diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3e37b59..eaef201 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,13 +4,19 @@ project(openslam_gmapping)
 ## Find catkin macros and libraries
 find_package(catkin REQUIRED)
 
+include(GenerateExportHeader)
+set(EXPORT_HEADER_DIR "${CATKIN_DEVEL_PREFIX}/include")
+file(MAKE_DIRECTORY "${EXPORT_HEADER_DIR}")
+
 ###################################
 ## catkin specific configuration ##
 ###################################
 ## The catkin_package macro generates cmake config files for your package
 ## Declare things to be passed to dependent projects
 catkin_package(
-  INCLUDE_DIRS include
+  INCLUDE_DIRS
+    include
+    ${EXPORT_HEADER_DIR}
   LIBRARIES utils sensor_base sensor_odometry sensor_range log configfile scanmatcher gridfastslam
 )
 
@@ -20,7 +26,10 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(include)
+include_directories(
+  include
+  ${EXPORT_HEADER_DIR}
+)
 
 #SUBDIRS=utils sensor log configfile scanmatcher gridfastslam gui
 
@@ -152,9 +161,13 @@ target_link_libraries(gridfastslam
 # )
 
 ## Mark executables and/or libraries for installation
-install(TARGETS utils autoptr_test sensor_base sensor_odometry sensor_range sensor_range log log_test log_plot scanstudio2carmen rdk2carmen configfile configfile_test scanmatcher scanmatch_test icptest gridfastslam gfs2log gfs2rec gfs2neff
+install(TARGETS utils sensor_base sensor_odometry sensor_range log configfile scanmatcher gridfastslam
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(TARGETS autoptr_test log_test log_plot scanstudio2carmen rdk2carmen configfile_test scanmatch_test icptest gfs2log gfs2rec gfs2neff
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
@@ -165,6 +178,27 @@ install(DIRECTORY include/gmapping
   PATTERN ".svn" EXCLUDE
 )
 
+generate_export_header(utils
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/utils/utils_export.h)
+generate_export_header(sensor_base
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/sensor/sensor_base/sensor_base_export.h)
+generate_export_header(sensor_odometry
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/sensor/sensor_odometry/sensor_odometry_export.h)
+generate_export_header(sensor_range
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/sensor/sensor_range/sensor_range_export.h)
+generate_export_header(log
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/log/log_export.h)
+generate_export_header(configfile
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/configfile/configfile_export.h)
+generate_export_header(scanmatcher
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/scanmatcher/scanmatcher_export.h)
+generate_export_header(gridfastslam
+  EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/gridfastslam/gridfastslam_export.h)
+
+install(DIRECTORY
+  ${EXPORT_HEADER_DIR}/
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+
 #############
 ## Testing ##
 #############
diff --git a/carmenwrapper/carmenwrapper.cpp b/carmenwrapper/carmenwrapper.cpp
index 77a8ae5..786436f 100644
--- a/carmenwrapper/carmenwrapper.cpp
+++ b/carmenwrapper/carmenwrapper.cpp
@@ -177,7 +177,7 @@ bool CarmenWrapper::getReading(RangeReading& reading){
 	sem_wait(&m_dequeSem);
 	pthread_mutex_lock(&m_mutex);
 	if (!m_rangeDeque.empty()){
-//		cerr << __PRETTY_FUNCTION__ << ": queue size=" <<m_rangeDeque.size() << endl;
+//		cerr << __func__ << ": queue size=" <<m_rangeDeque.size() << endl;
 		reading=m_rangeDeque.front();
 		m_rangeDeque.pop_front();
 		present=true;
@@ -213,7 +213,7 @@ void CarmenWrapper::robot_frontlaser_handler(carmen_robot_laser_message* frontla
 		m_rangeSensor=new RangeSensor("FLASER",frontlaser->num_readings, res, OrientedPoint(0,0,0), 0, 89.9);
 		m_sensorMap.insert(make_pair(string("FLASER"), m_rangeSensor));
 		
-		cout << __PRETTY_FUNCTION__ 
+		cout << __func__ 
 		     << ": FrontLaser configured." 
 		     << " Readings " << m_rangeSensor->beams().size() 
 		     << " Resolution " << res << endl;
@@ -241,7 +241,7 @@ void CarmenWrapper::robot_rearlaser_handler(carmen_robot_laser_message* rearlase
 		m_rangeSensor=new RangeSensor("FLASER",frontlaser->num_readings, res, OrientedPoint(0,0,0), 0, 89.9);
 		m_sensorMap.insert(make_pair(string("FLASER"), m_rangeSensor));
 		
-		cout << __PRETTY_FUNCTION__ 
+		cout << __func__ 
 		     << ": FrontLaser configured." 
 		     << " Readings " << m_rangeSensor->beams().size() 
 		     << " Resolution " << res << endl;
@@ -324,7 +324,7 @@ RangeReading CarmenWrapper::carmen2reading(const carmen_robot_laser_message& msg
 		m_frontLaser->updateBeamsLookup();
 		m_sensorMap.insert(make_pair(sensorName, m_frontLaser));
 		
-		cout << __PRETTY_FUNCTION__ 
+		cout << __func__ 
 		     << ": " << sensorName <<" configured." 
 		     << " Readings " << m_frontLaser->beams().size() 
 		     << " Resolution " << res << endl;
@@ -346,7 +346,7 @@ RangeReading CarmenWrapper::carmen2reading(const carmen_robot_laser_message& msg
 		m_rearLaser->updateBeamsLookup();
 		m_sensorMap.insert(make_pair(sensorName, m_rearLaser));
 		
-		cout << __PRETTY_FUNCTION__ 
+		cout << __func__ 
 		     << ": " << sensorName <<" configured." 
 		     << " Readings " << m_rearLaser->beams().size() 
 		     << " Resolution " << res << endl;
diff --git a/gfs-carmen/gfs-carmen.cpp b/gfs-carmen/gfs-carmen.cpp
index df477e4..eb20de4 100644
--- a/gfs-carmen/gfs-carmen.cpp
+++ b/gfs-carmen/gfs-carmen.cpp
@@ -26,7 +26,7 @@
 #include <gmapping/utils/orientedboundingbox.h>
 #include <gmapping/configfile/configfile.h>
 
-#define DEBUG cout << __PRETTY_FUNCTION__
+#define DEBUG cout << __func__
 
 /*
 Example file for interfacing carmen, and gfs.
@@ -227,10 +227,10 @@ int main(int argc, const char * const * argv){
 				cerr << "Best Particle is " << best_idx << " with weight " << best_weight << endl;
 				
 */				
-				cerr << __PRETTY_FUNCTION__  << "CLONING... " << endl;
+				cerr << __func__  << "CLONING... " << endl;
 				GridSlamProcessor* newProcessor=processor->clone();
 				cerr << "DONE" << endl;
-				cerr << __PRETTY_FUNCTION__  << "DELETING... " << endl;
+				cerr << __func__  << "DELETING... " << endl;
 				delete processor;
 				cerr << "DONE" << endl;
 				processor=newProcessor;
diff --git a/gridfastslam/gridslamprocessor.cpp b/gridfastslam/gridslamprocessor.cpp
index 3466746..51fcf52 100644
--- a/gridfastslam/gridslamprocessor.cpp
+++ b/gridfastslam/gridslamprocessor.cpp
@@ -71,7 +71,7 @@ using namespace std;
     m_obsSigmaGain=gsp.m_obsSigmaGain;
     
 #ifdef MAP_CONSISTENCY_CHECK
-    cerr << __PRETTY_FUNCTION__ <<  ": trajectories copy.... ";
+    cerr << __func__ <<  ": trajectories copy.... ";
 #endif
     TNodeVector v=gsp.getTrajectories();
     for (unsigned int i=0; i<v.size(); i++){
@@ -97,7 +97,7 @@ using namespace std;
 
   GridSlamProcessor* GridSlamProcessor::clone() const {
 # ifdef MAP_CONSISTENCY_CHECK
-    cerr << __PRETTY_FUNCTION__ << ": performing preclone_fit_test" << endl;
+    cerr << __func__ << ": performing preclone_fit_test" << endl;
     typedef std::map<autoptr< Array2D<PointAccumulator> >::reference* const, int> PointerMap;
     PointerMap pmap;
 	for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){
@@ -116,17 +116,17 @@ using namespace std;
 	    }
 	  }
 	}
-	cerr << __PRETTY_FUNCTION__ <<  ": Number of allocated chunks" << pmap.size() << endl;
+	cerr << __func__ <<  ": Number of allocated chunks" << pmap.size() << endl;
 	for(PointerMap::const_iterator it=pmap.begin(); it!=pmap.end(); it++)
 	  assert(it->first->shares==(unsigned int)it->second);
 
-	cerr << __PRETTY_FUNCTION__ <<  ": SUCCESS, the error is somewhere else" << endl;
+	cerr << __func__ <<  ": SUCCESS, the error is somewhere else" << endl;
 # endif
 	GridSlamProcessor* cloned=new GridSlamProcessor(*this);
 	
 # ifdef MAP_CONSISTENCY_CHECK
-	cerr << __PRETTY_FUNCTION__ <<  ": trajectories end" << endl;
-	cerr << __PRETTY_FUNCTION__ << ": performing afterclone_fit_test" << endl;
+	cerr << __func__ <<  ": trajectories end" << endl;
+	cerr << __func__ << ": performing afterclone_fit_test" << endl;
 	ParticleVector::const_iterator jt=cloned->m_particles.begin();
 	for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){
 	  const ScanMatcherMap& m1(it->map);
@@ -143,14 +143,14 @@ using namespace std;
 	    }
 	  }
 	}
-	cerr << __PRETTY_FUNCTION__ <<  ": SUCCESS, the error is somewhere else" << endl;
+	cerr << __func__ <<  ": SUCCESS, the error is somewhere else" << endl;
 # endif
 	return cloned;
 }
   
   GridSlamProcessor::~GridSlamProcessor(){
-    cerr << __PRETTY_FUNCTION__ << ": Start" << endl;
-    cerr << __PRETTY_FUNCTION__ << ": Deleting tree" << endl;
+    cerr << __func__ << ": Start" << endl;
+    cerr << __func__ << ": Deleting tree" << endl;
     for (std::vector<Particle>::iterator it=m_particles.begin(); it!=m_particles.end(); it++){
 #ifdef TREE_CONSISTENCY_CHECK		
       TNode* node=it->node;
@@ -164,7 +164,7 @@ using namespace std;
     }
     
 # ifdef MAP_CONSISTENCY_CHECK
-    cerr << __PRETTY_FUNCTION__ << ": performing predestruction_fit_test" << endl;
+    cerr << __func__ << ": performing predestruction_fit_test" << endl;
     typedef std::map<autoptr< Array2D<PointAccumulator> >::reference* const, int> PointerMap;
     PointerMap pmap;
     for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){
@@ -183,10 +183,10 @@ using namespace std;
 	}
       }
     }
-    cerr << __PRETTY_FUNCTION__ << ": Number of allocated chunks" << pmap.size() << endl;
+    cerr << __func__ << ": Number of allocated chunks" << pmap.size() << endl;
     for(PointerMap::const_iterator it=pmap.begin(); it!=pmap.end(); it++)
       assert(it->first->shares>=(unsigned int)it->second);
-    cerr << __PRETTY_FUNCTION__ << ": SUCCESS, the error is somewhere else" << endl;
+    cerr << __func__ << ": SUCCESS, the error is somewhere else" << endl;
 # endif
   }
 
diff --git a/gridfastslam/gridslamprocessor_tree.cpp b/gridfastslam/gridslamprocessor_tree.cpp
index 41685c6..390e2d1 100644
--- a/gridfastslam/gridslamprocessor_tree.cpp
+++ b/gridfastslam/gridslamprocessor_tree.cpp
@@ -57,22 +57,22 @@ GridSlamProcessor::TNodeVector GridSlamProcessor::getTrajectories() const{
 		assert(newnode->childs==0);
 		if (newnode->parent){
 			parentCache.insert(make_pair(newnode->parent, newnode));
-			//cerr << __PRETTY_FUNCTION__ << ": node " << newnode->parent << " flag=" << newnode->parent->flag<< endl;
+			//cerr << __func__ << ": node " << newnode->parent << " flag=" << newnode->parent->flag<< endl;
 			if (! newnode->parent->flag){
-				//cerr << __PRETTY_FUNCTION__ << ": node " << newnode->parent << " flag=" << newnode->parent->flag<< endl;
+				//cerr << __func__ << ": node " << newnode->parent << " flag=" << newnode->parent->flag<< endl;
 				newnode->parent->flag=true;
 				border.push_back(newnode->parent);
 			}
 		}
 	}
 	
-	//cerr << __PRETTY_FUNCTION__ << ": border.size(INITIAL)=" << border.size() << endl;
-	//cerr << __PRETTY_FUNCTION__ << ": parentCache.size()=" << parentCache.size() << endl;
+	//cerr << __func__ << ": border.size(INITIAL)=" << border.size() << endl;
+	//cerr << __func__ << ": parentCache.size()=" << parentCache.size() << endl;
 	while (! border.empty()){
-		//cerr << __PRETTY_FUNCTION__ << ": border.size(PREPROCESS)=" << border.size() << endl;
-		//cerr << __PRETTY_FUNCTION__ << ": parentCache.size(PREPROCESS)=" << parentCache.size() << endl;
+		//cerr << __func__ << ": border.size(PREPROCESS)=" << border.size() << endl;
+		//cerr << __func__ << ": parentCache.size(PREPROCESS)=" << parentCache.size() << endl;
 		const TNode* node=border.front();
-		//cerr << __PRETTY_FUNCTION__ << ": node " << node << endl;
+		//cerr << __func__ << ": node " << node << endl;
 		border.pop_front();
 		if (! node)
 			continue;
@@ -91,7 +91,7 @@ GridSlamProcessor::TNodeVector GridSlamProcessor::getTrajectories() const{
 		}
 		////cerr << endl;
 		parentCache.erase(p.first, p.second);
-		//cerr << __PRETTY_FUNCTION__ << ": parentCache.size(POSTERASE)=" << parentCache.size() << endl;
+		//cerr << __func__ << ": parentCache.size(POSTERASE)=" << parentCache.size() << endl;
 		assert(childs==newnode->childs);
 		
 		//unmark the node
@@ -104,7 +104,7 @@ GridSlamProcessor::TNodeVector GridSlamProcessor::getTrajectories() const{
 		}
 		//insert the parent in the cache
 	}
-	//cerr << __PRETTY_FUNCTION__ << " : checking cloned trajectories" << endl;
+	//cerr << __func__ << " : checking cloned trajectories" << endl;
 	for (unsigned int i=0; i<v.size(); i++){
 		TNode* node= v[i];
 		while (node){
diff --git a/gui/gfs_nogui.cpp b/gui/gfs_nogui.cpp
index eee4354..a278aae 100644
--- a/gui/gfs_nogui.cpp
+++ b/gui/gfs_nogui.cpp
@@ -20,7 +20,9 @@
  *****************************************************************/
 
 
-#include <unistd.h>
+#ifndef _WIN32
+  #include <unistd.h>
+#endif
 #include "gmapping/gui/gsp_thread.h"
 
 using namespace GMapping;
diff --git a/gui/gsp_thread.cpp b/gui/gsp_thread.cpp
index f1dc278..1300334 100644
--- a/gui/gsp_thread.cpp
+++ b/gui/gsp_thread.cpp
@@ -29,7 +29,7 @@
 	#include <gmapping/carmenwrapper/carmenwrapper.h>
 #endif
 
-#define DEBUG cout << __PRETTY_FUNCTION__
+#define DEBUG cout << __func__
 
 using namespace std;
 
diff --git a/gui/qparticleviewer.cpp b/gui/qparticleviewer.cpp
index 846e33b..ccf58e7 100644
--- a/gui/qparticleviewer.cpp
+++ b/gui/qparticleviewer.cpp
@@ -201,7 +201,7 @@ void QParticleViewer::drawMap(const ScanMatcherMap& map){
   Point wmax=Point(pic2map(IntPoint(m_pixmap->width()/2,-m_pixmap->height()/2)));
   IntPoint imin=map.world2map(wmin);
   IntPoint imax=map.world2map(wmax);
-  /*	cout << __PRETTY_FUNCTION__ << endl;
+  /*	cout << __func__ << endl;
 	cout << " viewCenter=" << viewCenter.x << "," << viewCenter.y <<   endl;	
 	cout << " wmin=" << wmin.x << "," << wmin.y <<  " wmax=" << wmax.x << "," << wmax.y << endl;	
 	cout << " imin=" << imin.x << "," << imin.y <<  " imax=" << imax.x << "," << imax.y << endl;
diff --git a/include/gmapping/configfile/configfile.h b/include/gmapping/configfile/configfile.h
index 4f4a601..140a731 100644
--- a/include/gmapping/configfile/configfile.h
+++ b/include/gmapping/configfile/configfile.h
@@ -26,10 +26,11 @@
 #include <iostream>
 #include <string>
 #include <map>
+#include <gmapping/configfile/configfile_export.h>
 
 namespace GMapping{
 
-class AutoVal {
+class CONFIGFILE_EXPORT AutoVal {
 public:
   AutoVal() {};
   explicit AutoVal(const std::string&);
@@ -62,7 +63,7 @@ class AutoVal {
   std::string m_value;
 };
 
-class ConfigFile {
+class CONFIGFILE_EXPORT ConfigFile {
   std::map<std::string,AutoVal> m_content;
   
 public:
diff --git a/include/gmapping/grid/array2d.h b/include/gmapping/grid/array2d.h
index 2494350..0d0c4eb 100644
--- a/include/gmapping/grid/array2d.h
+++ b/include/gmapping/grid/array2d.h
@@ -56,7 +56,7 @@ Array2D<Cell,debug>::Array2D(int xsize, int ysize){
 		m_cells=0;
 	}
 	if (debug){
-		std::cerr << __PRETTY_FUNCTION__ << std::endl;
+		std::cerr << __func__ << std::endl;
 		std::cerr << "m_xsize= " << m_xsize<< std::endl;
 		std::cerr << "m_ysize= " << m_ysize<< std::endl;
 	}
@@ -79,7 +79,7 @@ Array2D<Cell,debug> & Array2D<Cell,debug>::operator=(const Array2D<Cell,debug> &
 			m_cells[x][y]=g.m_cells[x][y];
 	
 	if (debug){
-		std::cerr << __PRETTY_FUNCTION__ << std::endl;
+		std::cerr << __func__ << std::endl;
 		std::cerr << "m_xsize= " << m_xsize<< std::endl;
 		std::cerr << "m_ysize= " << m_ysize<< std::endl;
 	}
@@ -97,7 +97,7 @@ Array2D<Cell,debug>::Array2D(const Array2D<Cell,debug> & g){
 			m_cells[x][y]=g.m_cells[x][y];
 	}
 	if (debug){
-		std::cerr << __PRETTY_FUNCTION__ << std::endl;
+		std::cerr << __func__ << std::endl;
 		std::cerr << "m_xsize= " << m_xsize<< std::endl;
 		std::cerr << "m_ysize= " << m_ysize<< std::endl;
 	}
@@ -106,7 +106,7 @@ Array2D<Cell,debug>::Array2D(const Array2D<Cell,debug> & g){
 template <class Cell, const bool debug>
 Array2D<Cell,debug>::~Array2D(){
   if (debug){
-  	std::cerr << __PRETTY_FUNCTION__ << std::endl;
+  	std::cerr << __func__ << std::endl;
 	std::cerr << "m_xsize= " << m_xsize<< std::endl;
 	std::cerr << "m_ysize= " << m_ysize<< std::endl;
   }
@@ -121,7 +121,7 @@ Array2D<Cell,debug>::~Array2D(){
 template <class Cell, const bool debug>
 void Array2D<Cell,debug>::clear(){
   if (debug){
-  	std::cerr << __PRETTY_FUNCTION__ << std::endl;
+  	std::cerr << __func__ << std::endl;
 	std::cerr << "m_xsize= " << m_xsize<< std::endl;
 	std::cerr << "m_ysize= " << m_ysize<< std::endl;
   }
diff --git a/include/gmapping/gridfastslam/gfsreader.h b/include/gmapping/gridfastslam/gfsreader.h
index 16041f3..18ab997 100644
--- a/include/gmapping/gridfastslam/gfsreader.h
+++ b/include/gmapping/gridfastslam/gfsreader.h
@@ -7,6 +7,7 @@
 #include <vector>
 #include <list>
 #include <gmapping/utils/point.h>
+#include <gmapping/gridfastslam/gridfastslam_export.h>
 
 #define MAX_LINE_LENGHT (1000000)
 
@@ -16,7 +17,7 @@ namespace GFSReader{
 	
 using namespace std;
 
-struct Record{
+struct GRIDFASTSLAM_EXPORT Record{
 	unsigned int dim;
 	double time;
 	virtual ~Record();
@@ -24,13 +25,13 @@ struct Record{
 	virtual void write(ostream& os);
 };
 
-struct CommentRecord: public Record{
+struct GRIDFASTSLAM_EXPORT CommentRecord: public Record{
 	string text;
 	virtual void read(istream& is);
 	virtual void write(ostream& os);
 };
 
-struct PoseRecord: public Record{
+struct GRIDFASTSLAM_EXPORT PoseRecord: public Record{
 	PoseRecord(bool ideal=false);
 	void read(istream& is);
 	virtual void write(ostream& os);
@@ -38,13 +39,13 @@ struct PoseRecord: public Record{
 	OrientedPoint pose;
 };
 
-struct NeffRecord: public Record{
+struct GRIDFASTSLAM_EXPORT NeffRecord: public Record{
 	void read(istream& is);
 	virtual void write(ostream& os);
 	double neff;
 };
 
-struct EntropyRecord: public Record{
+struct GRIDFASTSLAM_EXPORT EntropyRecord: public Record{
 	void read(istream& is);
 	virtual void write(ostream& os);
 	double poseEntropy;
@@ -53,23 +54,23 @@ struct EntropyRecord: public Record{
 };
 
 
-struct OdometryRecord: public Record{
+struct GRIDFASTSLAM_EXPORT OdometryRecord: public Record{
 	virtual void read(istream& is);
 	vector<OrientedPoint> poses;
 };
 
-struct RawOdometryRecord: public Record{
+struct GRIDFASTSLAM_EXPORT RawOdometryRecord: public Record{
 	virtual void read(istream& is);
 	OrientedPoint pose;
 };
 
-struct ScanMatchRecord: public Record{
+struct GRIDFASTSLAM_EXPORT ScanMatchRecord: public Record{
 	virtual void read(istream& is);
 	vector<OrientedPoint> poses;
 	vector<double> weights;
 };
 
-struct LaserRecord: public Record{
+struct GRIDFASTSLAM_EXPORT LaserRecord: public Record{
 	virtual void read(istream& is);
 	virtual void write(ostream& os);
 	vector<double> readings;
@@ -77,12 +78,12 @@ struct LaserRecord: public Record{
 	double weight;
 };
 
-struct ResampleRecord: public Record{
+struct GRIDFASTSLAM_EXPORT ResampleRecord: public Record{
 	virtual void read(istream& is);
 	vector<unsigned int> indexes;
 };
 
-struct RecordList: public list<Record*>{
+struct GRIDFASTSLAM_EXPORT RecordList: public list<Record*>{
 	mutable int sampleSize;
 	istream& read(istream& is);
 	double getLogWeight(unsigned int i) const;
diff --git a/include/gmapping/gridfastslam/gridslamprocessor.h b/include/gmapping/gridfastslam/gridslamprocessor.h
index 3b7f650..6595b51 100644
--- a/include/gmapping/gridfastslam/gridslamprocessor.h
+++ b/include/gmapping/gridfastslam/gridslamprocessor.h
@@ -14,6 +14,7 @@
 #include <gmapping/sensor/sensor_range/rangereading.h>
 #include <gmapping/scanmatcher/scanmatcher.h>
 #include "gmapping/gridfastslam/motionmodel.h"
+#include <gmapping/gridfastslam/gridfastslam_export.h>
 
 
 namespace GMapping {
@@ -31,7 +32,7 @@ namespace GMapping {
      In order to avoid unnecessary computation the filter state is updated 
      only when the robot moves more than a given threshold.
   */
-  class GridSlamProcessor{
+  class GRIDFASTSLAM_EXPORT GridSlamProcessor{
   public:
 
     
diff --git a/include/gmapping/gui/gsp_thread.h b/include/gmapping/gui/gsp_thread.h
index 8be4529..5c64232 100644
--- a/include/gmapping/gui/gsp_thread.h
+++ b/include/gmapping/gui/gsp_thread.h
@@ -23,8 +23,10 @@
 #ifndef GSP_THREAD_H
 #define GSP_THREAD_H
 
-#include <unistd.h>
-#include <pthread.h>
+#ifndef _WIN32
+  #include <unistd.h>
+  #include <pthread.h>
+#endif
 #include <deque>
 #include <fstream>
 #include <iostream>
diff --git a/include/gmapping/log/carmenconfiguration.h b/include/gmapping/log/carmenconfiguration.h
index ee5188f..4eace72 100644
--- a/include/gmapping/log/carmenconfiguration.h
+++ b/include/gmapping/log/carmenconfiguration.h
@@ -7,10 +7,11 @@
 #include <istream>
 #include <gmapping/sensor/sensor_base/sensor.h>
 #include "gmapping/log/configuration.h"
+#include <gmapping/log/log_export.h>
 
 namespace GMapping {
 
-class CarmenConfiguration: public Configuration, public std::map<std::string, std::vector<std::string> >{
+class LOG_EXPORT CarmenConfiguration: public Configuration, public std::map<std::string, std::vector<std::string> >{
 	public:
 		virtual std::istream& load(std::istream& is);
 		virtual SensorMap computeSensorMap() const;
diff --git a/include/gmapping/log/configuration.h b/include/gmapping/log/configuration.h
index ce1c81c..0c74444 100644
--- a/include/gmapping/log/configuration.h
+++ b/include/gmapping/log/configuration.h
@@ -3,10 +3,11 @@
 
 #include <istream>
 #include <gmapping/sensor/sensor_base/sensor.h>
+#include <gmapping/log/log_export.h>
 
 namespace GMapping {
 
-class Configuration{
+class LOG_EXPORT Configuration{
 	public:
 		virtual ~Configuration();
 		virtual SensorMap computeSensorMap() const=0;
diff --git a/include/gmapping/log/sensorlog.h b/include/gmapping/log/sensorlog.h
index d380a3f..ec3bf16 100644
--- a/include/gmapping/log/sensorlog.h
+++ b/include/gmapping/log/sensorlog.h
@@ -9,10 +9,11 @@
 #include <gmapping/sensor/sensor_odometry/odometryreading.h>
 #include <gmapping/sensor/sensor_range/rangereading.h>
 #include "gmapping/log/configuration.h"
+#include <gmapping/log/log_export.h>
 
 namespace GMapping {
 
-class SensorLog : public std::list<SensorReading*>{
+class LOG_EXPORT SensorLog : public std::list<SensorReading*>{
 	public:
 		SensorLog(const SensorMap&);
 		~SensorLog();
diff --git a/include/gmapping/log/sensorstream.h b/include/gmapping/log/sensorstream.h
index 2551ba8..227c28f 100644
--- a/include/gmapping/log/sensorstream.h
+++ b/include/gmapping/log/sensorstream.h
@@ -3,9 +3,10 @@
 
 #include <istream>
 #include "gmapping/log/sensorlog.h"
+#include <gmapping/log/log_export.h>
 
 namespace GMapping {
-class SensorStream{
+class LOG_EXPORT SensorStream{
 	public:
 		SensorStream(const SensorMap& sensorMap);
 		virtual ~SensorStream();
@@ -20,7 +21,7 @@ class SensorStream{
 		static RangeReading* parseRange(std::istream& is, const RangeSensor* );
 };
 
-class InputSensorStream: public SensorStream{
+class LOG_EXPORT InputSensorStream: public SensorStream{
 	public:
 		InputSensorStream(const SensorMap& sensorMap, std::istream& is);
 		virtual operator bool() const;
@@ -32,7 +33,7 @@ class InputSensorStream: public SensorStream{
 		std::istream& m_inputStream;
 };
 
-class LogSensorStream: public SensorStream{
+class LOG_EXPORT LogSensorStream: public SensorStream{
 	public:
 		LogSensorStream(const SensorMap& sensorMap, const SensorLog* log);
 		virtual operator bool() const;
diff --git a/include/gmapping/scanmatcher/scanmatcher.h b/include/gmapping/scanmatcher/scanmatcher.h
index c970ae1..d9d4871 100644
--- a/include/gmapping/scanmatcher/scanmatcher.h
+++ b/include/gmapping/scanmatcher/scanmatcher.h
@@ -7,11 +7,12 @@
 #include <gmapping/utils/stat.h>
 #include <iostream>
 #include <gmapping/utils/gvalues.h>
+#include <gmapping/scanmatcher/scanmatcher_export.h>
 #define LASER_MAXBEAMS 2048
 
 namespace GMapping {
 
-class ScanMatcher{
+class SCANMATCHER_EXPORT ScanMatcher{
 	public:
 		typedef Covariance3 CovarianceMatrix;
 		
diff --git a/include/gmapping/scanmatcher/scanmatcherprocessor.h b/include/gmapping/scanmatcher/scanmatcherprocessor.h
index b35ccb4..4cec5a9 100644
--- a/include/gmapping/scanmatcher/scanmatcherprocessor.h
+++ b/include/gmapping/scanmatcher/scanmatcherprocessor.h
@@ -6,10 +6,11 @@
 #include <gmapping/sensor/sensor_range/rangereading.h>
 //#include <gsl/gsl_eigen.h>
 #include "gmapping/scanmatcher/scanmatcher.h"
+#include <gmapping/scanmatcher/scanmatcher_export.h>
 
 namespace GMapping {
 
-class ScanMatcherProcessor{
+class SCANMATCHER_EXPORT ScanMatcherProcessor{
 	public:
   ScanMatcherProcessor(const ScanMatcherMap& m);
   ScanMatcherProcessor (double xmin, double ymin, double xmax, double ymax, double delta, double patchdelta);
diff --git a/include/gmapping/sensor/sensor_base/sensor.h b/include/gmapping/sensor/sensor_base/sensor.h
index 4368809..492b892 100644
--- a/include/gmapping/sensor/sensor_base/sensor.h
+++ b/include/gmapping/sensor/sensor_base/sensor.h
@@ -3,10 +3,11 @@
 
 #include <string>
 #include <map>
+#include <gmapping/sensor/sensor_base/sensor_base_export.h>
 
 namespace GMapping{
 
-class Sensor{
+class SENSOR_BASE_EXPORT Sensor{
 	public:
 		Sensor(const std::string& name="");
 		virtual ~Sensor();
diff --git a/include/gmapping/sensor/sensor_base/sensoreading.h b/include/gmapping/sensor/sensor_base/sensoreading.h
index a51797b..22dda2f 100644
--- a/include/gmapping/sensor/sensor_base/sensoreading.h
+++ b/include/gmapping/sensor/sensor_base/sensoreading.h
@@ -2,9 +2,11 @@
 #define SENSORREADING_H
 
 #include "gmapping/sensor/sensor_base/sensor.h"
+#include <gmapping/sensor/sensor_base/sensor_base_export.h>
+
 namespace GMapping{
 
-class SensorReading{
+class SENSOR_BASE_EXPORT SensorReading{
 	public:
 		SensorReading(const Sensor* s=0, double time=0);
 		inline double getTime() const {return m_time;}
diff --git a/include/gmapping/sensor/sensor_base/sensorreading.h b/include/gmapping/sensor/sensor_base/sensorreading.h
index 964ee3d..7d2edfd 100644
--- a/include/gmapping/sensor/sensor_base/sensorreading.h
+++ b/include/gmapping/sensor/sensor_base/sensorreading.h
@@ -2,9 +2,11 @@
 #define SENSORREADING_H
 
 #include "gmapping/sensor/sensor_base/sensor.h"
+#include <gmapping/sensor/sensor_base/sensor_base_export.h>
+
 namespace GMapping{
 
-class SensorReading{
+class SENSOR_BASE_EXPORT SensorReading{
 	public:
 		SensorReading(const Sensor* s=0, double time=0);
 		virtual ~SensorReading();
diff --git a/include/gmapping/sensor/sensor_odometry/odometryreading.h b/include/gmapping/sensor/sensor_odometry/odometryreading.h
index d007d19..2cb09e6 100644
--- a/include/gmapping/sensor/sensor_odometry/odometryreading.h
+++ b/include/gmapping/sensor/sensor_odometry/odometryreading.h
@@ -5,10 +5,11 @@
 #include <gmapping/sensor/sensor_base/sensorreading.h>
 #include <gmapping/utils/point.h>
 #include "gmapping/sensor/sensor_odometry/odometrysensor.h"
+#include <gmapping/sensor/sensor_odometry/sensor_odometry_export.h>
 
 namespace GMapping{
 
-class OdometryReading: public SensorReading{
+class SENSOR_ODOMETRY_EXPORT OdometryReading: public SensorReading{
 	public:
 		OdometryReading(const OdometrySensor* odo, double time=0);
 		inline const OrientedPoint& getPose() const {return m_pose;}
diff --git a/include/gmapping/sensor/sensor_odometry/odometrysensor.h b/include/gmapping/sensor/sensor_odometry/odometrysensor.h
index 1d18bd3..3caf1a7 100644
--- a/include/gmapping/sensor/sensor_odometry/odometrysensor.h
+++ b/include/gmapping/sensor/sensor_odometry/odometrysensor.h
@@ -3,10 +3,11 @@
 
 #include <string>
 #include <gmapping/sensor/sensor_base/sensor.h>
+#include <gmapping/sensor/sensor_odometry/sensor_odometry_export.h>
 
 namespace GMapping{
 
-class OdometrySensor: public Sensor{
+class SENSOR_ODOMETRY_EXPORT OdometrySensor: public Sensor{
 	public:
 		OdometrySensor(const std::string& name, bool ideal=false);
 		inline bool isIdeal() const { return m_ideal; }
diff --git a/include/gmapping/sensor/sensor_range/rangereading.h b/include/gmapping/sensor/sensor_range/rangereading.h
index b715a8e..692f571 100644
--- a/include/gmapping/sensor/sensor_range/rangereading.h
+++ b/include/gmapping/sensor/sensor_range/rangereading.h
@@ -4,10 +4,17 @@
 #include <vector>
 #include <gmapping/sensor/sensor_base/sensorreading.h>
 #include "gmapping/sensor/sensor_range/rangesensor.h"
+#include <gmapping/sensor/sensor_range/sensor_range_export.h>
+
+#ifdef _MSC_VER
+namespace std {
+	extern template class __declspec(dllexport) vector<double>;
+};
+#endif
 
 namespace GMapping{
 
-class RangeReading: public SensorReading, public std::vector<double>{
+class SENSOR_RANGE_EXPORT RangeReading: public SensorReading, public std::vector<double>{
 	public:
 		RangeReading(const RangeSensor* rs, double time=0);
 		RangeReading(unsigned int n_beams, const double* d, const RangeSensor* rs, double time=0);
diff --git a/include/gmapping/sensor/sensor_range/rangesensor.h b/include/gmapping/sensor/sensor_range/rangesensor.h
index 65feffb..2e20653 100644
--- a/include/gmapping/sensor/sensor_range/rangesensor.h
+++ b/include/gmapping/sensor/sensor_range/rangesensor.h
@@ -4,10 +4,11 @@
 #include <vector>
 #include <gmapping/sensor/sensor_base/sensor.h>
 #include <gmapping/utils/point.h>
+#include <gmapping/sensor/sensor_range/sensor_range_export.h>
 
 namespace GMapping{
 
-class RangeSensor: public Sensor{
+class SENSOR_RANGE_EXPORT RangeSensor: public Sensor{
 	friend class Configuration;
 	friend class CarmenConfiguration;
 	friend class CarmenWrapper;
diff --git a/include/gmapping/utils/gvalues.h b/include/gmapping/utils/gvalues.h
index a908f42..5223b9e 100644
--- a/include/gmapping/utils/gvalues.h
+++ b/include/gmapping/utils/gvalues.h
@@ -15,6 +15,7 @@
   #ifndef __DRAND48_DEFINED__
      #define __DRAND48_DEFINED__
      inline double drand48() { return double(rand()) / RAND_MAX;}
+     inline void srand48(unsigned int seed) { srand(seed); }
   #endif
   #ifndef M_PI
     #define M_PI 3.1415926535897932384626433832795
diff --git a/include/gmapping/utils/movement.h b/include/gmapping/utils/movement.h
index aabe36d..bd27d83 100644
--- a/include/gmapping/utils/movement.h
+++ b/include/gmapping/utils/movement.h
@@ -2,11 +2,12 @@
 #define FSRMOVEMENT_H
 
 #include "gmapping/utils/point.h"
+#include <gmapping/utils/utils_export.h>
 
 namespace GMapping {
 
   /** fsr-movement (forward, sideward, rotate) **/
-class FSRMovement  {
+class UTILS_EXPORT FSRMovement  {
  public:
   FSRMovement(double f=0.0, double s=0.0, double r=0.0);
   FSRMovement(const FSRMovement& src);
diff --git a/include/gmapping/utils/point.h b/include/gmapping/utils/point.h
index 3735aed..26db185 100644
--- a/include/gmapping/utils/point.h
+++ b/include/gmapping/utils/point.h
@@ -5,7 +5,7 @@
 #include <iostream>
 #include "gmapping/utils/gvalues.h"
 
-#define DEBUG_STREAM cerr << __PRETTY_FUNCTION__ << ":" //FIXME
+#define DEBUG_STREAM cerr << __func__ << ":" //FIXME
 
 namespace GMapping {
 
diff --git a/include/gmapping/utils/printmemusage.h b/include/gmapping/utils/printmemusage.h
index fc7fd91..ed61adf 100644
--- a/include/gmapping/utils/printmemusage.h
+++ b/include/gmapping/utils/printmemusage.h
@@ -1,13 +1,16 @@
 #ifndef PRINTMEMUSAGE_H
 #define PRINTMEMUSAGE_H
 #include <sys/types.h>
-#include <unistd.h>
+#ifndef _WIN32
+  #include <unistd.h>
+#endif
 #include <iostream>
 #include <fstream>
 #include <string>
+#include <gmapping/utils/utils_export.h>
 
 namespace GMapping{
-	void printmemusage();
+	void UTILS_EXPORT printmemusage();
 };
 
 #endif
diff --git a/include/gmapping/utils/printpgm.h b/include/gmapping/utils/printpgm.h
index d9a3b8a..2774909 100644
--- a/include/gmapping/utils/printpgm.h
+++ b/include/gmapping/utils/printpgm.h
@@ -1,7 +1,9 @@
 #include <fstream>
 #include <iostream>
 #include <sstream>
-#include <unistd.h>
+#ifndef _WIN32
+  #include <unistd.h>
+#endif
 
 
 using namespace std;
diff --git a/include/gmapping/utils/stat.h b/include/gmapping/utils/stat.h
index 62e14fa..449178e 100644
--- a/include/gmapping/utils/stat.h
+++ b/include/gmapping/utils/stat.h
@@ -3,17 +3,18 @@
 #include "gmapping/utils/point.h"
 #include <vector>
 #include "gmapping/utils/gvalues.h"
+#include <gmapping/utils/utils_export.h>
 
 namespace GMapping {
 
 /**stupid utility function for drawing particles form a zero mean, sigma variance normal distribution
 probably it should not go there*/
-double sampleGaussian(double sigma,unsigned long int S=0);
+double UTILS_EXPORT sampleGaussian(double sigma,unsigned long int S=0);
 
-double evalGaussian(double sigmaSquare, double delta);
-double evalLogGaussian(double sigmaSquare, double delta);
-int sampleUniformInt(int max);
-double sampleUniformDouble(double min, double max);
+double UTILS_EXPORT evalGaussian(double sigmaSquare, double delta);
+double UTILS_EXPORT evalLogGaussian(double sigmaSquare, double delta);
+int UTILS_EXPORT sampleUniformInt(int max);
+double UTILS_EXPORT sampleUniformDouble(double min, double max);
 
 struct Covariance3{
 	Covariance3 operator + (const Covariance3 & cov) const;
@@ -34,7 +35,7 @@ struct Gaussian3{
 	OrientedPoint mean;
 	EigenCovariance3 covariance;
 	Covariance3 cov;
-	double eval(const OrientedPoint& p) const;
+	double UTILS_EXPORT eval(const OrientedPoint& p) const;
 	void computeFromSamples(const std::vector<OrientedPoint> & poses);
 	void computeFromSamples(const std::vector<OrientedPoint> & poses, const std::vector<double>& weights );
 };
diff --git a/log/carmenconfiguration.cpp b/log/carmenconfiguration.cpp
index 7cac05e..9061da8 100644
--- a/log/carmenconfiguration.cpp
+++ b/log/carmenconfiguration.cpp
@@ -131,12 +131,12 @@ SensorMap CarmenConfiguration::computeSensorMap() const{
 			const vector<string> & soff=key->second;
 
 			if( (soff.size()/3<sonar_num)){
-				cerr << __PRETTY_FUNCTION__ << ": Error " << soff.size()
+				cerr << __func__ << ": Error " << soff.size()
 				<< " parameters for defining the sonar offsets"
 				<< " while the specified number of sonars requires "
 				<< sonar_num*3 << " parameters at least" << endl;
 			} else {
-				cerr << __PRETTY_FUNCTION__ << ": Ok " << soff.size() << " parameters for defining the sonar offsets of " << sonar_num << " devices" << endl;
+				cerr << __func__ << ": Ok " << soff.size() << " parameters for defining the sonar offsets of " << sonar_num << " devices" << endl;
 			}
 
 
diff --git a/log/sensorstream.cpp b/log/sensorstream.cpp
index f527ced..53c218e 100644
--- a/log/sensorstream.cpp
+++ b/log/sensorstream.cpp
@@ -66,7 +66,7 @@ OdometryReading* SensorStream::parseOdometry(std::istream& is, const OdometrySen
 }
 
 RangeReading* SensorStream::parseRange(std::istream& is, const RangeSensor* rs){
-	//cerr << __PRETTY_FUNCTION__ << endl;
+	//cerr << __func__ << endl;
 	if(rs->newFormat){
 		string laser_type, start_angle, field_of_view, angular_resolution, maximum_range, accuracy, remission_mode;
 		is >> laser_type>> start_angle>> field_of_view>> angular_resolution>> maximum_range>> accuracy>> remission_mode;
diff --git a/scanmatcher/scanmatch_test.cpp b/scanmatcher/scanmatch_test.cpp
index a9a3ccc..a2fc94a 100644
--- a/scanmatcher/scanmatch_test.cpp
+++ b/scanmatcher/scanmatch_test.cpp
@@ -3,7 +3,9 @@
 #include <iostream>
 #include <gmapping/log/carmenconfiguration.h>
 #include <gmapping/log/sensorlog.h>
-#include <unistd.h>
+#ifndef _WIN32
+  #include <unistd.h>
+#endif
 #include <gmapping/utils/commandline.h>
 #include <gmapping/log/sensorstream.h>
 #include "gmapping/scanmatcher/scanmatcherprocessor.h"
@@ -11,7 +13,7 @@
 using namespace std;
 using namespace GMapping;
 
-#define DEBUG cout << __PRETTY_FUNCTION__
+#define DEBUG cout << __func__
 #define MAX_STRING_LENGTH 1024
 
 int main(int argc, const char * const * argv){
diff --git a/scanmatcher/scanmatcher.cpp b/scanmatcher/scanmatcher.cpp
index 5d7f291..f7fb885 100644
--- a/scanmatcher/scanmatcher.cpp
+++ b/scanmatcher/scanmatcher.cpp
@@ -341,7 +341,7 @@ double ScanMatcher::optimize(OrientedPoint& pnew, const ScanMatcherMap& map, con
 	double adelta=m_optAngularDelta, ldelta=m_optLinearDelta;
 	unsigned int refinement=0;
 	enum Move{Front, Back, Left, Right, TurnLeft, TurnRight, Done};
-/*	cout << __PRETTY_FUNCTION__<<  " readings: ";
+/*	cout << __func__<<  " readings: ";
 	for (int i=0; i<m_laserBeams; i++){
 		cout << readings[i] << " ";
 	}
@@ -413,8 +413,8 @@ double ScanMatcher::optimize(OrientedPoint& pnew, const ScanMatcherMap& map, con
 //		cout << "currentScore=" << currentScore<< endl;
 		//here we look for the best move;
 	}while (currentScore>bestScore || refinement<m_optRecursiveIterations);
-	//cout << __PRETTY_FUNCTION__ << "bestScore=" << bestScore<< endl;
-	//cout << __PRETTY_FUNCTION__ << "iterations=" << c_iterations<< endl;
+	//cout << __func__ << "bestScore=" << bestScore<< endl;
+	//cout << __func__ << "iterations=" << c_iterations<< endl;
 	pnew=currentPose;
 	return bestScore;
 }
@@ -509,11 +509,11 @@ double ScanMatcher::optimize(OrientedPoint& _mean, ScanMatcher::CovarianceMatrix
 			//update the move list
 		} while(move!=Done);
 		currentPose=bestLocalPose;
-		//cout << __PRETTY_FUNCTION__ << "currentScore=" << currentScore<< endl;
+		//cout << __func__ << "currentScore=" << currentScore<< endl;
 		//here we look for the best move;
 	}while (currentScore>bestScore || refinement<m_optRecursiveIterations);
-	//cout << __PRETTY_FUNCTION__ << "bestScore=" << bestScore<< endl;
-	//cout << __PRETTY_FUNCTION__ << "iterations=" << count<< endl;
+	//cout << __func__ << "bestScore=" << bestScore<< endl;
+	//cout << __func__ << "iterations=" << count<< endl;
 	
 	//normalize the likelihood
 	double lmin=1e9;
diff --git a/scanmatcher/scanmatcher.new.cpp b/scanmatcher/scanmatcher.new.cpp
index 5afdd0e..e607f19 100644
--- a/scanmatcher/scanmatcher.new.cpp
+++ b/scanmatcher/scanmatcher.new.cpp
@@ -208,11 +208,11 @@ double ScanMatcher::optimize(OrientedPoint& pnew, const ScanMatcherMap& map, con
 			c_iterations++;
 		} while(move!=Done);
 		currentPose=bestLocalPose;
-		//cout << __PRETTY_FUNCTION__ << "currentScore=" << currentScore<< endl;
+		//cout << __func__ << "currentScore=" << currentScore<< endl;
 		//here we look for the best move;
 	}while (currentScore>bestScore || refinement<m_optRecursiveIterations);
-	//cout << __PRETTY_FUNCTION__ << "bestScore=" << bestScore<< endl;
-	//cout << __PRETTY_FUNCTION__ << "iterations=" << c_iterations<< endl;
+	//cout << __func__ << "bestScore=" << bestScore<< endl;
+	//cout << __func__ << "iterations=" << c_iterations<< endl;
 	pnew=currentPose;
 	return bestScore;
 }
@@ -292,10 +292,10 @@ double ScanMatcher::optimize(OrientedPoint& _mean, ScanMatcher::CovarianceMatrix
 			//update the move list
 		} while(move!=Done);
 		currentPose=bestLocalPose;
-		//cout << __PRETTY_FUNCTION__ << "currentScore=" << currentScore<< endl;
+		//cout << __func__ << "currentScore=" << currentScore<< endl;
 		//here we look for the best move;
 	}while (currentScore>bestScore || refinement<m_optRecursiveIterations);
-	//cout << __PRETTY_FUNCTION__ << "bestScore=" << bestScore<< endl;
+	//cout << __func__ << "bestScore=" << bestScore<< endl;
 	
 	//normalize the likelihood
 	double lmin=1e9;
diff --git a/sensor/sensor_range/rangereading.cpp b/sensor/sensor_range/rangereading.cpp
index df74d30..a95e3c7 100644
--- a/sensor/sensor_range/rangereading.cpp
+++ b/sensor/sensor_range/rangereading.cpp
@@ -21,7 +21,7 @@ RangeReading::RangeReading(unsigned int n_beams, const double* d, const RangeSen
 }
 
 RangeReading::~RangeReading(){
-//	cerr << __PRETTY_FUNCTION__ << ": CAZZZZZZZZZZZZZZZZZZZZOOOOOOOOOOO" << endl;
+//	cerr << __func__ << ": CAZZZZZZZZZZZZZZZZZZZZOOOOOOOOOOO" << endl;
 }
 
 unsigned int RangeReading::rawView(double* v, double density) const{
@@ -48,7 +48,7 @@ unsigned int RangeReading::rawView(double* v, double density) const{
 				lastPoint=lp;
 				v[i]=(*this)[i];
 			}
-			//std::cerr<< __PRETTY_FUNCTION__ << std::endl;
+			//std::cerr<< __func__ << std::endl;
 			//std::cerr<< "suppressed " << suppressed <<"/"<<size() << std::endl;
 		}
 	}
@@ -78,7 +78,7 @@ unsigned int RangeReading::activeBeams(double density) const{
 			lastPoint=lp;
 			ab++;
 		}
-		//std::cerr<< __PRETTY_FUNCTION__ << std::endl;
+		//std::cerr<< __func__ << std::endl;
 		//std::cerr<< "suppressed " << suppressed <<"/"<<size() << std::endl;
 	}
 	return ab;