot-core/weighted-sot.h b/include/sot-core/weighted-sot.h
index 32d9b6d333c216fd12729b9b8cdf129d0e8099f6..0e221fe50a07abe07645885f921b7b3442735f50 100644
--- a/include/sot-core/weighted-sot.h
+++ b/include/sot-core/weighted-sot.h
@@ -65,6 +65,7 @@ namespace ml = maal::boost;
 */
 
 namespace sot {
+namespace dg = dynamicgraph;
 
 class SOTWEIGHTEDSOT_CORE_EXPORT WeightedSot
 :public Sot
@@ -98,11 +99,11 @@ class SOTWEIGHTEDSOT_CORE_EXPORT WeightedSot
   /*! \name Methods to handle signals
     @{
    */
-  SignalPtr<ml::Matrix,int> weightSIN;
-  SignalTimeDependant<ml::Matrix,int> constrainedWeightSOUT;
-  SignalPtr<ml::Matrix,int> constrainedWeightSIN;
-  SignalTimeDependant<ml::Matrix,int> squareRootInvWeightSOUT;
-  SignalPtr<ml::Matrix,int> squareRootInvWeightSIN;
+  dg::SignalPtr<ml::Matrix,int> weightSIN;
+  dg::SignalTimeDependant<ml::Matrix,int> constrainedWeightSOUT;
+  dg::SignalPtr<ml::Matrix,int> constrainedWeightSIN;
+  dg::SignalTimeDependant<ml::Matrix,int> squareRootInvWeightSOUT;
+  dg::SignalPtr<ml::Matrix,int> squareRootInvWeightSIN;
   /*! @} */
 
 };
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 90153707f5164507be39504cb45bf51cd45a1769..87acce635e899d46970367457562546043058775 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -86,9 +86,9 @@ SET(${PROJECT_NAME}_SOURCES
 INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
 
 #define VP_DEBUG if we're building in debug mode
-IF ( ${CMAKE_BUILD_TYPE} STREQUAL "DEBUG" )
+IF(${CMAKE_BUILD_TYPE} STREQUAL DEBUG)
 	ADD_DEFINITIONS(-DVP_DEBUG)
-ENDIF ( ${CMAKE_BUILD_TYPE} STREQUAL "DEBUG" )
+ENDIF (${CMAKE_BUILD_TYPE} STREQUAL DEBUG)
 	
 ADD_DEFINITIONS(-DDEBUG=2)
 
@@ -163,9 +163,9 @@ FOREACH(plugin ${plugins})
 	INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
 	
 	#define VP_DEBUG if we're building in debug mode
-	IF ( ${CMAKE_BUILD_TYPE} STREQUAL "DEBUG" )
+	IF(${CMAKE_BUILD_TYPE} STREQUAL DEBUG)
 		ADD_DEFINITIONS(-DVP_DEBUG)
-	ENDIF ( ${CMAKE_BUILD_TYPE} STREQUAL "DEBUG" )
+	ENDIF (${CMAKE_BUILD_TYPE} STREQUAL DEBUG)
 	
 	ADD_DEFINITIONS(-DDEBUG=2)
 	
diff --git a/src/factory/additional-functions.cpp b/src/factory/additional-functions.cpp
index aa2166aba72cdbc03cf144473b166f656e0179de..471dd27cf18808a3e8309d7cab2835cfb7b0f6b7 100644
--- a/src/factory/additional-functions.cpp
+++ b/src/factory/additional-functions.cpp
@@ -28,6 +28,7 @@
 #include <sot-core/flags.h>
 using namespace std;
 using namespace sot;
+using namespace dynamicgraph;
 
 /* \brief Constructor. At creation, overloads (deregisters-then registers
  * again) the 'new' function in the g_shell
diff --git a/src/feature/feature-1d.cpp b/src/feature/feature-1d.cpp
index 168bb12f78b8e592715ef4dcf7e620c2e2cb1d55..5ba2ac93ff6a07ce3090fbd42147f0a97757c7b3 100644
--- a/src/feature/feature-1d.cpp
+++ b/src/feature/feature-1d.cpp
@@ -32,6 +32,7 @@ using namespace std;
 
 
 using namespace sot;
+using namespace dynamicgraph;
 SOT_FACTORY_FEATURE_PLUGIN(Feature1D,"Feature1D");
 
 /* --------------------------------------------------------------------- */
diff --git a/src/feature/feature-abstract.cpp b/src/feature/feature-abstract.cpp
index dbbc566c1cfc4976c83d41e1d456db287bceefae..00df89eba1dff0e162b860f2e6ace0869ac25727 100644
--- a/src/feature/feature-abstract.cpp
+++ b/src/feature/feature-abstract.cpp
@@ -21,6 +21,7 @@
 #include <sot-core/pool.h>
 
 using namespace sot;
+namespace dg = dynamicgraph;
 
 const std::string 
 FeatureAbstract::CLASS_NAME = "FeatureAbstract";
@@ -67,7 +68,7 @@ writeGraph( std::ostream& os ) const
   if( desiredValueSIN )
     {
       //      const SignalAbstract<int> & sdesAbs = desiredValueSIN;
-      const SignalPtr<FeatureAbstract *,int>  & sdesSig = desiredValueSIN;
+      const dg::SignalPtr<FeatureAbstract *,int>  & sdesSig = desiredValueSIN;
       
       if (sdesSig!=0)
 	{
diff --git a/src/feature/feature-generic.cpp b/src/feature/feature-generic.cpp
index 07fa7a9c158510264a3c4454245723ba91e25270..b82d59ed5950dedab6ac58b224b8c568c107a8cc 100644
--- a/src/feature/feature-generic.cpp
+++ b/src/feature/feature-generic.cpp
@@ -26,13 +26,11 @@
 #include <sot-core/debug.h>
 #include <sot-core/feature-generic.h>
 #include <sot-core/exception-feature.h>
-using namespace std;
-
 #include <sot-core/factory.h>
 
-
+using namespace std;
 using namespace sot;
-
+using namespace dynamicgraph;
 SOT_FACTORY_FEATURE_PLUGIN(FeatureGeneric,"FeatureGeneric");
 
 /* --------------------------------------------------------------------- */
diff --git a/src/feature/feature-line-distance.cpp b/src/feature/feature-line-distance.cpp
index 4344475d0fd0b56f62d0089626f9768bcc1ac2c0..785695d3e70dd40c2761447dcef0bea003b7a4bf 100644
--- a/src/feature/feature-line-distance.cpp
+++ b/src/feature/feature-line-distance.cpp
@@ -34,6 +34,7 @@
 using namespace std;
 
 using namespace sot;
+using namespace dynamicgraph;
 
 #include <sot-core/factory.h>
 SOT_FACTORY_FEATURE_PLUGIN(FeatureLineDistance,"FeatureLineDistance");
diff --git a/src/feature/feature-point6d-relative.cpp b/src/feature/feature-point6d-relative.cpp
index 52ac3715fdb7a2d5dd1748c2573fcb62aae98a57..8a1ed547ea5271abbc874804cf878108fc39a636 100644
--- a/src/feature/feature-point6d-relative.cpp
+++ b/src/feature/feature-point6d-relative.cpp
@@ -34,7 +34,7 @@
 
 using namespace std;
 using namespace sot;
-
+using namespace dynamicgraph;
 
 #include <sot-core/factory.h>
 SOT_FACTORY_FEATURE_PLUGIN(FeaturePoint6dRelative,"FeaturePoint6dRelative");
diff --git a/src/feature/feature-point6d.cpp b/src/feature/feature-point6d.cpp
index febbc3319e973e5e027020e5d7d67c6969d4d6e5..e52537410d44e03920d789a58063eefed1747fb9 100644
--- a/src/feature/feature-point6d.cpp
+++ b/src/feature/feature-point6d.cpp
@@ -34,7 +34,7 @@
 #include <sot-core/vector-utheta.h>
 
 using namespace std;
-
+using namespace dynamicgraph;
 using namespace sot;
 
 #include <sot-core/factory.h>
diff --git a/src/feature/feature-task.cpp b/src/feature/feature-task.cpp
index f065834171451745dfae7e54e3a44c0689c1ce04..59124f14eff8f5f9cdc5ea93dca86221b28a67ca 100644
--- a/src/feature/feature-task.cpp
+++ b/src/feature/feature-task.cpp
@@ -29,6 +29,7 @@
 #include <dynamic-graph/pool.h>
 using namespace std;
 using namespace sot;
+using namespace dynamicgraph;
 
 
 #include <sot-core/factory.h>
diff --git a/src/feature/feature-vector3.cpp b/src/feature/feature-vector3.cpp
index 7b9568df014fac1698ecf49071156e3d14e1e742..81aa5830f8ac9ba4bd33678deb9cef83d3522d77 100644
--- a/src/feature/feature-vector3.cpp
+++ b/src/feature/feature-vector3.cpp
@@ -36,7 +36,7 @@
 
 using namespace sot;
 using namespace std;
-
+using namespace dynamicgraph;
 
 SOT_FACTORY_FEATURE_PLUGIN(FeatureVector3,"FeatureVector3");
 
diff --git a/src/feature/feature-visual-point.cpp b/src/feature/feature-visual-point.cpp
index 4965c93a73fc475a72ec774d59dc160dd4b4130f..d24186a0d944fde9ed70d7b91354f339b81bc336 100644
--- a/src/feature/feature-visual-point.cpp
+++ b/src/feature/feature-visual-point.cpp
@@ -29,7 +29,7 @@
 #include <sot-core/factory.h>
 using namespace std;
 using namespace sot;
-
+using namespace dynamicgraph;
 
 
 SOT_FACTORY_FEATURE_PLUGIN(FeatureVisualPoint,"FeatureVisualPoint");
diff --git a/src/math/op-point-modifier.cpp b/src/math/op-point-modifier.cpp
index 7cb8f29a893a7b16780c5baba412e6de1ed44b7d..bf013012c5600a338ed9ab591dac16e73a216e8b 100644
--- a/src/math/op-point-modifier.cpp
+++ b/src/math/op-point-modifier.cpp
@@ -27,10 +27,10 @@
 
 using namespace std;
 using namespace sot;
+using namespace dynamicgraph;
+
 
-namespace sot {
 SOT_FACTORY_ENTITY_PLUGIN(OpPointModifior,"OpPointModifior");
-}
 
 
 /* --------------------------------------------------------------------- */
diff --git a/src/math/vector-quaternion.cpp b/src/math/vector-quaternion.cpp
index baefd496b9429f738e7db63e7223b6fbaa829a3d..b351bdcd281e4d23dfd99b47d380e04c58ae829a 100644
--- a/src/math/vector-quaternion.cpp
+++ b/src/math/vector-quaternion.cpp
@@ -22,7 +22,6 @@
 using namespace std;
 using namespace sot;
 
-
 static const double ANGLE_MINIMUM = 0.0001;
 static const double SINC_MINIMUM = 1e-8;
 static const double COSC_MINIMUM = 2.5e-4;
diff --git a/src/matrix/binary-op.cpp b/src/matrix/binary-op.cpp
index 1109a3fb6d798227658a81ad0260fa70befc4714..5bec92e65aed11b669b58fe30a4fa5f3f24b5f65 100644
--- a/src/matrix/binary-op.cpp
+++ b/src/matrix/binary-op.cpp
@@ -29,6 +29,7 @@
 #include <deque>
 
 namespace sot {
+using namespace dynamicgraph;
 
 #define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_ExE_E_CMD(sotClassType,sotType,index,className,CMDLINE,CMDHELP)  \
   template<>                                                                            \
@@ -189,7 +190,7 @@ public:
   }
 };
 typedef BinaryOp< Vector,Vector,Vector,VectorStack > stackvector;
-SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_ExE_E_CMD(stackvector,vector,stack_vector,"Stack<vector>",else if( cmdLine=="selec1" ){ cmdArgs>>op.v1min>>op.v1max; } 
+SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_ExE_E_CMD(stackvector,vector,stack_vector,"Stack<vector>",else if( cmdLine=="selec1" ){ cmdArgs>>op.v1min>>op.v1max; }
    else if( cmdLine=="selec2" ){ cmdArgs>>op.v2min>>op.v2max; } 
    else if( cmdLine=="print" ){ os<<"Stack ["<<op.v1min<<","<<op.v1max<<"] - ["<<op.v2min<<","<<op.v2max<<"] "<<std::endl; }, 
 "Stack<vector>: \n - select{1|2} index_min index_max.");
@@ -210,7 +211,7 @@ public:
   }
 };
 typedef BinaryOp< Vector,Vector,Vector,WeightedAdder > weightadd;
-SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_ExE_E_CMD(weightadd,vector,weight_add,"WeightAdd<vector>",else if( cmdLine=="gain1" ){ cmdArgs>>op.gain1; } 
+SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_ExE_E_CMD(weightadd,vector,weight_add,"WeightAdd<vector>",else if( cmdLine=="gain1" ){ cmdArgs>>op.gain1; }
    else if( cmdLine=="gain2" ){ cmdArgs>>op.gain2;}
    else if( cmdLine=="print" ){os<<"WeightAdd: "<<op.gain1<<" "<<op.gain2<<std::endl; }, 
   "WeightAdd<vector>: \n - gain{1|2} gain.");
diff --git a/src/matrix/derivator.cpp b/src/matrix/derivator.cpp
index 9ee420673818a3b09e57ac75da226f0c517e9af8..3929349395ef10e3598b4d458824a9a3d3091824 100644
--- a/src/matrix/derivator.cpp
+++ b/src/matrix/derivator.cpp
@@ -22,6 +22,7 @@
 
 using namespace sot;
 using namespace ml;
+using namespace dynamicgraph;
 
 #define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType,sotType,className)              \
   template<>                                                                            \
diff --git a/src/matrix/fir-filter.cpp b/src/matrix/fir-filter.cpp
index 69f1f089cd421d86f7596a8f83f4e9e4ba89de3d..51d4b2d9af233988f2784a7678b0066c6a444af3 100644
--- a/src/matrix/fir-filter.cpp
+++ b/src/matrix/fir-filter.cpp
@@ -21,7 +21,7 @@
 #include <sot-core/factory.h>
 
 using namespace sot;
-
+using namespace dynamicgraph;
 
 #define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType,sotSigType,sotCoefType,id,className) \
   template<>								\
diff --git a/src/matrix/integrator-abstract.cpp b/src/matrix/integrator-abstract.cpp
index 984ded1b8604b57f69f369f791e92317a6459b6e..f628b2ad7ee8e02f9145192c8c3e7e4a703984e6 100644
--- a/src/matrix/integrator-abstract.cpp
+++ b/src/matrix/integrator-abstract.cpp
@@ -21,7 +21,7 @@
 #include <sot-core/factory.h>
 
 using namespace sot;
-
+using namespace dynamicgraph;
 
 #define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType,sotSigType,sotCoefType,className)   \
   template<>                                                                                \
diff --git a/src/matrix/integrator-euler.cpp b/src/matrix/integrator-euler.cpp
index fdd37e3ca71fc12b7f0074f57f5fb833d80f5d29..69cddf31a9c805220653168a2934f87ea5e09d1b 100644
--- a/src/matrix/integrator-euler.cpp
+++ b/src/matrix/integrator-euler.cpp
@@ -21,7 +21,7 @@
 #include <sot-core/factory.h>
 
 using namespace sot;
-
+using namespace dynamicgraph;
 
 #define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType,sotSigType,sotCoefType,className)   \
   template<>                                                                                \
diff --git a/src/matrix/matrix-constant.cpp b/src/matrix/matrix-constant.cpp
index 6e885509fe0d9c878497471531fd28565a7d1d1e..0e49ac8f2442898ee613958c23fa6d435b378566 100644
--- a/src/matrix/matrix-constant.cpp
+++ b/src/matrix/matrix-constant.cpp
@@ -22,7 +22,7 @@
 
 using namespace std;
 using namespace sot;
-
+using namespace dynamicgraph;
 
 SOT_FACTORY_ENTITY_PLUGIN(MatrixConstant,"MatrixConstant");
 
diff --git a/src/matrix/unary-op.cpp b/src/matrix/unary-op.cpp
index fb74cc53abde57a12b8a8ff359221504b30c77a1..1e88744e12078e3a014fefceee1d7f9ea96ca2e2 100644
--- a/src/matrix/unary-op.cpp
+++ b/src/matrix/unary-op.cpp
@@ -29,7 +29,7 @@
 
 
 using namespace sot;
-
+using namespace dynamicgraph;
 
 
 #define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_E_E(sotClassType,sotType,index,className,CMDLINE,CMDHELP)    \
diff --git a/src/matrix/vector-constant.cpp b/src/matrix/vector-constant.cpp
index 376a49c30e45b63b2bdb6f250413c7ea36199bed..4db6f1bc2ee7238716314c4f148143cec4027754 100644
--- a/src/matrix/vector-constant.cpp
+++ b/src/matrix/vector-constant.cpp
@@ -18,15 +18,14 @@
  * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
 
 #include <sot-core/vector-constant.h>
-
 #include <sot-core/factory.h>
 
-namespace sot  {
-SOT_FACTORY_ENTITY_PLUGIN(VectorConstant,"VectorConstant");
-}
-
 using namespace std;
 using namespace sot;
+using namespace dynamicgraph;
+
+SOT_FACTORY_ENTITY_PLUGIN(VectorConstant,"VectorConstant");
+
 
 
 /* --------------------------------------------------------------------- */
diff --git a/src/matrix/vector-to-rotation.cpp b/src/matrix/vector-to-rotation.cpp
index 7d20693526e669f2c29ef016bef090db44368e9e..44154a64a5afa816f418179a49672b107496e524 100644
--- a/src/matrix/vector-to-rotation.cpp
+++ b/src/matrix/vector-to-rotation.cpp
@@ -25,10 +25,9 @@
 
 using namespace std;
 using namespace sot;
+using namespace dynamicgraph;
 
-namespace sot {
 SOT_FACTORY_ENTITY_PLUGIN(VectorToRotation,"VectorToRotation");
-}
 
 /* --------------------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
diff --git a/src/sot/memory-task-sot.cpp b/src/sot/memory-task-sot.cpp
index f1ed074319addfacb5a0a40d71d12c43f788e672..784347c18b77f39cdd46d74e02ce82d1400548cb 100644
--- a/src/sot/memory-task-sot.cpp
+++ b/src/sot/memory-task-sot.cpp
@@ -22,6 +22,7 @@
 #include <sot-core/debug.h>
 
 using namespace sot;
+using namespace dynamicgraph;
 
 
 const std::string MemoryTaskSOT::CLASS_NAME = "MemoryTaskSOT";
diff --git a/src/sot/sot-h.cpp b/src/sot/sot-h.cpp
index 242c992d318d66c0ca0ae798770ec0ebba934d53..d83042e7a03a1126da30c489baef195b1c7f0aaa 100644
--- a/src/sot/sot-h.cpp
+++ b/src/sot/sot-h.cpp
@@ -30,6 +30,7 @@
 
 using namespace std;
 using namespace sot;
+using namespace dynamicgraph;
 
 #ifdef VP_DEBUG
 class sotSOTH__INIT
diff --git a/src/sot/sot-qr.cpp b/src/sot/sot-qr.cpp
index c6de0808c483eaf366e3b95f4c11a729adda3815..9446ff0e6a5e296bba7582d334d1e685b7b9031e 100644
--- a/src/sot/sot-qr.cpp
+++ b/src/sot/sot-qr.cpp
@@ -40,7 +40,7 @@
 #define FORTRAN_ID( id ) id##_
 using namespace std;
 using namespace sot;
-
+using namespace dynamicgraph;
 
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
diff --git a/src/sot/sot.cpp b/src/sot/sot.cpp
index e66f1c86049aea1c086e8c7f77b0e0b02347c2bb..87a75411f7828eb331b8e808b6b5e6ce8360955f 100644
--- a/src/sot/sot.cpp
+++ b/src/sot/sot.cpp
@@ -42,6 +42,7 @@
 
 using namespace std;
 using namespace sot;
+using namespace dynamicgraph;
 
 
 /* --------------------------------------------------------------------- */
diff --git a/src/sot/weighted-sot.cpp b/src/sot/weighted-sot.cpp
index 21bc5f7b7ccf2c61332b0b956c95ab84d8c26f49..1b9ba6b94e11fc07d3f334acec4b59fa73b9fa6f 100644
--- a/src/sot/weighted-sot.cpp
+++ b/src/sot/weighted-sot.cpp
@@ -30,7 +30,7 @@
 #include <sot-core/debug.h>
 using namespace std;
 using namespace sot;
-
+using namespace dynamicgraph;
 
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
diff --git a/src/task/constraint.cpp b/src/task/constraint.cpp
index 130a91f339a5d19ce5d12e16d7da61e2e52c949d..1d642fa7fa7e25824c259b9b91b0d29357ad0c78 100644
--- a/src/task/constraint.cpp
+++ b/src/task/constraint.cpp
@@ -32,6 +32,7 @@ using namespace sot;
 #include <sot-core/factory.h>
 SOT_FACTORY_TASK_PLUGIN(Constraint,"Constraint");
 
+using namespace dynamicgraph;
 
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
diff --git a/src/task/gain-adaptative.cpp b/src/task/gain-adaptative.cpp
index b38496201431037c69d696c120cf9b83d9369c91..33730c382e55bd39e8b5ea65f1305bf579895a31 100644
--- a/src/task/gain-adaptative.cpp
+++ b/src/task/gain-adaptative.cpp
@@ -30,6 +30,7 @@
 #include <sot-core/exception-signal.h>
 
 using namespace sot;
+using namespace dynamicgraph;
 
 SOT_FACTORY_ENTITY_PLUGIN(GainAdaptative,"GainAdaptative");
 
diff --git a/src/task/gain-hyperbolic.cpp b/src/task/gain-hyperbolic.cpp
index 9203380acb1ef2f11508ba33459ca991822cd95c..e5b0401cde96fcf14cbe59142db37849c3f76cde 100644
--- a/src/task/gain-hyperbolic.cpp
+++ b/src/task/gain-hyperbolic.cpp
@@ -30,6 +30,7 @@
 #include <sot-core/exception-signal.h>
 
 using namespace sot;
+using namespace dynamicgraph;
 
 SOT_FACTORY_ENTITY_PLUGIN(GainHyperbolic,"GainHyperbolic");
 
diff --git a/src/task/task-abstract.cpp b/src/task/task-abstract.cpp
index 15dd72208b744c88d7224de3516baf1fbd1d7756..daa6a44534f8dc73299604dee485387195b42dac 100644
--- a/src/task/task-abstract.cpp
+++ b/src/task/task-abstract.cpp
@@ -26,7 +26,7 @@
 #include <sot-core/pool.h>
 
 using namespace sot;
-
+using namespace dynamicgraph;
 
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
diff --git a/src/task/task-conti.cpp b/src/task/task-conti.cpp
index b07c3b47ef7461dc0181bfed1c1f30326230e5b1..172b25666f07747fec71ed0b296375f19d88b5b7 100644
--- a/src/task/task-conti.cpp
+++ b/src/task/task-conti.cpp
@@ -30,6 +30,7 @@
 
 using namespace std;
 using namespace sot;
+using namespace dynamicgraph;
 
 SOT_FACTORY_TASK_PLUGIN(TaskConti,"TaskConti");
 
diff --git a/src/task/task-pd.cpp b/src/task/task-pd.cpp
index 761c96c0be2ecf8bbba5aa3ea6c576d16679cc60..d32c550e1635886fbe49af60dc999ac5a39d9ec3 100644
--- a/src/task/task-pd.cpp
+++ b/src/task/task-pd.cpp
@@ -28,7 +28,7 @@
 
 using namespace std;
 using namespace sot;
-
+using namespace dynamicgraph;
 
 
 
diff --git a/src/task/task-unilateral.cpp b/src/task/task-unilateral.cpp
index c8acc999dd03fcc90ffd1463d547efb57ecc10d7..5549ddc89d3c50ed2ae1b00c9aaa11359f946496 100644
--- a/src/task/task-unilateral.cpp
+++ b/src/task/task-unilateral.cpp
@@ -31,7 +31,7 @@
 
 using namespace std;
 using namespace sot;
-
+using namespace dynamicgraph;
 
 
 #include <sot-core/factory.h>
diff --git a/src/task/task.cpp b/src/task/task.cpp
index 5c8a3cdc854fb50928e80da8eaafc9d0ed47c92b..b0ebf518f82ea5550ba0ac57ec20dac2235c84f6 100644
--- a/src/task/task.cpp
+++ b/src/task/task.cpp
@@ -27,8 +27,7 @@
 #include <sot-core/debug.h>
 using namespace std;
 using namespace sot;
-
-
+using namespace dynamicgraph;
 
 
 #include <sot-core/factory.h>
diff --git a/unitTesting/signal/test_dep.cpp b/unitTesting/signal/test_dep.cpp
index c004603dc24b820ecf7da45b95a6b4c8f33d2479..01ff8e209cba3b26e19822c2563452249b814961 100644
--- a/unitTesting/signal/test_dep.cpp
+++ b/unitTesting/signal/test_dep.cpp
@@ -21,14 +21,12 @@
 /* -------------------------------------------------------------------------- */
 /* --- INCLUDES ------------------------------------------------------------- */
 /* -------------------------------------------------------------------------- */
-// #include <dynamic-graph/all-signals.h>
 #include <dynamic-graph/all-signals.h>
-//#include <sot/TimeDependancy.h>
 #include <iostream>
-
 #include <MatrixAbstractLayer/boost.h>
 
 using namespace std;
+using namespace dynamicgraph;
 
 namespace ml = maal::boost;
 
diff --git a/unitTesting/signal/test_depend.cpp b/unitTesting/signal/test_depend.cpp
index ae0a8dc9f3f89367d3f0fabca07c6dbc8fdfa92a..8ef005bf8291a8fc0d09f7a5afc021c18f598e93 100644
--- a/unitTesting/signal/test_depend.cpp
+++ b/unitTesting/signal/test_depend.cpp
@@ -30,6 +30,7 @@
 #include <MatrixAbstractLayer/boost.h>
 
 using namespace std;
+using namespace dynamicgraph;
 
 namespace ml = maal::boost;
 
diff --git a/unitTesting/signal/test_ptr.cpp b/unitTesting/signal/test_ptr.cpp
index ee3f8996ede15f765d59045c57d2a5f5978c0a91..1cbfc99419cc1eb619ee50d0eedc0ae65b12cb18 100644
--- a/unitTesting/signal/test_ptr.cpp
+++ b/unitTesting/signal/test_ptr.cpp
@@ -30,6 +30,7 @@
 
 using namespace std;
 using namespace sot;
+using namespace dynamicgraph;
 
 namespace ml = maal::boost;
 
diff --git a/unitTesting/signal/test_signal.cpp b/unitTesting/signal/test_signal.cpp
index 420214e311dc8458a461dea9fd888f66d96c970a..bd75071b5e7e89b3f489165387fe81eacda6684b 100644
--- a/unitTesting/signal/test_signal.cpp
+++ b/unitTesting/signal/test_signal.cpp
@@ -25,6 +25,7 @@
 #include <iostream>
 #include <MatrixAbstractLayer/boost.h>
 using namespace std;
+using namespace dynamicgraph;
 
 namespace ml = maal::boost;