Index: trunk/lib/FlairFilter/src/Ahrs.h
===================================================================
--- trunk/lib/FlairFilter/src/Ahrs.h	(revision 165)
+++ trunk/lib/FlairFilter/src/Ahrs.h	(revision 167)
@@ -19,8 +19,4 @@
 namespace flair {
   namespace core {
-    class Euler;
-    class Vector3D;
-    class ImuData;
-    class Quaternion;
     class AhrsData;
   }
Index: trunk/lib/FlairFilter/src/AhrsComplementaryFilter.cpp
===================================================================
--- trunk/lib/FlairFilter/src/AhrsComplementaryFilter.cpp	(revision 165)
+++ trunk/lib/FlairFilter/src/AhrsComplementaryFilter.cpp	(revision 167)
@@ -64,5 +64,5 @@
     AhrsData* ahrsData;
     GetDatas(&ahrsData);
-    Vector3D rawAcc,rawMag,rawGyr;
+    Vector3Df rawAcc,rawMag,rawGyr;
     input->GetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
 
@@ -70,7 +70,7 @@
     previous_time=data->DataTime();
 
-    Vector3D aBar,aHat,aTilde;
-    Vector3D mBar,mHat,mTilde;
-    Vector3D alpha,dBHat,omegaHat;
+    Vector3Df aBar,aHat,aTilde;
+    Vector3Df mBar,mHat,mTilde;
+    Vector3Df alpha,dBHat,omegaHat;
     Quaternion dQHat;
 
Index: trunk/lib/FlairFilter/src/AhrsComplementaryFilter.h
===================================================================
--- trunk/lib/FlairFilter/src/AhrsComplementaryFilter.h	(revision 165)
+++ trunk/lib/FlairFilter/src/AhrsComplementaryFilter.h	(revision 167)
@@ -66,5 +66,5 @@
             bool isInit;
             core::Quaternion QHat;
-            core::Vector3D BHat;
+            core::Vector3Df BHat;
             gui::DoubleSpinBox *ka[3];
             gui::DoubleSpinBox *kb[3];
Index: trunk/lib/FlairFilter/src/AhrsKalman_impl.cpp
===================================================================
--- trunk/lib/FlairFilter/src/AhrsKalman_impl.cpp	(revision 165)
+++ trunk/lib/FlairFilter/src/AhrsKalman_impl.cpp	(revision 167)
@@ -86,5 +86,5 @@
     ImuData *input=(ImuData*)data;
     float delta_t;
-    Vector3D rawAcc,rawMag,rawGyr;
+    Vector3Df rawAcc,rawMag,rawGyr;
 
     input->GetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
@@ -115,5 +115,5 @@
 
         ahrsData->SetQuaternionAndAngularRates(euler.ToQuaternion(),
-                                               rawGyr-Vector3D(ars_roll.x_bias,ars_pitch.x_bias,0));
+                                               rawGyr-Vector3Df(ars_roll.x_bias,ars_pitch.x_bias,0));
     } else {
         is_init=true;
Index: trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp
===================================================================
--- trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp	(revision 165)
+++ trunk/lib/FlairFilter/src/Gx3_25_ahrs.cpp	(revision 167)
@@ -44,5 +44,5 @@
 
   Quaternion quaternion;
-  Vector3D filteredAngRates;
+  Vector3Df filteredAngRates;
   input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
   GetImu()->GetOneAxisRotation()->ComputeRotation(quaternion);
Index: trunk/lib/FlairFilter/src/JoyReference_impl.cpp
===================================================================
--- trunk/lib/FlairFilter/src/JoyReference_impl.cpp	(revision 165)
+++ trunk/lib/FlairFilter/src/JoyReference_impl.cpp	(revision 167)
@@ -168,8 +168,8 @@
   input->GetMutex();
 
-  Vector3D theta_xy(
+  Vector3Df theta_xy(
       -Euler::ToRadian(input->ValueNoMutex(0, 0) * deb_roll->Value()),
       -Euler::ToRadian(input->ValueNoMutex(1, 0) * deb_pitch->Value()), 0);
-  Vector3D e_bar = theta_xy;
+  Vector3Df e_bar = theta_xy;
   e_bar.Normalize();
   Quaternion q_xy(cos(theta_xy.GetNorm() / 2.0f),
@@ -192,5 +192,5 @@
   input->ReleaseMutex();
 
-  ahrsData->SetQuaternionAndAngularRates(q_ref, Vector3D(0, 0, wz_ref));
+  ahrsData->SetQuaternionAndAngularRates(q_ref, Vector3Df(0, 0, wz_ref));
 
   // ouput quaternion for control law
Index: trunk/lib/FlairFilter/src/SimuAhrs.cpp
===================================================================
--- trunk/lib/FlairFilter/src/SimuAhrs.cpp	(revision 165)
+++ trunk/lib/FlairFilter/src/SimuAhrs.cpp	(revision 167)
@@ -42,5 +42,5 @@
 
   Quaternion quaternion;
-  Vector3D filteredAngRates;
+  Vector3Df filteredAngRates;
   input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
   output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
Index: trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.cpp
===================================================================
--- trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.cpp	(revision 165)
+++ trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.cpp	(revision 167)
@@ -48,5 +48,5 @@
 }
 
-void TrajectoryGenerator2DCircle::StartTraj(const Vector2D &start_pos,
+void TrajectoryGenerator2DCircle::StartTraj(const Vector2Df &start_pos,
                                             float nb_lap) {
   pimpl_->StartTraj(start_pos, nb_lap);
@@ -57,19 +57,19 @@
 void TrajectoryGenerator2DCircle::StopTraj(void) { pimpl_->is_running = false; }
 
-void TrajectoryGenerator2DCircle::GetPosition(Vector2D &point) const {
+void TrajectoryGenerator2DCircle::GetPosition(Vector2Df &point) const {
   point.x = pimpl_->output->Value(0, 0);
   point.y = pimpl_->output->Value(0, 1);
 }
 
-void TrajectoryGenerator2DCircle::SetCenter(const Vector2D &value) {
+void TrajectoryGenerator2DCircle::SetCenter(const Vector2Df &value) {
   pimpl_->pos_off = value;
 }
 
-void TrajectoryGenerator2DCircle::GetSpeed(Vector2D &point) const {
+void TrajectoryGenerator2DCircle::GetSpeed(Vector2Df &point) const {
   point.x = pimpl_->output->Value(1, 0);
   point.y = pimpl_->output->Value(1, 1);
 }
 
-void TrajectoryGenerator2DCircle::SetCenterSpeed(const Vector2D &value) {
+void TrajectoryGenerator2DCircle::SetCenterSpeed(const Vector2Df &value) {
   pimpl_->vel_off = value;
 }
Index: trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.h
===================================================================
--- trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.h	(revision 165)
+++ trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle.h	(revision 167)
@@ -15,9 +15,9 @@
 
 #include <IODevice.h>
+#include <Vector2D.h>
 
 namespace flair {
 namespace core {
 class cvmatrix;
-class Vector2D;
 }
 namespace gui {
@@ -72,5 +72,5 @@
   * \param nb_lap number of laps, -1 for infinite
   */
-  void StartTraj(const core::Vector2D &start_pos, float nb_lap = -1);
+  void StartTraj(const core::Vector2Df &start_pos, float nb_lap = -1);
 
   /*!
@@ -93,5 +93,5 @@
   * \param value center position
   */
-  void SetCenter(const core::Vector2D &value);
+  void SetCenter(const core::Vector2Df &value);
 
   /*!
@@ -100,5 +100,5 @@
   * \param value center speed
   */
-  void SetCenterSpeed(const core::Vector2D &value);
+  void SetCenterSpeed(const core::Vector2Df &value);
 
   /*!
@@ -117,5 +117,5 @@
   * \param point returned position
   */
-  void GetPosition(core::Vector2D &point) const;
+  void GetPosition(core::Vector2Df &point) const;
 
   /*!
@@ -124,5 +124,5 @@
   * \param point returned speed
   */
-  void GetSpeed(core::Vector2D &point) const;
+  void GetSpeed(core::Vector2Df &point) const;
 
   /*!
Index: trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle_impl.cpp
===================================================================
--- trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle_impl.cpp	(revision 165)
+++ trunk/lib/FlairFilter/src/TrajectoryGenerator2DCircle_impl.cpp	(revision 167)
@@ -64,5 +64,5 @@
 }
 
-void TrajectoryGenerator2DCircle_impl::StartTraj(const Vector2D &start_pos,
+void TrajectoryGenerator2DCircle_impl::StartTraj(const Vector2Df &start_pos,
                                                  float nb_lap) {
   is_running = true;
@@ -89,5 +89,5 @@
   float A = acceleration->Value();
   float R = rayon->Value();
-  Vector2D v;
+  Vector2Df v;
 
   if (V < 0)
Index: trunk/lib/FlairFilter/src/unexported/TrajectoryGenerator2DCircle_impl.h
===================================================================
--- trunk/lib/FlairFilter/src/unexported/TrajectoryGenerator2DCircle_impl.h	(revision 165)
+++ trunk/lib/FlairFilter/src/unexported/TrajectoryGenerator2DCircle_impl.h	(revision 167)
@@ -43,9 +43,9 @@
   ~TrajectoryGenerator2DCircle_impl();
   void Update(flair::core::Time time);
-  void StartTraj(const flair::core::Vector2D &start_pos, float nb_lap);
+  void StartTraj(const flair::core::Vector2Df &start_pos, float nb_lap);
   void FinishTraj(void);
   bool is_running;
   flair::core::cvmatrix *output;
-  flair::core::Vector2D pos_off, vel_off;
+  flair::core::Vector2Df pos_off, vel_off;
 
 private:
@@ -53,5 +53,5 @@
   float CurrentTime, FinishTime;
   bool first_update, is_finishing;
-  flair::core::Vector2D pos;
+  flair::core::Vector2Df pos;
   float angle_off;
   flair::gui::DoubleSpinBox *T, *veloctity, *acceleration, *rayon;
