diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1f379c1..bc49d4a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,7 +7,9 @@ set(CMAKE_CXX_STANDARD_REQUIRED True)
 
 include(GNUInstallDirs)
 
-set(ONDSEL_EXPORT
+add_library(OndselSolver STATIC)
+
+set(ONDSELSOLVER_SRC
         OndselSolver/Abs.cpp
         OndselSolver/AbsConstraint.cpp
         OndselSolver/AccICKineNewtonRaphson.cpp
@@ -20,6 +22,7 @@ set(ONDSEL_EXPORT
         OndselSolver/AngleZIeqcJeqc.cpp
         OndselSolver/AnyGeneralSpline.cpp
         OndselSolver/AnyPosICNewtonRaphson.cpp
+        OndselSolver/ArcSine.cpp
         OndselSolver/ArcTan.cpp
         OndselSolver/ArcTan2.cpp
         OndselSolver/Array.cpp
@@ -38,7 +41,9 @@ set(ONDSEL_EXPORT
         OndselSolver/ASMTKinematicIJ.cpp
         OndselSolver/ASMTMarker.cpp
         OndselSolver/ASMTMotion.cpp
+        OndselSolver/ASMTNoRotationJoint.cpp
         OndselSolver/ASMTPart.cpp
+        OndselSolver/ASMTPointInLineJoint.cpp
         OndselSolver/ASMTPointInPlaneJoint.cpp
         OndselSolver/ASMTPrincipalMassMarker.cpp
         OndselSolver/ASMTRefCurve.cpp
@@ -52,8 +57,8 @@ set(ONDSEL_EXPORT
         OndselSolver/ASMTSpatialItem.cpp
         OndselSolver/ASMTSphericalJoint.cpp
         OndselSolver/ASMTTime.cpp
-        OndselSolver/ASMTTranslationalMotion.cpp
         OndselSolver/ASMTTranslationalJoint.cpp
+        OndselSolver/ASMTTranslationalMotion.cpp
         OndselSolver/ASMTUniversalJoint.cpp
         OndselSolver/AtPointConstraintIJ.cpp
         OndselSolver/AtPointConstraintIqcJc.cpp
@@ -78,24 +83,9 @@ set(ONDSEL_EXPORT
         OndselSolver/CREATE.cpp
         OndselSolver/CylindricalJoint.cpp
         OndselSolver/CylSphJoint.cpp
-        OndselSolver/DifferentiatedGeneralSpline.cpp
-        OndselSolver/EndFrameqct2.cpp
-        OndselSolver/EulerAngles.cpp
-        OndselSolver/EulerAnglesDDot.cpp
-        OndselSolver/EulerAnglesDot.cpp
-        OndselSolver/Exponential.cpp
-        OndselSolver/ExternalSystem.cpp
-        OndselSolver/FunctionFromData.cpp
-        OndselSolver/FunctionXcParameter.cpp
-        OndselSolver/FunctionXY.cpp
-        OndselSolver/GeneralSpline.cpp
-        OndselSolver/Ln.cpp
-        OndselSolver/Log10.cpp
-        OndselSolver/LogN.cpp
-        OndselSolver/Negative.cpp
-        OndselSolver/PosVelAccData.cpp
         OndselSolver/DiagonalMatrix.cpp
         OndselSolver/DifferenceOperator.cpp
+        OndselSolver/DifferentiatedGeneralSpline.cpp
         OndselSolver/DirectionCosineConstraintIJ.cpp
         OndselSolver/DirectionCosineConstraintIqcJc.cpp
         OndselSolver/DirectionCosineConstraintIqcJqc.cpp
@@ -134,9 +124,14 @@ set(ONDSEL_EXPORT
         OndselSolver/DistxyIeqcJec.cpp
         OndselSolver/DistxyIeqcJeqc.cpp
         OndselSolver/DistxyIeqctJeqc.cpp
+        OndselSolver/EigenDecomposition.cpp
         OndselSolver/EndFramec.cpp
         OndselSolver/EndFrameqc.cpp
         OndselSolver/EndFrameqct.cpp
+        OndselSolver/EndFrameqct2.cpp
+        OndselSolver/EulerAngles.cpp
+        OndselSolver/EulerAnglesDDot.cpp
+        OndselSolver/EulerAnglesDot.cpp
         OndselSolver/EulerAngleszxz.cpp
         OndselSolver/EulerAngleszxzDDot.cpp
         OndselSolver/EulerAngleszxzDot.cpp
@@ -145,7 +140,9 @@ set(ONDSEL_EXPORT
         OndselSolver/EulerParameters.cpp
         OndselSolver/EulerParametersDDot.cpp
         OndselSolver/EulerParametersDot.cpp
+        OndselSolver/Exponential.cpp
         OndselSolver/ExpressionX.cpp
+        OndselSolver/ExternalSystem.cpp
         OndselSolver/FixedJoint.cpp
         OndselSolver/ForceTorqueData.cpp
         OndselSolver/ForceTorqueItem.cpp
@@ -153,9 +150,13 @@ set(ONDSEL_EXPORT
         OndselSolver/FullMatrix.cpp
         OndselSolver/FullMotion.cpp
         OndselSolver/FullRow.cpp
+        OndselSolver/FullVector.cpp
         OndselSolver/Function.cpp
+        OndselSolver/FunctionFromData.cpp
         OndselSolver/FunctionWithManyArgs.cpp
         OndselSolver/FunctionX.cpp
+        OndselSolver/FunctionXcParameter.cpp
+        OndselSolver/FunctionXY.cpp
         OndselSolver/GearConstraintIJ.cpp
         OndselSolver/GearConstraintIqcJc.cpp
         OndselSolver/GearConstraintIqcJqc.cpp
@@ -163,6 +164,7 @@ set(ONDSEL_EXPORT
         OndselSolver/GEFullMat.cpp
         OndselSolver/GEFullMatFullPv.cpp
         OndselSolver/GEFullMatParPv.cpp
+        OndselSolver/GeneralSpline.cpp
         OndselSolver/GESpMat.cpp
         OndselSolver/GESpMatFullPv.cpp
         OndselSolver/GESpMatFullPvPosIC.cpp
@@ -180,6 +182,7 @@ set(ONDSEL_EXPORT
         OndselSolver/Joint.cpp
         OndselSolver/KineIntegrator.cpp
         OndselSolver/KinematicIeJe.cpp
+        OndselSolver/LDUFullMat.cpp
         OndselSolver/LDUFullMatParPv.cpp
         OndselSolver/LDUSpMat.cpp
         OndselSolver/LDUSpMatParPv.cpp
@@ -187,6 +190,9 @@ set(ONDSEL_EXPORT
         OndselSolver/LDUSpMatParPvPrecise.cpp
         OndselSolver/LinearMultiStepMethod.cpp
         OndselSolver/LineInPlaneJoint.cpp
+        OndselSolver/Ln.cpp
+        OndselSolver/Log10.cpp
+        OndselSolver/LogN.cpp
         OndselSolver/MarkerFrame.cpp
         OndselSolver/MatrixDecomposition.cpp
         OndselSolver/MatrixGaussElimination.cpp
@@ -194,6 +200,21 @@ set(ONDSEL_EXPORT
         OndselSolver/MatrixSolver.cpp
         OndselSolver/MaximumIterationError.cpp
         OndselSolver/MbdMath.cpp
+        OndselSolver/MBDynBlock.cpp
+        OndselSolver/MBDynBody.cpp
+        OndselSolver/MBDynControlData.cpp
+        OndselSolver/MBDynData.cpp
+        OndselSolver/MBDynElement.cpp
+        OndselSolver/MBDynInitialValue.cpp
+        OndselSolver/MBDynItem.cpp
+        OndselSolver/MBDynJoint.cpp
+        OndselSolver/MBDynMarker.cpp
+        OndselSolver/MBDynNode.cpp
+        OndselSolver/MBDynReference.cpp
+        OndselSolver/MBDynStructural.cpp
+        OndselSolver/MBDynSystem.cpp
+        OndselSolver/MomentOfInertiaSolver.cpp
+        OndselSolver/Negative.cpp
         OndselSolver/NewtonRaphson.cpp
         OndselSolver/NewtonRaphsonError.cpp
         OndselSolver/NoRotationJoint.cpp
@@ -214,6 +235,7 @@ set(ONDSEL_EXPORT
         OndselSolver/PosICNewtonRaphson.cpp
         OndselSolver/PosKineNewtonRaphson.cpp
         OndselSolver/PosNewtonRaphson.cpp
+        OndselSolver/PosVelAccData.cpp
         OndselSolver/Power.cpp
         OndselSolver/PrescribedMotion.cpp
         OndselSolver/Product.cpp
@@ -243,7 +265,6 @@ set(ONDSEL_EXPORT
         OndselSolver/SphericalJoint.cpp
         OndselSolver/SphSphJoint.cpp
         OndselSolver/StableBackwardDifference.cpp
-        OndselSolver/LDUFullMat.cpp
         OndselSolver/StateData.cpp
         OndselSolver/Sum.cpp
         OndselSolver/Symbolic.cpp
@@ -265,7 +286,6 @@ set(ONDSEL_EXPORT
         OndselSolver/UniversalJoint.cpp
         OndselSolver/UserFunction.cpp
         OndselSolver/Variable.cpp
-        OndselSolver/FullVector.cpp
         OndselSolver/VectorNewtonRaphson.cpp
         OndselSolver/VelICKineSolver.cpp
         OndselSolver/VelICSolver.cpp
@@ -273,25 +293,310 @@ set(ONDSEL_EXPORT
         OndselSolver/VelSolver.cpp
         OndselSolver/ZRotation.cpp
         OndselSolver/ZTranslation.cpp
-        OndselSolver/ASMTAssembly.cpp
 )
 
-add_executable(ondsel-solver OndselSolver/OndselSolver.cpp)
-
-add_library(OndselSolver
-        STATIC ${ONDSEL_EXPORT}
+set(ONDSELSOLVER_HEADERS
+        OndselSolver/Abs.h
+        OndselSolver/AbsConstraint.h
+        OndselSolver/AccICKineNewtonRaphson.h
+        OndselSolver/AccICNewtonRaphson.h
+        OndselSolver/AccKineNewtonRaphson.h
+        OndselSolver/AccNewtonRaphson.h
+        OndselSolver/AngleJoint.h
+        OndselSolver/AngleZIecJec.h
+        OndselSolver/AngleZIeqcJec.h
+        OndselSolver/AngleZIeqcJeqc.h
+        OndselSolver/AnyGeneralSpline.h
+        OndselSolver/AnyPosICNewtonRaphson.h
+        OndselSolver/APIExport.h
+        OndselSolver/ArcSine.h
+        OndselSolver/ArcTan.h
+        OndselSolver/ArcTan2.h
+        OndselSolver/Array.h
+        OndselSolver/ASMTAnimationParameters.h
+        OndselSolver/ASMTAssembly.h
+        OndselSolver/ASMTConstantGravity.h
+        OndselSolver/ASMTConstraintSet.h
+        OndselSolver/ASMTCylindricalJoint.h
+        OndselSolver/ASMTExtrusion.h
+        OndselSolver/ASMTFixedJoint.h
+        OndselSolver/ASMTForceTorque.h
+        OndselSolver/ASMTGeneralMotion.h
+        OndselSolver/ASMTItem.h
+        OndselSolver/ASMTItemIJ.h
+        OndselSolver/ASMTJoint.h
+        OndselSolver/ASMTKinematicIJ.h
+        OndselSolver/ASMTMarker.h
+        OndselSolver/ASMTMotion.h
+        OndselSolver/ASMTNoRotationJoint.h
+        OndselSolver/ASMTPart.h
+        OndselSolver/ASMTPointInLineJoint.h
+        OndselSolver/ASMTPointInPlaneJoint.h
+        OndselSolver/ASMTPrincipalMassMarker.h
+        OndselSolver/ASMTRefCurve.h
+        OndselSolver/ASMTRefItem.h
+        OndselSolver/ASMTRefPoint.h
+        OndselSolver/ASMTRefSurface.h
+        OndselSolver/ASMTRevoluteJoint.h
+        OndselSolver/ASMTRotationalMotion.h
+        OndselSolver/ASMTSimulationParameters.h
+        OndselSolver/ASMTSpatialContainer.h
+        OndselSolver/ASMTSpatialItem.h
+        OndselSolver/ASMTSphericalJoint.h
+        OndselSolver/ASMTTime.h
+        OndselSolver/ASMTTranslationalJoint.h
+        OndselSolver/ASMTTranslationalMotion.h
+        OndselSolver/ASMTUniversalJoint.h
+        OndselSolver/AtPointConstraintIJ.h
+        OndselSolver/AtPointConstraintIqcJc.h
+        OndselSolver/AtPointConstraintIqcJqc.h
+        OndselSolver/AtPointConstraintIqctJqc.h
+        OndselSolver/AtPointJoint.h
+        OndselSolver/BasicIntegrator.h
+        OndselSolver/BasicQuasiIntegrator.h
+        OndselSolver/BasicUserFunction.h
+        OndselSolver/CADSystem.h
+        OndselSolver/CartesianFrame.h
+        OndselSolver/CompoundJoint.h
+        OndselSolver/Constant.h
+        OndselSolver/ConstantGravity.h
+        OndselSolver/ConstantVelocityJoint.h
+        OndselSolver/Constraint.h
+        OndselSolver/ConstraintIJ.h
+        OndselSolver/ConstVelConstraintIJ.h
+        OndselSolver/ConstVelConstraintIqcJc.h
+        OndselSolver/ConstVelConstraintIqcJqc.h
+        OndselSolver/corecrt_math_defines.h
+        OndselSolver/Cosine.h
+        OndselSolver/CREATE.h
+        OndselSolver/CylindricalJoint.h
+        OndselSolver/CylSphJoint.h
+        OndselSolver/DiagonalMatrix.h
+        OndselSolver/DifferenceOperator.h
+        OndselSolver/DifferentiatedGeneralSpline.h
+        OndselSolver/DirectionCosineConstraintIJ.h
+        OndselSolver/DirectionCosineConstraintIqcJc.h
+        OndselSolver/DirectionCosineConstraintIqcJqc.h
+        OndselSolver/DirectionCosineConstraintIqctJqc.h
+        OndselSolver/DirectionCosineIecJec.h
+        OndselSolver/DirectionCosineIeqcJec.h
+        OndselSolver/DirectionCosineIeqcJeqc.h
+        OndselSolver/DirectionCosineIeqctJeqc.h
+        OndselSolver/DiscontinuityError.h
+        OndselSolver/DispCompIecJecIe.h
+        OndselSolver/DispCompIecJecKec.h
+        OndselSolver/DispCompIecJecKeqc.h
+        OndselSolver/DispCompIecJecO.h
+        OndselSolver/DispCompIeqcJecIe.h
+        OndselSolver/DispCompIeqcJecKeqc.h
+        OndselSolver/DispCompIeqcJecO.h
+        OndselSolver/DispCompIeqcJeqcIe.h
+        OndselSolver/DispCompIeqcJeqcKeqc.h
+        OndselSolver/DispCompIeqcJeqcKeqct.h
+        OndselSolver/DispCompIeqcJeqcO.h
+        OndselSolver/DispCompIeqctJeqcIe.h
+        OndselSolver/DispCompIeqctJeqcKeqct.h
+        OndselSolver/DispCompIeqctJeqcO.h
+        OndselSolver/DistanceConstraintIJ.h
+        OndselSolver/DistanceConstraintIqcJc.h
+        OndselSolver/DistanceConstraintIqcJqc.h
+        OndselSolver/DistanceConstraintIqctJqc.h
+        OndselSolver/DistancexyConstraintIJ.h
+        OndselSolver/DistancexyConstraintIqcJc.h
+        OndselSolver/DistancexyConstraintIqcJqc.h
+        OndselSolver/DistIecJec.h
+        OndselSolver/DistIeqcJec.h
+        OndselSolver/DistIeqcJeqc.h
+        OndselSolver/DistIeqctJeqc.h
+        OndselSolver/DistxyIecJec.h
+        OndselSolver/DistxyIeqcJec.h
+        OndselSolver/DistxyIeqcJeqc.h
+        OndselSolver/DistxyIeqctJeqc.h
+        OndselSolver/EigenDecomposition.h
+        OndselSolver/EndFramec.h
+        OndselSolver/EndFrameqc.h
+        OndselSolver/EndFrameqct.h
+        OndselSolver/EndFrameqct2.h
+        OndselSolver/enum.h
+        OndselSolver/EulerAngles.h
+        OndselSolver/EulerAnglesDDot.h
+        OndselSolver/EulerAnglesDot.h
+        OndselSolver/EulerAngleszxz.h
+        OndselSolver/EulerAngleszxzDDot.h
+        OndselSolver/EulerAngleszxzDot.h
+        OndselSolver/EulerArray.h
+        OndselSolver/EulerConstraint.h
+        OndselSolver/EulerParameters.h
+        OndselSolver/EulerParametersDDot.h
+        OndselSolver/EulerParametersDot.h
+        OndselSolver/Exponential.h
+        OndselSolver/ExpressionX.h
+        OndselSolver/ExternalSystem.h
+        OndselSolver/FixedJoint.h
+        OndselSolver/ForceTorqueData.h
+        OndselSolver/ForceTorqueItem.h
+        OndselSolver/FullColumn.h
+        OndselSolver/FullMatrix.h
+        OndselSolver/FullMotion.h
+        OndselSolver/FullRow.h
+        OndselSolver/FullVector.h
+        OndselSolver/Function.h
+        OndselSolver/FunctionFromData.h
+        OndselSolver/FunctionWithManyArgs.h
+        OndselSolver/FunctionX.h
+        OndselSolver/FunctionXcParameter.h
+        OndselSolver/FunctionXY.h
+        OndselSolver/GearConstraintIJ.h
+        OndselSolver/GearConstraintIqcJc.h
+        OndselSolver/GearConstraintIqcJqc.h
+        OndselSolver/GearJoint.h
+        OndselSolver/GEFullMat.h
+        OndselSolver/GEFullMatFullPv.h
+        OndselSolver/GEFullMatParPv.h
+        OndselSolver/GeneralSpline.h
+        OndselSolver/GESpMat.h
+        OndselSolver/GESpMatFullPv.h
+        OndselSolver/GESpMatFullPvPosIC.h
+        OndselSolver/GESpMatParPv.h
+        OndselSolver/GESpMatParPvMarko.h
+        OndselSolver/GESpMatParPvMarkoFast.h
+        OndselSolver/GESpMatParPvPrecise.h
+        OndselSolver/ICKineIntegrator.h
+        OndselSolver/IndependentVariable.h
+        OndselSolver/InLineJoint.h
+        OndselSolver/InPlaneJoint.h
+        OndselSolver/Integrator.h
+        OndselSolver/IntegratorInterface.h
+        OndselSolver/Item.h
+        OndselSolver/Joint.h
+        OndselSolver/KineIntegrator.h
+        OndselSolver/KinematicIeJe.h
+        OndselSolver/LDUFullMat.h
+        OndselSolver/LDUFullMatParPv.h
+        OndselSolver/LDUSpMat.h
+        OndselSolver/LDUSpMatParPv.h
+        OndselSolver/LDUSpMatParPvMarko.h
+        OndselSolver/LDUSpMatParPvPrecise.h
+        OndselSolver/LinearMultiStepMethod.h
+        OndselSolver/LineInPlaneJoint.h
+        OndselSolver/Ln.h
+        OndselSolver/Log10.h
+        OndselSolver/LogN.h
+        OndselSolver/MarkerFrame.h
+        OndselSolver/MatrixDecomposition.h
+        OndselSolver/MatrixGaussElimination.h
+        OndselSolver/MatrixLDU.h
+        OndselSolver/MatrixSolver.h
+        OndselSolver/MaximumIterationError.h
+        OndselSolver/MbdMath.h
+        OndselSolver/MBDynBlock.h
+        OndselSolver/MBDynBody.h
+        OndselSolver/MBDynControlData.h
+        OndselSolver/MBDynData.h
+        OndselSolver/MBDynElement.h
+        OndselSolver/MBDynInitialValue.h
+        OndselSolver/MBDynItem.h
+        OndselSolver/MBDynJoint.h
+        OndselSolver/MBDynMarker.h
+        OndselSolver/MBDynNode.h
+        OndselSolver/MBDynReference.h
+        OndselSolver/MBDynStructural.h
+        OndselSolver/MBDynSystem.h
+        OndselSolver/MomentOfInertiaSolver.h
+        OndselSolver/Negative.h
+        OndselSolver/NewtonRaphson.h
+        OndselSolver/NewtonRaphsonError.h
+        OndselSolver/NoRotationJoint.h
+        OndselSolver/NotKinematicError.h
+        OndselSolver/Numeric.h
+        OndselSolver/OrbitAnglezIecJec.h
+        OndselSolver/OrbitAnglezIeqcJec.h
+        OndselSolver/OrbitAnglezIeqcJeqc.h
+        OndselSolver/Orientation.h
+        OndselSolver/ParallelAxesJoint.h
+        OndselSolver/Part.h
+        OndselSolver/PartFrame.h
+        OndselSolver/PerpendicularJoint.h
+        OndselSolver/PlanarJoint.h
+        OndselSolver/PointInLineJoint.h
+        OndselSolver/PointInPlaneJoint.h
+        OndselSolver/PosICKineNewtonRaphson.h
+        OndselSolver/PosICNewtonRaphson.h
+        OndselSolver/PosKineNewtonRaphson.h
+        OndselSolver/PosNewtonRaphson.h
+        OndselSolver/PosVelAccData.h
+        OndselSolver/Power.h
+        OndselSolver/PrescribedMotion.h
+        OndselSolver/Product.h
+        OndselSolver/QuasiIntegrator.h
+        OndselSolver/RackPinConstraintIJ.h
+        OndselSolver/RackPinConstraintIqcJc.h
+        OndselSolver/RackPinConstraintIqcJqc.h
+        OndselSolver/RackPinJoint.h
+        OndselSolver/Reciprocal.h
+        OndselSolver/RedundantConstraint.h
+        OndselSolver/resource.h
+        OndselSolver/RevCylJoint.h
+        OndselSolver/RevoluteJoint.h
+        OndselSolver/RowTypeMatrix.h
+        OndselSolver/ScalarNewtonRaphson.h
+        OndselSolver/ScrewConstraintIJ.h
+        OndselSolver/ScrewConstraintIqcJc.h
+        OndselSolver/ScrewConstraintIqcJqc.h
+        OndselSolver/ScrewJoint.h
+        OndselSolver/SimulationStoppingError.h
+        OndselSolver/Sine.h
+        OndselSolver/SingularMatrixError.h
+        OndselSolver/Solver.h
+        OndselSolver/SparseColumn.h
+        OndselSolver/SparseMatrix.h
+        OndselSolver/SparseRow.h
+        OndselSolver/SparseVector.h
+        OndselSolver/SphericalJoint.h
+        OndselSolver/SphSphJoint.h
+        OndselSolver/StableBackwardDifference.h
+        OndselSolver/StateData.h
+        OndselSolver/Sum.h
+        OndselSolver/Symbolic.h
+        OndselSolver/SymbolicParser.h
+        OndselSolver/SyntaxError.h
+        OndselSolver/System.h
+        OndselSolver/SystemNewtonRaphson.h
+        OndselSolver/SystemSolver.h
+        OndselSolver/Time.h
+        OndselSolver/TooManyTriesError.h
+        OndselSolver/TooSmallStepSizeError.h
+        OndselSolver/Translation.h
+        OndselSolver/TranslationalJoint.h
+        OndselSolver/TranslationConstraintIJ.h
+        OndselSolver/TranslationConstraintIqcJc.h
+        OndselSolver/TranslationConstraintIqcJqc.h
+        OndselSolver/TranslationConstraintIqctJqc.h
+        OndselSolver/Units.h
+        OndselSolver/UniversalJoint.h
+        OndselSolver/UserFunction.h
+        OndselSolver/Variable.h
+        OndselSolver/VectorNewtonRaphson.h
+        OndselSolver/VelICKineSolver.h
+        OndselSolver/VelICSolver.h
+        OndselSolver/VelKineSolver.h
+        OndselSolver/VelSolver.h
+        OndselSolver/ZRotation.h
+        OndselSolver/ZTranslation.h
 )
 
-add_subdirectory(OndselSolver)
+target_sources(OndselSolver PUBLIC "${ONDSELSOLVER_SRC}")
+target_sources(OndselSolver PUBLIC "${ONDSELSOLVER_HEADERS}")
 
 set_target_properties(OndselSolver
         PROPERTIES VERSION ${PROJECT_VERSION}
         SOVERSION 1
+        PUBLIC_HEADER "${ONDSELSOLVER_HEADERS}"
 )
 
 configure_file(OndselSolver.pc.in ${CMAKE_BINARY_DIR}/OndselSolver.pc @ONLY)
 install(TARGETS OndselSolver
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/OndselSolver)
 install(FILES ${CMAKE_BINARY_DIR}/OndselSolver.pc
         DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
diff --git a/OndselSolver/CMakeLists.txt b/OndselSolver/CMakeLists.txt
deleted file mode 100644
index 61b103d..0000000
--- a/OndselSolver/CMakeLists.txt
+++ /dev/null
@@ -1,570 +0,0 @@
-target_sources(ondsel-solver PUBLIC
-        Abs.cpp
-        AbsConstraint.cpp
-        AccICKineNewtonRaphson.cpp
-        AccICNewtonRaphson.cpp
-        AccKineNewtonRaphson.cpp
-        AccNewtonRaphson.cpp
-        AngleJoint.cpp
-        AngleZIecJec.cpp
-        AngleZIeqcJec.cpp
-        AngleZIeqcJeqc.cpp
-        AnyGeneralSpline.cpp
-        AnyPosICNewtonRaphson.cpp
-        ArcSine.cpp
-        ArcTan.cpp
-        ArcTan2.cpp
-        Array.cpp
-        ASMTAnimationParameters.cpp
-        ASMTAssembly.cpp
-        ASMTConstantGravity.cpp
-        ASMTConstraintSet.cpp
-        ASMTCylindricalJoint.cpp
-        ASMTExtrusion.cpp
-        ASMTFixedJoint.cpp
-        ASMTForceTorque.cpp
-        ASMTGeneralMotion.cpp
-        ASMTItem.cpp
-        ASMTItemIJ.cpp
-        ASMTJoint.cpp
-        ASMTKinematicIJ.cpp
-        ASMTMarker.cpp
-        ASMTMotion.cpp
-        ASMTNoRotationJoint.cpp
-        ASMTPart.cpp
-        ASMTPointInLineJoint.cpp
-        ASMTPointInPlaneJoint.cpp
-        ASMTPrincipalMassMarker.cpp
-        ASMTRefCurve.cpp
-        ASMTRefItem.cpp
-        ASMTRefPoint.cpp
-        ASMTRefSurface.cpp
-        ASMTRevoluteJoint.cpp
-        ASMTRotationalMotion.cpp
-        ASMTSimulationParameters.cpp
-        ASMTSpatialContainer.cpp
-        ASMTSpatialItem.cpp
-        ASMTSphericalJoint.cpp
-        ASMTTime.cpp
-        ASMTTranslationalMotion.cpp
-        ASMTTranslationalJoint.cpp
-        ASMTUniversalJoint.cpp
-        AtPointConstraintIJ.cpp
-        AtPointConstraintIqcJc.cpp
-        AtPointConstraintIqcJqc.cpp
-        AtPointConstraintIqctJqc.cpp
-        AtPointJoint.cpp
-        BasicIntegrator.cpp
-        BasicQuasiIntegrator.cpp
-        BasicUserFunction.cpp
-        CADSystem.cpp
-        CartesianFrame.cpp
-        CompoundJoint.cpp
-        Constant.cpp
-        ConstantGravity.cpp
-        ConstantVelocityJoint.cpp
-        Constraint.cpp
-        ConstraintIJ.cpp
-        ConstVelConstraintIJ.cpp
-        ConstVelConstraintIqcJc.cpp
-        ConstVelConstraintIqcJqc.cpp
-        Cosine.cpp
-        CREATE.cpp
-        CylindricalJoint.cpp
-        CylSphJoint.cpp
-        DifferentiatedGeneralSpline.cpp
-        EndFrameqct2.cpp
-        EulerAngles.cpp
-        EulerAnglesDDot.cpp
-        EulerAnglesDot.cpp
-        Exponential.cpp
-        ExternalSystem.cpp
-        FunctionFromData.cpp
-        FunctionXcParameter.cpp
-        FunctionXY.cpp
-        GeneralSpline.cpp
-        Ln.cpp
-        Log10.cpp
-        LogN.cpp
-        Negative.cpp
-        PosVelAccData.cpp
-        DiagonalMatrix.cpp
-        DifferenceOperator.cpp
-        DirectionCosineConstraintIJ.cpp
-        DirectionCosineConstraintIqcJc.cpp
-        DirectionCosineConstraintIqcJqc.cpp
-        DirectionCosineConstraintIqctJqc.cpp
-        DirectionCosineIecJec.cpp
-        DirectionCosineIeqcJec.cpp
-        DirectionCosineIeqcJeqc.cpp
-        DirectionCosineIeqctJeqc.cpp
-        DiscontinuityError.cpp
-        DispCompIecJecIe.cpp
-        DispCompIecJecKec.cpp
-        DispCompIecJecKeqc.cpp
-        DispCompIecJecO.cpp
-        DispCompIeqcJecIe.cpp
-        DispCompIeqcJecKeqc.cpp
-        DispCompIeqcJecO.cpp
-        DispCompIeqcJeqcIe.cpp
-        DispCompIeqcJeqcKeqc.cpp
-        DispCompIeqcJeqcKeqct.cpp
-        DispCompIeqcJeqcO.cpp
-        DispCompIeqctJeqcIe.cpp
-        DispCompIeqctJeqcKeqct.cpp
-        DispCompIeqctJeqcO.cpp
-        DistanceConstraintIJ.cpp
-        DistanceConstraintIqcJc.cpp
-        DistanceConstraintIqcJqc.cpp
-        DistanceConstraintIqctJqc.cpp
-        DistancexyConstraintIJ.cpp
-        DistancexyConstraintIqcJc.cpp
-        DistancexyConstraintIqcJqc.cpp
-        DistIecJec.cpp
-        DistIeqcJec.cpp
-        DistIeqcJeqc.cpp
-        DistIeqctJeqc.cpp
-        DistxyIecJec.cpp
-        DistxyIeqcJec.cpp
-        DistxyIeqcJeqc.cpp
-        DistxyIeqctJeqc.cpp
-        EndFramec.cpp
-        EndFrameqc.cpp
-        EndFrameqct.cpp
-        EulerAngleszxz.cpp
-        EulerAngleszxzDDot.cpp
-        EulerAngleszxzDot.cpp
-        EulerArray.cpp
-        EulerConstraint.cpp
-        EulerParameters.cpp
-        EulerParametersDDot.cpp
-        EulerParametersDot.cpp
-        ExpressionX.cpp
-        FixedJoint.cpp
-        ForceTorqueData.cpp
-        ForceTorqueItem.cpp
-        FullColumn.cpp
-        FullMatrix.cpp
-        FullMotion.cpp
-        FullRow.cpp
-        Function.cpp
-        FunctionWithManyArgs.cpp
-        FunctionX.cpp
-        GearConstraintIJ.cpp
-        GearConstraintIqcJc.cpp
-        GearConstraintIqcJqc.cpp
-        GearJoint.cpp
-        GEFullMat.cpp
-        GEFullMatFullPv.cpp
-        GEFullMatParPv.cpp
-        GESpMat.cpp
-        GESpMatFullPv.cpp
-        GESpMatFullPvPosIC.cpp
-        GESpMatParPv.cpp
-        GESpMatParPvMarko.cpp
-        GESpMatParPvMarkoFast.cpp
-        GESpMatParPvPrecise.cpp
-        ICKineIntegrator.cpp
-        IndependentVariable.cpp
-        InLineJoint.cpp
-        InPlaneJoint.cpp
-        Integrator.cpp
-        IntegratorInterface.cpp
-        Item.cpp
-        Joint.cpp
-        KineIntegrator.cpp
-        KinematicIeJe.cpp
-        LDUFullMatParPv.cpp
-        LDUSpMat.cpp
-        LDUSpMatParPv.cpp
-        LDUSpMatParPvMarko.cpp
-        LDUSpMatParPvPrecise.cpp
-        LinearMultiStepMethod.cpp
-        LineInPlaneJoint.cpp
-        MarkerFrame.cpp
-        MatrixDecomposition.cpp
-        MatrixGaussElimination.cpp
-        MatrixLDU.cpp
-        MatrixSolver.cpp
-        MaximumIterationError.cpp
-        MBDynBlock.cpp
-        MBDynBody.cpp
-        MBDynControlData.cpp
-        MBDynData.cpp
-        MBDynElement.cpp
-        MBDynInitialValue.cpp
-        MBDynItem.cpp
-        MBDynJoint.cpp
-        MBDynMarker.cpp
-        MBDynNode.cpp
-        MBDynReference.cpp
-        MBDynStructural.cpp
-        MBDynSystem.cpp
-        MomentOfInertiaSolver.cpp
-        NewtonRaphson.cpp
-        NewtonRaphsonError.cpp
-        NoRotationJoint.cpp
-        NotKinematicError.cpp
-        Numeric.cpp
-        OrbitAnglezIecJec.cpp
-        OrbitAnglezIeqcJec.cpp
-        OrbitAnglezIeqcJeqc.cpp
-        Orientation.cpp
-        ParallelAxesJoint.cpp
-        Part.cpp
-        PartFrame.cpp
-        PerpendicularJoint.cpp
-        PlanarJoint.cpp
-        PointInLineJoint.cpp
-        PointInPlaneJoint.cpp
-        PosICKineNewtonRaphson.cpp
-        PosICNewtonRaphson.cpp
-        PosKineNewtonRaphson.cpp
-        PosNewtonRaphson.cpp
-        Power.cpp
-        PrescribedMotion.cpp
-        Product.cpp
-        QuasiIntegrator.cpp
-        RackPinConstraintIJ.cpp
-        RackPinConstraintIqcJc.cpp
-        RackPinConstraintIqcJqc.cpp
-        RackPinJoint.cpp
-        Reciprocal.cpp
-        RedundantConstraint.cpp
-        RevCylJoint.cpp
-        RevoluteJoint.cpp
-        RowTypeMatrix.cpp
-        ScalarNewtonRaphson.cpp
-        ScrewConstraintIJ.cpp
-        ScrewConstraintIqcJc.cpp
-        ScrewConstraintIqcJqc.cpp
-        ScrewJoint.cpp
-        SimulationStoppingError.cpp
-        Sine.cpp
-        SingularMatrixError.cpp
-        Solver.cpp
-        SparseColumn.cpp
-        SparseMatrix.cpp
-        SparseRow.cpp
-        SparseVector.cpp
-        SphericalJoint.cpp
-        SphSphJoint.cpp
-        StableBackwardDifference.cpp
-        LDUFullMat.cpp
-        StateData.cpp
-        Sum.cpp
-        Symbolic.cpp
-        SymbolicParser.cpp
-        SyntaxError.cpp
-        System.cpp
-        SystemNewtonRaphson.cpp
-        SystemSolver.cpp
-        Time.cpp
-        TooManyTriesError.cpp
-        TooSmallStepSizeError.cpp
-        Translation.cpp
-        TranslationalJoint.cpp
-        TranslationConstraintIJ.cpp
-        TranslationConstraintIqcJc.cpp
-        TranslationConstraintIqcJqc.cpp
-        TranslationConstraintIqctJqc.cpp
-        Units.cpp
-        UniversalJoint.cpp
-        UserFunction.cpp
-        Variable.cpp
-        FullVector.cpp
-        VectorNewtonRaphson.cpp
-        VelICKineSolver.cpp
-        VelICSolver.cpp
-        VelKineSolver.cpp
-        VelSolver.cpp
-        ZRotation.cpp
-        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
-        ArcSine.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
-        ASMTNoRotationJoint.h
-        ASMTPart.h
-        ASMTPointInLineJoint.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
-        MatrixDecomposition.h
-        MatrixGaussElimination.h
-        MatrixLDU.h
-        MatrixSolver.h
-        MaximumIterationError.h
-        MBDynBlock.h
-        MBDynBody.h
-        MBDynControlData.h
-        MBDynData.h
-        MBDynElement.h
-        MBDynInitialValue.h
-        MBDynItem.h
-        MBDynJoint.h
-        MBDynMarker.h
-        MBDynNode.h
-        MBDynReference.h
-        MBDynStructural.h
-        MBDynSystem.h
-        MomentOfInertiaSolver.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
-)