diff --git a/CMakeLists.txt b/CMakeLists.txt
index 74cf91f..890a479 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,295 @@
-cmake_minimum_required(VERSION 3.26)
+cmake_minimum_required(VERSION 3.16)
+
+project(OndselSolver VERSION 1.0.1 DESCRIPTION "Assembly Constraints and Multibody Dynamics code")
+
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
 
-# add_library(some_target main.cpp)
+set(ONDSEL_EXPORT
+        MbDCode/Abs.cpp
+        MbDCode/AbsConstraint.cpp
+        MbDCode/AccICKineNewtonRaphson.cpp
+        MbDCode/AccICNewtonRaphson.cpp
+        MbDCode/AccKineNewtonRaphson.cpp
+        MbDCode/AccNewtonRaphson.cpp
+        MbDCode/AngleJoint.cpp
+        MbDCode/AngleZIecJec.cpp
+        MbDCode/AngleZIeqcJec.cpp
+        MbDCode/AngleZIeqcJeqc.cpp
+        MbDCode/AnyGeneralSpline.cpp
+        MbDCode/AnyPosICNewtonRaphson.cpp
+        MbDCode/ArcTan.cpp
+        MbDCode/ArcTan2.cpp
+        MbDCode/Array.cpp
+        MbDCode/ASMTAnimationParameters.cpp
+        MbDCode/ASMTAssembly.cpp
+        MbDCode/ASMTConstantGravity.cpp
+        MbDCode/ASMTConstraintSet.cpp
+        MbDCode/ASMTCylindricalJoint.cpp
+        MbDCode/ASMTExtrusion.cpp
+        MbDCode/ASMTFixedJoint.cpp
+        MbDCode/ASMTForceTorque.cpp
+        MbDCode/ASMTGeneralMotion.cpp
+        MbDCode/ASMTItem.cpp
+        MbDCode/ASMTItemIJ.cpp
+        MbDCode/ASMTJoint.cpp
+        MbDCode/ASMTKinematicIJ.cpp
+        MbDCode/ASMTMarker.cpp
+        MbDCode/ASMTMotion.cpp
+        MbDCode/ASMTPart.cpp
+        MbDCode/ASMTPointInPlaneJoint.cpp
+        MbDCode/ASMTPrincipalMassMarker.cpp
+        MbDCode/ASMTRefCurve.cpp
+        MbDCode/ASMTRefItem.cpp
+        MbDCode/ASMTRefPoint.cpp
+        MbDCode/ASMTRefSurface.cpp
+        MbDCode/ASMTRevoluteJoint.cpp
+        MbDCode/ASMTRotationalMotion.cpp
+        MbDCode/ASMTSimulationParameters.cpp
+        MbDCode/ASMTSpatialContainer.cpp
+        MbDCode/ASMTSpatialItem.cpp
+        MbDCode/ASMTSphericalJoint.cpp
+        MbDCode/ASMTTime.cpp
+        MbDCode/ASMTTranslationalMotion.cpp
+        MbDCode/ASMTTranslationalJoint.cpp
+        MbDCode/ASMTUniversalJoint.cpp
+        MbDCode/AtPointConstraintIJ.cpp
+        MbDCode/AtPointConstraintIqcJc.cpp
+        MbDCode/AtPointConstraintIqcJqc.cpp
+        MbDCode/AtPointConstraintIqctJqc.cpp
+        MbDCode/AtPointJoint.cpp
+        MbDCode/BasicIntegrator.cpp
+        MbDCode/BasicQuasiIntegrator.cpp
+        MbDCode/BasicUserFunction.cpp
+        MbDCode/CADSystem.cpp
+        MbDCode/CartesianFrame.cpp
+        MbDCode/CompoundJoint.cpp
+        MbDCode/Constant.cpp
+        MbDCode/ConstantGravity.cpp
+        MbDCode/ConstantVelocityJoint.cpp
+        MbDCode/Constraint.cpp
+        MbDCode/ConstraintIJ.cpp
+        MbDCode/ConstVelConstraintIJ.cpp
+        MbDCode/ConstVelConstraintIqcJc.cpp
+        MbDCode/ConstVelConstraintIqcJqc.cpp
+        MbDCode/Cosine.cpp
+        MbDCode/CREATE.cpp
+        MbDCode/CylindricalJoint.cpp
+        MbDCode/CylSphJoint.cpp
+        MbDCode/DifferentiatedGeneralSpline.cpp
+        MbDCode/EndFrameqct2.cpp
+        MbDCode/EulerAngles.cpp
+        MbDCode/EulerAnglesDDot.cpp
+        MbDCode/EulerAnglesDot.cpp
+        MbDCode/Exponential.cpp
+        MbDCode/ExternalSystem.cpp
+        MbDCode/FunctionFromData.cpp
+        MbDCode/FunctionXcParameter.cpp
+        MbDCode/FunctionXY.cpp
+        MbDCode/GeneralSpline.cpp
+        MbDCode/Ln.cpp
+        MbDCode/Log10.cpp
+        MbDCode/LogN.cpp
+        MbDCode/Negative.cpp
+        MbDCode/PosVelAccData.cpp
+        MbDCode/DiagonalMatrix.cpp
+        MbDCode/DifferenceOperator.cpp
+        MbDCode/DirectionCosineConstraintIJ.cpp
+        MbDCode/DirectionCosineConstraintIqcJc.cpp
+        MbDCode/DirectionCosineConstraintIqcJqc.cpp
+        MbDCode/DirectionCosineConstraintIqctJqc.cpp
+        MbDCode/DirectionCosineIecJec.cpp
+        MbDCode/DirectionCosineIeqcJec.cpp
+        MbDCode/DirectionCosineIeqcJeqc.cpp
+        MbDCode/DirectionCosineIeqctJeqc.cpp
+        MbDCode/DiscontinuityError.cpp
+        MbDCode/DispCompIecJecIe.cpp
+        MbDCode/DispCompIecJecKec.cpp
+        MbDCode/DispCompIecJecKeqc.cpp
+        MbDCode/DispCompIecJecO.cpp
+        MbDCode/DispCompIeqcJecIe.cpp
+        MbDCode/DispCompIeqcJecKeqc.cpp
+        MbDCode/DispCompIeqcJecO.cpp
+        MbDCode/DispCompIeqcJeqcIe.cpp
+        MbDCode/DispCompIeqcJeqcKeqc.cpp
+        MbDCode/DispCompIeqcJeqcKeqct.cpp
+        MbDCode/DispCompIeqcJeqcO.cpp
+        MbDCode/DispCompIeqctJeqcIe.cpp
+        MbDCode/DispCompIeqctJeqcKeqct.cpp
+        MbDCode/DispCompIeqctJeqcO.cpp
+        MbDCode/DistanceConstraintIJ.cpp
+        MbDCode/DistanceConstraintIqcJc.cpp
+        MbDCode/DistanceConstraintIqcJqc.cpp
+        MbDCode/DistanceConstraintIqctJqc.cpp
+        MbDCode/DistancexyConstraintIJ.cpp
+        MbDCode/DistancexyConstraintIqcJc.cpp
+        MbDCode/DistancexyConstraintIqcJqc.cpp
+        MbDCode/DistIecJec.cpp
+        MbDCode/DistIeqcJec.cpp
+        MbDCode/DistIeqcJeqc.cpp
+        MbDCode/DistIeqctJeqc.cpp
+        MbDCode/DistxyIecJec.cpp
+        MbDCode/DistxyIeqcJec.cpp
+        MbDCode/DistxyIeqcJeqc.cpp
+        MbDCode/DistxyIeqctJeqc.cpp
+        MbDCode/EndFramec.cpp
+        MbDCode/EndFrameqc.cpp
+        MbDCode/EndFrameqct.cpp
+        MbDCode/EulerAngleszxz.cpp
+        MbDCode/EulerAngleszxzDDot.cpp
+        MbDCode/EulerAngleszxzDot.cpp
+        MbDCode/EulerArray.cpp
+        MbDCode/EulerConstraint.cpp
+        MbDCode/EulerParameters.cpp
+        MbDCode/EulerParametersDDot.cpp
+        MbDCode/EulerParametersDot.cpp
+        MbDCode/ExpressionX.cpp
+        MbDCode/FixedJoint.cpp
+        MbDCode/ForceTorqueData.cpp
+        MbDCode/ForceTorqueItem.cpp
+        MbDCode/FullColumn.cpp
+        MbDCode/FullMatrix.cpp
+        MbDCode/FullMotion.cpp
+        MbDCode/FullRow.cpp
+        MbDCode/Function.cpp
+        MbDCode/FunctionWithManyArgs.cpp
+        MbDCode/FunctionX.cpp
+        MbDCode/GearConstraintIJ.cpp
+        MbDCode/GearConstraintIqcJc.cpp
+        MbDCode/GearConstraintIqcJqc.cpp
+        MbDCode/GearJoint.cpp
+        MbDCode/GEFullMat.cpp
+        MbDCode/GEFullMatFullPv.cpp
+        MbDCode/GEFullMatParPv.cpp
+        MbDCode/GESpMat.cpp
+        MbDCode/GESpMatFullPv.cpp
+        MbDCode/GESpMatFullPvPosIC.cpp
+        MbDCode/GESpMatParPv.cpp
+        MbDCode/GESpMatParPvMarko.cpp
+        MbDCode/GESpMatParPvMarkoFast.cpp
+        MbDCode/GESpMatParPvPrecise.cpp
+        MbDCode/ICKineIntegrator.cpp
+        MbDCode/IndependentVariable.cpp
+        MbDCode/InLineJoint.cpp
+        MbDCode/InPlaneJoint.cpp
+        MbDCode/Integrator.cpp
+        MbDCode/IntegratorInterface.cpp
+        MbDCode/Item.cpp
+        MbDCode/Joint.cpp
+        MbDCode/KineIntegrator.cpp
+        MbDCode/KinematicIeJe.cpp
+        MbDCode/LDUFullMatParPv.cpp
+        MbDCode/LDUSpMat.cpp
+        MbDCode/LDUSpMatParPv.cpp
+        MbDCode/LDUSpMatParPvMarko.cpp
+        MbDCode/LDUSpMatParPvPrecise.cpp
+        MbDCode/LinearMultiStepMethod.cpp
+        MbDCode/LineInPlaneJoint.cpp
+        MbDCode/MarkerFrame.cpp
+        MbDCode/Math.cpp
+        MbDCode/MatrixDecomposition.cpp
+        MbDCode/MatrixGaussElimination.cpp
+        MbDCode/MatrixLDU.cpp
+        MbDCode/MatrixSolver.cpp
+        MbDCode/MaximumIterationError.cpp
+        MbDCode/NewtonRaphson.cpp
+        MbDCode/NewtonRaphsonError.cpp
+        MbDCode/NoRotationJoint.cpp
+        MbDCode/NotKinematicError.cpp
+        MbDCode/Numeric.cpp
+        MbDCode/OrbitAnglezIecJec.cpp
+        MbDCode/OrbitAnglezIeqcJec.cpp
+        MbDCode/OrbitAnglezIeqcJeqc.cpp
+        MbDCode/Orientation.cpp
+        MbDCode/ParallelAxesJoint.cpp
+        MbDCode/Part.cpp
+        MbDCode/PartFrame.cpp
+        MbDCode/PerpendicularJoint.cpp
+        MbDCode/PlanarJoint.cpp
+        MbDCode/PointInLineJoint.cpp
+        MbDCode/PointInPlaneJoint.cpp
+        MbDCode/PosICKineNewtonRaphson.cpp
+        MbDCode/PosICNewtonRaphson.cpp
+        MbDCode/PosKineNewtonRaphson.cpp
+        MbDCode/PosNewtonRaphson.cpp
+        MbDCode/Power.cpp
+        MbDCode/PrescribedMotion.cpp
+        MbDCode/Product.cpp
+        MbDCode/QuasiIntegrator.cpp
+        MbDCode/RackPinConstraintIJ.cpp
+        MbDCode/RackPinConstraintIqcJc.cpp
+        MbDCode/RackPinConstraintIqcJqc.cpp
+        MbDCode/RackPinJoint.cpp
+        MbDCode/Reciprocal.cpp
+        MbDCode/RedundantConstraint.cpp
+        MbDCode/RevCylJoint.cpp
+        MbDCode/RevoluteJoint.cpp
+        MbDCode/RowTypeMatrix.cpp
+        MbDCode/ScalarNewtonRaphson.cpp
+        MbDCode/ScrewConstraintIJ.cpp
+        MbDCode/ScrewConstraintIqcJc.cpp
+        MbDCode/ScrewConstraintIqcJqc.cpp
+        MbDCode/ScrewJoint.cpp
+        MbDCode/SimulationStoppingError.cpp
+        MbDCode/Sine.cpp
+        MbDCode/SingularMatrixError.cpp
+        MbDCode/Solver.cpp
+        MbDCode/SparseColumn.cpp
+        MbDCode/SparseMatrix.cpp
+        MbDCode/SparseRow.cpp
+        MbDCode/SparseVector.cpp
+        MbDCode/SphericalJoint.cpp
+        MbDCode/SphSphJoint.cpp
+        MbDCode/StableBackwardDifference.cpp
+        MbDCode/LDUFullMat.cpp
+        MbDCode/StateData.cpp
+        MbDCode/Sum.cpp
+        MbDCode/Symbolic.cpp
+        MbDCode/SymbolicParser.cpp
+        MbDCode/SyntaxError.cpp
+        MbDCode/System.cpp
+        MbDCode/SystemNewtonRaphson.cpp
+        MbDCode/SystemSolver.cpp
+        MbDCode/Time.cpp
+        MbDCode/TooManyTriesError.cpp
+        MbDCode/TooSmallStepSizeError.cpp
+        MbDCode/Translation.cpp
+        MbDCode/TranslationalJoint.cpp
+        MbDCode/TranslationConstraintIJ.cpp
+        MbDCode/TranslationConstraintIqcJc.cpp
+        MbDCode/TranslationConstraintIqcJqc.cpp
+        MbDCode/TranslationConstraintIqctJqc.cpp
+        MbDCode/Units.cpp
+        MbDCode/UniversalJoint.cpp
+        MbDCode/UserFunction.cpp
+        MbDCode/Variable.cpp
+        MbDCode/FullVector.cpp
+        MbDCode/VectorNewtonRaphson.cpp
+        MbDCode/VelICKineSolver.cpp
+        MbDCode/VelICSolver.cpp
+        MbDCode/VelKineSolver.cpp
+        MbDCode/VelSolver.cpp
+        MbDCode/ZRotation.cpp
+        MbDCode/ZTranslation.cpp
+        MbDCode/ASMTAssembly.cpp
+)
+
 add_executable(ondsel-solver MbDCode/MbDCode.cpp)
+
+add_library(OndselSolver
+        STATIC ${ONDSEL_EXPORT}
+)
+
 add_subdirectory(MbDCode)
+
+set_target_properties(OndselSolver
+        PROPERTIES VERSION ${PROJECT_VERSION}
+        SOVERSION 1
+)
+
+configure_file(OndselSolver.pc.in OndselSolver.pc @ONLY)
+install(TARGETS OndselSolver
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(FILES ${CMAKE_BINARY_DIR}/OndselSolver.pc
+        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
diff --git a/MbDCode/CMakeLists.txt b/MbDCode/CMakeLists.txt
index 85c099a..eeb39c6 100644
--- a/MbDCode/CMakeLists.txt
+++ b/MbDCode/CMakeLists.txt
@@ -266,3 +266,274 @@ target_sources(ondsel-solver PUBLIC
         ZTranslation.cpp
         ASMTAssembly.cpp
 )
+
+target_sources(OndselSolver PUBLIC
+        Abs.h
+        AbsConstraint.h
+        AccICKineNewtonRaphson.h
+        AccICNewtonRaphson.h
+        AccKineNewtonRaphson.h
+        AccNewtonRaphson.h
+        AngleJoint.h
+        AngleZIecJec.h
+        AngleZIeqcJec.h
+        AngleZIeqcJeqc.h
+        AnyGeneralSpline.h
+        AnyPosICNewtonRaphson.h
+        ArcTan.h
+        ArcTan2.h
+        Array.h
+        ASMTAnimationParameters.h
+        ASMTAssembly.h
+        ASMTConstantGravity.h
+        ASMTConstraintSet.h
+        ASMTCylindricalJoint.h
+        ASMTExtrusion.h
+        ASMTFixedJoint.h
+        ASMTForceTorque.h
+        ASMTGeneralMotion.h
+        ASMTItem.h
+        ASMTItemIJ.h
+        ASMTJoint.h
+        ASMTKinematicIJ.h
+        ASMTMarker.h
+        ASMTMotion.h
+        ASMTPart.h
+        ASMTPointInPlaneJoint.h
+        ASMTPrincipalMassMarker.h
+        ASMTRefCurve.h
+        ASMTRefItem.h
+        ASMTRefPoint.h
+        ASMTRefSurface.h
+        ASMTRevoluteJoint.h
+        ASMTRotationalMotion.h
+        ASMTSimulationParameters.h
+        ASMTSpatialContainer.h
+        ASMTSpatialItem.h
+        ASMTSphericalJoint.h
+        ASMTTime.h
+        ASMTTranslationalMotion.h
+        ASMTTranslationalJoint.h
+        ASMTUniversalJoint.h
+        AtPointConstraintIJ.h
+        AtPointConstraintIqcJc.h
+        AtPointConstraintIqcJqc.h
+        AtPointConstraintIqctJqc.h
+        AtPointJoint.h
+        BasicIntegrator.h
+        BasicQuasiIntegrator.h
+        BasicUserFunction.h
+        CADSystem.h
+        CartesianFrame.h
+        CompoundJoint.h
+        Constant.h
+        ConstantGravity.h
+        ConstantVelocityJoint.h
+        Constraint.h
+        ConstraintIJ.h
+        ConstVelConstraintIJ.h
+        ConstVelConstraintIqcJc.h
+        ConstVelConstraintIqcJqc.h
+        Cosine.h
+        CREATE.h
+        CylindricalJoint.h
+        CylSphJoint.h
+        DifferentiatedGeneralSpline.h
+        EndFrameqct2.h
+        EulerAngles.h
+        EulerAnglesDDot.h
+        EulerAnglesDot.h
+        Exponential.h
+        ExternalSystem.h
+        FunctionFromData.h
+        FunctionXcParameter.h
+        FunctionXY.h
+        GeneralSpline.h
+        Ln.h
+        Log10.h
+        LogN.h
+        Negative.h
+        PosVelAccData.h
+        DiagonalMatrix.h
+        DifferenceOperator.h
+        DirectionCosineConstraintIJ.h
+        DirectionCosineConstraintIqcJc.h
+        DirectionCosineConstraintIqcJqc.h
+        DirectionCosineConstraintIqctJqc.h
+        DirectionCosineIecJec.h
+        DirectionCosineIeqcJec.h
+        DirectionCosineIeqcJeqc.h
+        DirectionCosineIeqctJeqc.h
+        DiscontinuityError.h
+        DispCompIecJecIe.h
+        DispCompIecJecKec.h
+        DispCompIecJecKeqc.h
+        DispCompIecJecO.h
+        DispCompIeqcJecIe.h
+        DispCompIeqcJecKeqc.h
+        DispCompIeqcJecO.h
+        DispCompIeqcJeqcIe.h
+        DispCompIeqcJeqcKeqc.h
+        DispCompIeqcJeqcKeqct.h
+        DispCompIeqcJeqcO.h
+        DispCompIeqctJeqcIe.h
+        DispCompIeqctJeqcKeqct.h
+        DispCompIeqctJeqcO.h
+        DistanceConstraintIJ.h
+        DistanceConstraintIqcJc.h
+        DistanceConstraintIqcJqc.h
+        DistanceConstraintIqctJqc.h
+        DistancexyConstraintIJ.h
+        DistancexyConstraintIqcJc.h
+        DistancexyConstraintIqcJqc.h
+        DistIecJec.h
+        DistIeqcJec.h
+        DistIeqcJeqc.h
+        DistIeqctJeqc.h
+        DistxyIecJec.h
+        DistxyIeqcJec.h
+        DistxyIeqcJeqc.h
+        DistxyIeqctJeqc.h
+        EndFramec.h
+        EndFrameqc.h
+        EndFrameqct.h
+        enum.h
+        EulerAngleszxz.h
+        EulerAngleszxzDDot.h
+        EulerAngleszxzDot.h
+        EulerArray.h
+        EulerConstraint.h
+        EulerParameters.h
+        EulerParametersDDot.h
+        EulerParametersDot.h
+        ExpressionX.h
+        FixedJoint.h
+        ForceTorqueData.h
+        ForceTorqueItem.h
+        FullColumn.h
+        FullMatrix.h
+        FullMotion.h
+        FullRow.h
+        Function.h
+        FunctionWithManyArgs.h
+        FunctionX.h
+        GearConstraintIJ.h
+        GearConstraintIqcJc.h
+        GearConstraintIqcJqc.h
+        GearJoint.h
+        GEFullMat.h
+        GEFullMatFullPv.h
+        GEFullMatParPv.h
+        GESpMat.h
+        GESpMatFullPv.h
+        GESpMatFullPvPosIC.h
+        GESpMatParPv.h
+        GESpMatParPvMarko.h
+        GESpMatParPvMarkoFast.h
+        GESpMatParPvPrecise.h
+        ICKineIntegrator.h
+        IndependentVariable.h
+        InLineJoint.h
+        InPlaneJoint.h
+        Integrator.h
+        IntegratorInterface.h
+        Item.h
+        Joint.h
+        KineIntegrator.h
+        KinematicIeJe.h
+        LDUFullMatParPv.h
+        LDUSpMat.h
+        LDUSpMatParPv.h
+        LDUSpMatParPvMarko.h
+        LDUSpMatParPvPrecise.h
+        LinearMultiStepMethod.h
+        LineInPlaneJoint.h
+        MarkerFrame.h
+        Math.h
+        MatrixDecomposition.h
+        MatrixGaussElimination.h
+        MatrixLDU.h
+        MatrixSolver.h
+        MaximumIterationError.h
+        MbDCode.h
+        NewtonRaphson.h
+        NewtonRaphsonError.h
+        NoRotationJoint.h
+        NotKinematicError.h
+        Numeric.h
+        OrbitAnglezIecJec.h
+        OrbitAnglezIeqcJec.h
+        OrbitAnglezIeqcJeqc.h
+        Orientation.h
+        ParallelAxesJoint.h
+        Part.h
+        PartFrame.h
+        PerpendicularJoint.h
+        PlanarJoint.h
+        PointInLineJoint.h
+        PointInPlaneJoint.h
+        PosICKineNewtonRaphson.h
+        PosICNewtonRaphson.h
+        PosKineNewtonRaphson.h
+        PosNewtonRaphson.h
+        Power.h
+        PrescribedMotion.h
+        Product.h
+        QuasiIntegrator.h
+        RackPinConstraintIJ.h
+        RackPinConstraintIqcJc.h
+        RackPinConstraintIqcJqc.h
+        RackPinJoint.h
+        Reciprocal.h
+        RedundantConstraint.h
+        resource.h
+        RevCylJoint.h
+        RevoluteJoint.h
+        RowTypeMatrix.h
+        ScalarNewtonRaphson.h
+        ScrewConstraintIJ.h
+        ScrewConstraintIqcJc.h
+        ScrewConstraintIqcJqc.h
+        ScrewJoint.h
+        SimulationStoppingError.h
+        Sine.h
+        SingularMatrixError.h
+        Solver.h
+        SparseColumn.h
+        SparseMatrix.h
+        SparseRow.h
+        SparseVector.h
+        SphericalJoint.h
+        SphSphJoint.h
+        StableBackwardDifference.h
+        LDUFullMat.h
+        StateData.h
+        Sum.h
+        Symbolic.h
+        SymbolicParser.h
+        SyntaxError.h
+        System.h
+        SystemNewtonRaphson.h
+        SystemSolver.h
+        Time.h
+        TooManyTriesError.h
+        TooSmallStepSizeError.h
+        Translation.h
+        TranslationalJoint.h
+        TranslationConstraintIJ.h
+        TranslationConstraintIqcJc.h
+        TranslationConstraintIqcJqc.h
+        TranslationConstraintIqctJqc.h
+        Units.h
+        UniversalJoint.h
+        UserFunction.h
+        Variable.h
+        FullVector.h
+        VectorNewtonRaphson.h
+        VelICKineSolver.h
+        VelICSolver.h
+        VelKineSolver.h
+        VelSolver.h
+        ZRotation.h
+        ZTranslation.h
+)
\ No newline at end of file
diff --git a/MbDCode/MbDCode.cpp b/MbDCode/MbDCode.cpp
index 4adb2f3..da440d9 100644
--- a/MbDCode/MbDCode.cpp
+++ b/MbDCode/MbDCode.cpp
@@ -12,10 +12,7 @@
  * @brief Program to assemble a piston crank system.
  *********************************************************************/
 
-#include <iostream>	
-#include <fstream>	
 #include <filesystem>
-
 #include "CADSystem.h"
 #include "CREATE.h"
 #include "GESpMatParPvPrecise.h"
diff --git a/OndselSolver.pc.in b/OndselSolver.pc.in
new file mode 100644
index 0000000..076f352
--- /dev/null
+++ b/OndselSolver.pc.in
@@ -0,0 +1,12 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=@CMAKE_INSTALL_PREFIX@
+libdir=${exec_prefix}/@CMAKE_INSTALL_LIBDIR@
+includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
+
+Name: @PROJECT_NAME@
+Description: @PROJECT_DESCRIPTION@
+Version: @PROJECT_VERSION@
+
+Requires:
+Libs: -L${libdir} -lOndselSolver
+Cflags: -I${includedir}
\ No newline at end of file