From 38df47094bff0c2eaca8daa72bff85ed02f62d9d Mon Sep 17 00:00:00 2001
From: Guillaume Sarthou <gsarthou@laas.fr>
Date: Sun, 9 Jun 2024 20:59:27 +0200
Subject: [PATCH] fix naming

---
 docs/cpp_API/FeederPublisher.html             | 445 +++++++++++++-----
 .../API/ontologenius/FeederPublisher.h        |  26 +-
 .../API/ontologenius/clients/ClientBase.h     |  12 +-
 .../clientsIndex/ClientBaseIndex.h            |  24 +-
 include/ontologenius/compat/ros.h             |  28 +-
 include/ontologenius/core/feeder/FeederEcho.h |   2 +-
 .../core/ontoGraphs/Graphs/ClassGraph.h       |   2 +-
 .../core/ontoGraphs/Graphs/Graph.h            |   4 +-
 .../core/ontoGraphs/Graphs/OntoGraph.h        |   6 +-
 .../ontologenius/core/reasoner/Reasoners.h    |   2 +-
 src/API/ontologenius/ConversionClient.cpp     |  16 +-
 src/API/ontologenius/FeederPublisher.cpp      |   8 +-
 src/API/ontologenius/clients/SparqlClient.cpp |  12 +-
 .../clientsIndex/SparqlIndexClient.cpp        |  12 +-
 src/compat/ros.cpp                            |   2 +-
 src/core/ontoGraphs/Graphs/ClassGraph.cpp     |   6 +-
 src/core/reasoner/Reasoners.cpp               |   2 +-
 src/interface/RosInterface.cpp                |   4 +-
 src/nodes/ontologenius_multi.cpp              |   1 +
 src/tests/CI/copy_test.cpp                    |   1 +
 20 files changed, 419 insertions(+), 196 deletions(-)
diff --git a/docs/cpp_API/FeederPublisher.html b/docs/cpp_API/FeederPublisher.html
index efeede7b..d3d5d40c 100644
--- a/docs/cpp_API/FeederPublisher.html
+++ b/docs/cpp_API/FeederPublisher.html
@@ -7,22 +7,26 @@
   <link href="../images/favicon.ico" rel="shortcut icon">
   <link href="../images/favicon-32x32.png" rel="icon" type="image/png">
   <link href="../images/favicon-16x16.png" rel="icon" type="image/png">
-  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.6.3/css/all.css" integrity="sha384-UHRtZLI+pbxtHCWp1t77Bi1L4ZtiqrqD80Kn4Z8NTSRyMA2Fd33n5dQ8lWUE00s/" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.6.3/css/all.css"
+    integrity="sha384-UHRtZLI+pbxtHCWp1t77Bi1L4ZtiqrqD80Kn4Z8NTSRyMA2Fd33n5dQ8lWUE00s/" crossorigin="anonymous">
 </head>
 
 <body>
   <div class="header" id="header">
     <header class="fixed" id="navbar">
       <div class="container">
-          <div class="navbar-header">
-            <div id="header-buttons">
-                <ul id="header-ul" data-event="hover_intent" data-effect="fade" data-effect-speed="500">
-                    <li class="header-item"><a class="header-link" href="https://github.com/sarthou/ontologenius" tabindex="0"><img src="https://upload.wikimedia.org/wikipedia/commons/thumb/9/91/Octicons-mark-github.svg/1200px-Octicons-mark-github.svg.png" alt="github" width="40px" height="40px"/></a></li>
-                </ul>
-            </div>
-            <a class="navbar-icon" href="../index.html">
-              <img src="../images/ontologenius.png " alt="ontologenius" width="65px" height="65px"/>
-            </a>
+        <div class="navbar-header">
+          <div id="header-buttons">
+            <ul id="header-ul" data-event="hover_intent" data-effect="fade" data-effect-speed="500">
+              <li class="header-item"><a class="header-link" href="https://github.com/sarthou/ontologenius"
+                  tabindex="0"><img
+                    src="https://upload.wikimedia.org/wikipedia/commons/thumb/9/91/Octicons-mark-github.svg/1200px-Octicons-mark-github.svg.png"
+                    alt="github" width="40px" height="40px" /></a></li>
+            </ul>
+          </div>
+          <a class="navbar-icon" href="../index.html">
+            <img src="../images/ontologenius.png " alt="ontologenius" width="65px" height="65px" />
+          </a>
         </div>
       </div>
     </header>
@@ -33,8 +37,10 @@
     <div class="navigationbar">
       <ul class="sub-navigation">
         <li><a href="https://github.com/sarthou/ontologenius/tree/master/src/API/ontologenius">C++ API sources</a></li>
-        <li><a href="https://github.com/sarthou/ontologenius/tree/master/include/ontologenius/API/ontologenius">C++ API headers</a></li>
-        <li><a href="https://github.com/sarthou/ontologenius/tree/master/ontopy/ontologenius">Pyhton API sources</a></li>
+        <li><a href="https://github.com/sarthou/ontologenius/tree/master/include/ontologenius/API/ontologenius">C++ API
+            headers</a></li>
+        <li><a href="https://github.com/sarthou/ontologenius/tree/master/ontopy/ontologenius">Pyhton API sources</a>
+        </li>
         <li><a href="https://gitlab.com/sarthou/ontologenius/pipelines">Pipelines</a></li>
       </ul>
       <h1>Ontologenius Cpp API Documentation</h1>
@@ -121,12 +127,19 @@ <h3>
 
       <div class="context">
         <h1 class="title">FeederPublisher Class</h1>
-        <p>The FeederPublisher class provides an abstraction for ontologenius feeder topic. <a href="#details">More...</a></p>
+        <p>The FeederPublisher class provides an abstraction for ontologenius feeder topic. <a
+            href="#details">More...</a></p>
         <div class="table">
           <table class="alignedsummary">
             <tbody>
-              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;ontologenius/FeederPublisher.h&quot;</span>
-              <tr><td class="memItemLeft rightAlign topAlign"> Namespace:</td><td class="memItemRight bottomAlign"> onto</td></tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> Header:</td>
+                <td class="memItemRight bottomAlign"> <span class="preprocessor">#include
+                    &quot;ontologenius/FeederPublisher.h&quot;</span>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> Namespace:</td>
+                <td class="memItemRight bottomAlign"> onto</td>
+              </tr>
             </tbody>
           </table>
         </div>
@@ -136,27 +149,137 @@ <h2 id="public-functions">Public Functions</h2>
         <div class="table">
           <table class="alignedsummary">
             <tbody>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#FeederPublisher">FeederPublisher</a></b>(const std::string&amp; <i>name</i>)</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#addProperty">addProperty</a></b>(const std::string&amp; <i>from</i>, const std::string&amp; <i>property</i>, const std::string&amp; <i>on</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#addProperty">addProperty</a></b>(const std::string&amp; <i>from</i>, const std::string&amp; <i>property</i>, const std::string&amp; <i>type</i>, const std::string&amp; <i>value</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#addInheritage">addInheritage</a></b>(const std::string&amp; <i>from</i>, const std::string&amp; <i>on</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#addLanguage">addLanguage</a></b>(const std::string&amp; <i>from</i>, const std::string&amp; <i>lang</i>, const std::string&amp; <i>name</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#addConcept">addConcept</a></b>(const std::string&amp; <i>from</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#addInverseOf">addInverseOf</a></b>(const std::string&amp; <i>property</i>, const std::string&amp; <i>inverse_property</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#removeProperty0">removeProperty</a></b>(const std::string&amp; <i>from</i>, const std::string&amp; <i>property</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#removeProperty1">removeProperty</a></b>(const std::string&amp; <i>from</i>, const std::string&amp; <i>property</i>, const std::string&amp; <i>on</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#removeProperty2">removeProperty</a></b>(const std::string&amp; <i>from</i>, const std::string&amp; <i>property</i>, const std::string&amp; <i>type</i>, const std::string&amp; <i>value</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#removeInheritage">removeInheritage</a></b>(const std::string&amp; <i>from</i>, const std::string&amp; <i>on</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#removeLanguage">removeLanguage</a></b>(const std::string&amp; <i>from</i>, const std::string&amp; <i>lang</i>, const std::string&amp; <i>name</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#removeConcept">removeConcept</a></b>(const std::string&amp; <i>from</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> size_t </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#getNumSubscribers">getNumSubscribers</a></b>()</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#waitConnected">waitConnected</a></b>()</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> bool </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#waitUpdate">waitUpdate</a></b>(int32_t <i>timeout</i> = -1)</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> std::string </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#commit">commit</a></b>(int32_t <i>timeout</i> = -1)</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> bool </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#commit2">commit</a></b>(const std::string&amp; <i>commit_name</i>, int32_t <i>timeout</i> = -1)</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> bool </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#checkout">checkout</a></b>(const std::string&amp; <i>commit_name</i>, int32_t <i>timeout</i> = -1)</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#registerFeederNotificationCallback">registerFeederNotificationCallback</a></b>(const std::function&lt;void(const std::string&amp;)&gt;&amp; <i>callback</i>)</td></tr>
-              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#registerReasonersNotificationCallback">registerReasonersNotificationCallback</a></b>(const std::function&lt;void(const std::string&amp;)&gt;&amp; <i>callback</i>)</td></tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#FeederPublisher">FeederPublisher</a></b>(const std::string&amp;
+                  <i>name</i>)</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#addProperty">addProperty</a></b>(const std::string&amp; <i>from</i>,
+                  const std::string&amp; <i>property</i>, const std::string&amp; <i>on</i>, const onto_ros::Time&amp;
+                  <i>stamp</i> = onto_ros::Node::get().currentTime())</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#addProperty">addProperty</a></b>(const std::string&amp; <i>from</i>,
+                  const std::string&amp; <i>property</i>, const std::string&amp; <i>type</i>, const std::string&amp;
+                  <i>value</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().currentTime())</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#addInheritage">addInheritage</a></b>(const std::string&amp;
+                  <i>from</i>, const std::string&amp; <i>on</i>, const onto_ros::Time&amp; <i>stamp</i> =
+                  onto_ros::Node::get().currentTime())</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#addLanguage">addLanguage</a></b>(const std::string&amp; <i>from</i>,
+                  const std::string&amp; <i>lang</i>, const std::string&amp; <i>name</i>, const onto_ros::Time&amp;
+                  <i>stamp</i> = onto_ros::Node::get().currentTime())</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#addConcept">addConcept</a></b>(const std::string&amp; <i>from</i>,
+                  const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().currentTime())</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#addInverseOf">addInverseOf</a></b>(const std::string&amp;
+                  <i>property</i>, const std::string&amp; <i>inverse_property</i>, const onto_ros::Time&amp;
+                  <i>stamp</i> = onto_ros::Node::get().currentTime())</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#removeProperty0">removeProperty</a></b>(const std::string&amp;
+                  <i>from</i>, const std::string&amp; <i>property</i>, const onto_ros::Time&amp; <i>stamp</i> =
+                  onto_ros::Node::get().currentTime())</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#removeProperty1">removeProperty</a></b>(const std::string&amp;
+                  <i>from</i>, const std::string&amp; <i>property</i>, const std::string&amp; <i>on</i>, const
+                  onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().currentTime())</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#removeProperty2">removeProperty</a></b>(const std::string&amp;
+                  <i>from</i>, const std::string&amp; <i>property</i>, const std::string&amp; <i>type</i>, const
+                  std::string&amp; <i>value</i>, const onto_ros::Time&amp; <i>stamp</i> =
+                  onto_ros::Node::get().currentTime())</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#removeInheritage">removeInheritage</a></b>(const std::string&amp;
+                  <i>from</i>, const std::string&amp; <i>on</i>, const onto_ros::Time&amp; <i>stamp</i> =
+                  onto_ros::Node::get().currentTime())</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#removeLanguage">removeLanguage</a></b>(const std::string&amp;
+                  <i>from</i>, const std::string&amp; <i>lang</i>, const std::string&amp; <i>name</i>, const
+                  onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().currentTime())</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#removeConcept">removeConcept</a></b>(const std::string&amp;
+                  <i>from</i>, const onto_ros::Time&amp; <i>stamp</i> = onto_ros::Node::get().currentTime())</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> size_t </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#getNumSubscribers">getNumSubscribers</a></b>()</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#waitConnected">waitConnected</a></b>()</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> bool </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#waitUpdate">waitUpdate</a></b>(int32_t <i>timeout</i> = -1)</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> std::string </td>
+                <td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#commit">commit</a></b>(int32_t
+                  <i>timeout</i> = -1)</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> bool </td>
+                <td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#commit2">commit</a></b>(const
+                  std::string&amp; <i>commit_name</i>, int32_t <i>timeout</i> = -1)</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> bool </td>
+                <td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#checkout">checkout</a></b>(const
+                  std::string&amp; <i>commit_name</i>, int32_t <i>timeout</i> = -1)</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#registerFeederNotificationCallback">registerFeederNotificationCallback</a></b>(const
+                  std::function&lt;void(const std::string&amp;)&gt;&amp; <i>callback</i>)</td>
+              </tr>
+              <tr>
+                <td class="memItemLeft rightAlign topAlign"> </td>
+                <td class="memItemRight bottomAlign"><b><a
+                      href="FeederPublisher.html#registerReasonersNotificationCallback">registerReasonersNotificationCallback</a></b>(const
+                  std::function&lt;void(const std::string&amp;)&gt;&amp; <i>callback</i>)</td>
+              </tr>
             </tbody>
           </table>
         </div>
@@ -165,124 +288,222 @@ <h2 id="public-functions">Public Functions</h2>
         <div class="descr">
           <h2 id="details">Detailed Description</h2>
           <p>The FeederPublisher class provides an abstraction ontologenius feeder(insert) ROS topic.</p>
-          <p>Working in a closed world can be interesting, but with ontologenius, you can also choose to work in an open world by adding and modifying
+          <p>Working in a closed world can be interesting, but with ontologenius, you can also choose to work in an open
+            world by adding and modifying
             the agent's knowledge base during its operation.
             The feeder publisher is used to insert and delete knowledge dynamically.
             The feeding process is asynchronous and therefore does not guarantee any response time.
-            It still provides functions to synchronize if you have applications where you have to query the ontology right after having modified it.</p>
+            It still provides functions to synchronize if you have applications where you have to query the ontology
+            right after having modified it.</p>
           <p>All modifications can be time-stamped for advanced uses using the republication mechanism.</p>
         </div>
 
         <div class="func">
           <h2>Public Function Documentation</h2>
 
-          <h3 class="fn" id="FeederPublisher"><a name="FeederPublisher"></a>FeederPublisher::<span class="name">FeederPublisher</span>(const <span class="type">std::string</span>&amp; <i>name</i>)</h3>
+          <h3 class="fn" id="FeederPublisher"><a name="FeederPublisher"></a>FeederPublisher::<span
+              class="name">FeederPublisher</span>(const <span class="type">std::string</span>&amp; <i>name</i>)</h3>
           <p>Constructs a FeederPublisher.</p>
-          <p>Can be used in a multi-ontology mode by specifying the name of the ontology <i>name</i>. For classic use, <i>name</i> should be defined as &quot;&quot;.</p>
-
-          <h3 class="fn" id="addProperty"><a name="addProperty"></a>FeederPublisher::<span class="name">addProperty</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span class="type">std::string</span>&amp; <i>property</i>, const <span class="type">std::string</span>&amp; <i>on</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</h3>
+          <p>Can be used in a multi-ontology mode by specifying the name of the ontology <i>name</i>. For classic use,
+            <i>name</i> should be defined as &quot;&quot;.</p>
+
+          <h3 class="fn" id="addProperty"><a name="addProperty"></a>FeederPublisher::<span
+              class="name">addProperty</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span
+              class="type">std::string</span>&amp; <i>property</i>, const <span class="type">std::string</span>&amp;
+            <i>on</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> =
+            onto_ros::Node::get().currentTime())</h3>
           <p>Adds the fact that <i>from</i> is linked with <i>on</i> by the property <i>property</i>.</p>
-          <p>At least <i>from</i> or <i>on</i> must be already known to the system. If one of them is unknown, it will be automatically created. The property can be unknown before calling this function.</p>
-          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).</p>
-          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.</p>
-
-          <h3 class="fn" id="addProperty"><a name="addProperty"></a>FeederPublisher::<span class="name">addProperty</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span class="type">std::string</span>&amp; <i>property</i>, const <span class="type">std::string</span>&amp; <i>type</i>, const <span class="type">std::string</span>&amp; <i>value</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</h3>
-          <p>Adds the fact that <i>from</i> is linked to the data <i>value</i> of type <i>type</i> by the property <i>property</i>.</p>
-          <p><i>from</i> must be already known to the system. The property can be unknown before calling this function.</p>
-          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).</p>
-          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.</p>
-
-          <h3 class="fn" id="addInheritage"><a name="addInheritage"></a>FeederPublisher::<span class="name">addInheritage</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span class="type">std::string</span>&amp; <i>on</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</h3>
-          <p>Adds the inheratage: <i>from</i> is a <i>on</i>. <i>from</i> and <i>on</i> could by a class, an individual or a property.</p>
-          <p>At least <i>from</i> or <i>on</i> must be already known to the system. If one of them is unknown, it will be automatically created.</p>
-          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).</p>
-          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.</p>
-
-          <h3 class="fn" id="addLanguage"><a name="addLanguage"></a>FeederPublisher::<span class="name">addLanguage</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span class="type">std::string</span>&amp; <i>lang</i>, const <span class="type">std::string</span>&amp; <i>name</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</h3>
+          <p>At least <i>from</i> or <i>on</i> must be already known to the system. If one of them is unknown, it will
+            be automatically created. The property can be unknown before calling this function.</p>
+          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2
+            time representation (i.e. ros::Time or rclcpp::Time).</p>
+          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.
+          </p>
+
+          <h3 class="fn" id="addProperty"><a name="addProperty"></a>FeederPublisher::<span
+              class="name">addProperty</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span
+              class="type">std::string</span>&amp; <i>property</i>, const <span class="type">std::string</span>&amp;
+            <i>type</i>, const <span class="type">std::string</span>&amp; <i>value</i>, const <span
+              class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().currentTime())</h3>
+          <p>Adds the fact that <i>from</i> is linked to the data <i>value</i> of type <i>type</i> by the property
+            <i>property</i>.</p>
+          <p><i>from</i> must be already known to the system. The property can be unknown before calling this function.
+          </p>
+          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2
+            time representation (i.e. ros::Time or rclcpp::Time).</p>
+          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.
+          </p>
+
+          <h3 class="fn" id="addInheritage"><a name="addInheritage"></a>FeederPublisher::<span
+              class="name">addInheritage</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const
+            <span class="type">std::string</span>&amp; <i>on</i>, const <span class="type">onto_ros::Time</span>&amp;
+            <i>stamp</i> = onto_ros::Node::get().currentTime())</h3>
+          <p>Adds the inheratage: <i>from</i> is a <i>on</i>. <i>from</i> and <i>on</i> could by a class, an individual
+            or a property.</p>
+          <p>At least <i>from</i> or <i>on</i> must be already known to the system. If one of them is unknown, it will
+            be automatically created.</p>
+          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2
+            time representation (i.e. ros::Time or rclcpp::Time).</p>
+          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.
+          </p>
+
+          <h3 class="fn" id="addLanguage"><a name="addLanguage"></a>FeederPublisher::<span
+              class="name">addLanguage</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span
+              class="type">std::string</span>&amp; <i>lang</i>, const <span class="type">std::string</span>&amp;
+            <i>name</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> =
+            onto_ros::Node::get().currentTime())</h3>
           <p>Adds the label <i>name</i> in the language <i>lang</i> the class, individual, or property <i>from</i>.</p>
           <p><i>from</i> must be already known to the system.</p>
-          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).</p>
-          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.</p>
-
-          <h3 class="fn" id="addConcept"><a name="addConcept"></a>FeederPublisher::<span class="name">addConcept</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</h3>
+          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2
+            time representation (i.e. ros::Time or rclcpp::Time).</p>
+          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.
+          </p>
+
+          <h3 class="fn" id="addConcept"><a name="addConcept"></a>FeederPublisher::<span
+              class="name">addConcept</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span
+              class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().currentTime())</h3>
           <p>Adds the class or individual <i>from</i>.</p>
-          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).</p>
-          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.</p>
-
-          <h3 class="fn" id="addInverseOf"><a name="addInverseOf"></a>FeederPublisher::<span class="name">addInverseOf</span>(const <span class="type">std::string</span>&amp; <i>property</i>, const <span class="type">std::string</span>&amp; <i>inverse_property</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</h3>
+          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2
+            time representation (i.e. ros::Time or rclcpp::Time).</p>
+          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.
+          </p>
+
+          <h3 class="fn" id="addInverseOf"><a name="addInverseOf"></a>FeederPublisher::<span
+              class="name">addInverseOf</span>(const <span class="type">std::string</span>&amp; <i>property</i>, const
+            <span class="type">std::string</span>&amp; <i>inverse_property</i>, const <span
+              class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().currentTime())</h3>
           <p> Adds the object property inverse axiom that <i>property</i> has for inverse <i>inverse_property</i>.</p>
           <p><i>property</i> must be already known to the system.</p>
-          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).</p>
-          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.</p>
-
-          <h3 class="fn" id="removeProperty0"><a name="removeProperty0"></a>FeederPublisher::<span class="name">removeProperty</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span class="type">std::string</span>&amp; <i>property</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</h3>
+          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2
+            time representation (i.e. ros::Time or rclcpp::Time).</p>
+          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.
+          </p>
+
+          <h3 class="fn" id="removeProperty0"><a name="removeProperty0"></a>FeederPublisher::<span
+              class="name">removeProperty</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const
+            <span class="type">std::string</span>&amp; <i>property</i>, const <span
+              class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().currentTime())</h3>
           <p>Removes the fact that <i>from</i> is linked to any object by the property <i>property</i>.</p>
           <p>After this action, knowledge of the property is not removed.</p>
-          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).</p>
-          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.</p>
-
-          <h3 class="fn" id="removeProperty1"><a name="removeProperty1"></a>FeederPublisher::<span class="name">removeProperty</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span class="type">std::string</span>&amp; <i>property</i>, const <span class="type">std::string</span>&amp; <i>on</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</h3>
+          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2
+            time representation (i.e. ros::Time or rclcpp::Time).</p>
+          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.
+          </p>
+
+          <h3 class="fn" id="removeProperty1"><a name="removeProperty1"></a>FeederPublisher::<span
+              class="name">removeProperty</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const
+            <span class="type">std::string</span>&amp; <i>property</i>, const <span class="type">std::string</span>&amp;
+            <i>on</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> =
+            onto_ros::Node::get().currentTime())</h3>
           <p>Removes the fact that <i>from</i> is linked with <i>on</i> by the property <i>property</i>.</p>
           <p>After this action, knowledge of the property is not removed.</p>
-          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).</p>
-          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.</p>
-
-          <h3 class="fn" id="removeProperty2"><a name="removeProperty2"></a>FeederPublisher::<span class="name">removeProperty</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span class="type">std::string</span>&amp; <i>property</i>, const <span class="type">std::string</span>&amp; <i>type</i>, const <span class="type">std::string</span>&amp; <i>value</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</h3>
-          <p>Removes the fact that <i>from</i> is linked to the data <i>value</i> of type <i>type</i> by the property <i>property</i>.</p>
+          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2
+            time representation (i.e. ros::Time or rclcpp::Time).</p>
+          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.
+          </p>
+
+          <h3 class="fn" id="removeProperty2"><a name="removeProperty2"></a>FeederPublisher::<span
+              class="name">removeProperty</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const
+            <span class="type">std::string</span>&amp; <i>property</i>, const <span class="type">std::string</span>&amp;
+            <i>type</i>, const <span class="type">std::string</span>&amp; <i>value</i>, const <span
+              class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().currentTime())</h3>
+          <p>Removes the fact that <i>from</i> is linked to the data <i>value</i> of type <i>type</i> by the property
+            <i>property</i>.</p>
           <p>After this action, knowledge of the property is not removed.</p>
-          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).</p>
-          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.</p>
-
-          <h3 class="fn" id="removeInheritage"><a name="removeInheritage"></a>FeederPublisher::<span class="name">removeInheritage</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span class="type">std::string</span>&amp; <i>on</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</h3>
-          <p>Removes the inheratage: <i>from</i> is a <i>on</i>. <i>from</i> and <i>on</i> could by a class, an individual or a property.</p>
-          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).</p>
-          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.</p>
-
-          <h3 class="fn" id="removeLanguage"><a name="removeLanguage"></a>FeederPublisher::<span class="name">removeLanguage</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span class="type">std::string</span>&amp; <i>lang</i>, const <span class="type">std::string</span>&amp; <i>name</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</h3>
-          <p>Removes the label <i>name</i> in the language <i>lang</i> the class, individual, or property <i>from</i>.</p>
-          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).</p>
-          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.</p>
-
-          <h3 class="fn" id="removeConcept"><a name="removeConcept"></a>FeederPublisher::<span class="name">removeConcept</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().current_time())</h3>
+          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2
+            time representation (i.e. ros::Time or rclcpp::Time).</p>
+          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.
+          </p>
+
+          <h3 class="fn" id="removeInheritage"><a name="removeInheritage"></a>FeederPublisher::<span
+              class="name">removeInheritage</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const
+            <span class="type">std::string</span>&amp; <i>on</i>, const <span class="type">onto_ros::Time</span>&amp;
+            <i>stamp</i> = onto_ros::Node::get().currentTime())</h3>
+          <p>Removes the inheratage: <i>from</i> is a <i>on</i>. <i>from</i> and <i>on</i> could by a class, an
+            individual or a property.</p>
+          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2
+            time representation (i.e. ros::Time or rclcpp::Time).</p>
+          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.
+          </p>
+
+          <h3 class="fn" id="removeLanguage"><a name="removeLanguage"></a>FeederPublisher::<span
+              class="name">removeLanguage</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const
+            <span class="type">std::string</span>&amp; <i>lang</i>, const <span class="type">std::string</span>&amp;
+            <i>name</i>, const <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> =
+            onto_ros::Node::get().currentTime())</h3>
+          <p>Removes the label <i>name</i> in the language <i>lang</i> the class, individual, or property <i>from</i>.
+          </p>
+          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2
+            time representation (i.e. ros::Time or rclcpp::Time).</p>
+          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.
+          </p>
+
+          <h3 class="fn" id="removeConcept"><a name="removeConcept"></a>FeederPublisher::<span
+              class="name">removeConcept</span>(const <span class="type">std::string</span>&amp; <i>from</i>, const
+            <span class="type">onto_ros::Time</span>&amp; <i>stamp</i> = onto_ros::Node::get().currentTime())</h3>
           <p>Removes the class or individual <i>from</i>.</p>
           <p>All inheritance, properties, and labels applied to <i>from</i> are also removed.</p>
-          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).</p>
-          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.</p>
+          <p>onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2
+            time representation (i.e. ros::Time or rclcpp::Time).</p>
+          <p>If the time stamp <i>stamp</i> is not defined, the function takes the current ROS time as the time stamp.
+          </p>
 
-          <h3 class="fn" id="getNumSubscribers"><a name="getNumSubscribers"></a><span class="type">size_t</span> FeederPublisher::<span class="name">getNumSubscribers</span>()</h3>
+          <h3 class="fn" id="getNumSubscribers"><a name="getNumSubscribers"></a><span class="type">size_t</span>
+            FeederPublisher::<span class="name">getNumSubscribers</span>()</h3>
           <p>Returns the number of subscribers that are currently connected to the internal ROS publisher.</p>
 
-          <h3 class="fn" id="waitConnected"><a name="waitConnected"></a> FeederPublisher::<span class="name">waitConnected</span>()</h3>
+          <h3 class="fn" id="waitConnected"><a name="waitConnected"></a> FeederPublisher::<span
+              class="name">waitConnected</span>()</h3>
           <p>Blocks while no subscribers are currently connected to the internal ROS publisher.</p>
 
-          <h3 class="fn" id="waitUpdate"><a name="waitUpdate"></a><span class="type">bool</span> FeederPublisher::<span class="name">waitUpdate</span>(<span class="type">int32_t</span> <i>timeout</i> = -1)</h3>
+          <h3 class="fn" id="waitUpdate"><a name="waitUpdate"></a><span class="type">bool</span> FeederPublisher::<span
+              class="name">waitUpdate</span>(<span class="type">int32_t</span> <i>timeout</i> = -1)</h3>
           <p>Waits until all changes have been applied.</p>
-          <p>The default parameter <i>timeout</i> is the expiration time in milliseconds. The default value -1 represents an infinite wait.</p>
+          <p>The default parameter <i>timeout</i> is the expiration time in milliseconds. The default value -1
+            represents an infinite wait.</p>
           <p>Returns false if the function returns on a timeout.</p>
 
-          <h3 class="fn" id="commit"><a name="commit"></a><span class="type">std::string</span> FeederPublisher::<span class="name">commit</span>(<span class="type">int32_t</span> <i>timeout</i> = -1)</h3>
+          <h3 class="fn" id="commit"><a name="commit"></a><span class="type">std::string</span> FeederPublisher::<span
+              class="name">commit</span>(<span class="type">int32_t</span> <i>timeout</i> = -1)</h3>
           <p>Saves all the modifications from the previous commit and waits until all changes have been applied.</p>
-          <p>The default parameter <i>timeout</i> is the expiration time in milliseconds. The default value -1 represents an infinite wait.</p>
+          <p>The default parameter <i>timeout</i> is the expiration time in milliseconds. The default value -1
+            represents an infinite wait.</p>
           <p>Returns the commit id and an empty string if the function returns on a timeout.</p>
           <p>This function can only be used on a copied ontology.</p>
 
-          <h3 class="fn" id="commit2"><a name="commit2"></a><span class="type">bool</span> FeederPublisher::<span class="name">commit</span>(const <span class="type">std::string</span>&amp; <i>commit_name</i>, <span class="type">int32_t</span> <i>timeout</i> = -1)</h3>
-          <p>Saves all the modifications from the previous commit with a specific id <i>commit_name</i> and waits until all changes have been applied.</p>
-          <p>The default parameter <i>timeout</i> is the expiration time in milliseconds. The default value -1 represents an infinite wait.</p>
+          <h3 class="fn" id="commit2"><a name="commit2"></a><span class="type">bool</span> FeederPublisher::<span
+              class="name">commit</span>(const <span class="type">std::string</span>&amp; <i>commit_name</i>, <span
+              class="type">int32_t</span> <i>timeout</i> = -1)</h3>
+          <p>Saves all the modifications from the previous commit with a specific id <i>commit_name</i> and waits until
+            all changes have been applied.</p>
+          <p>The default parameter <i>timeout</i> is the expiration time in milliseconds. The default value -1
+            represents an infinite wait.</p>
           <p>Returns false if the function returns on a timeout.</p>
           <p>This function can only be used on a copied ontology.</p>
 
-          <h3 class="fn" id="checkout"><a name="checkout"></a><span class="type">bool</span> FeederPublisher::<span class="name">checkout</span>(const <span class="type">std::string</span>&amp; <i>commit_name</i>, <span class="type">int32_t</span> <i>timeout</i> = -1)</h3>
-          <p>Apply the necessary changes to return to the specified <i>commit_name</i> and waits until all changes have been applied.</p>
-          <p>The default parameter <i>timeout</i> is the expiration time in milliseconds. The default value -1 represents an infinite wait.</p>
+          <h3 class="fn" id="checkout"><a name="checkout"></a><span class="type">bool</span> FeederPublisher::<span
+              class="name">checkout</span>(const <span class="type">std::string</span>&amp; <i>commit_name</i>, <span
+              class="type">int32_t</span> <i>timeout</i> = -1)</h3>
+          <p>Apply the necessary changes to return to the specified <i>commit_name</i> and waits until all changes have
+            been applied.</p>
+          <p>The default parameter <i>timeout</i> is the expiration time in milliseconds. The default value -1
+            represents an infinite wait.</p>
           <p>Returns false if the function returns on a timeout.</p>
           <p>This function can only be used on a copied ontology.</p>
 
-          <h3 class="fn" id="registerFeederNotificationCallback"><a name="registerFeederNotificationCallback"></a><span class="type">void</span> FeederPublisher::<span class="name">registerFeederNotificationCallback</span>(const <span class="type">std::function</span>&lt;<span class="type">void</span>(const <span class="type">std::string</span>&amp;)&gt;&amp; <i>callback</i>)</h3>
+          <h3 class="fn" id="registerFeederNotificationCallback"><a name="registerFeederNotificationCallback"></a><span
+              class="type">void</span> FeederPublisher::<span
+              class="name">registerFeederNotificationCallback</span>(const <span
+              class="type">std::function</span>&lt;<span class="type">void</span>(const <span
+              class="type">std::string</span>&amp;)&gt;&amp; <i>callback</i>)</h3>
           <p>Register a callback function to get notifications from the feeder.</p>
           <p>The parameter <i>callback</i> is the callback function taking a string.</p>
 
-          <h3 class="fn" id="registerReasonersNotificationCallback"><a name="registerReasonersNotificationCallback"></a><span class="type">void</span> FeederPublisher::<span class="name">registerReasonersNotificationCallback</span>(const <span class="type">std::function</span>&lt;<span class="type">void</span>(const <span class="type">std::string</span>&amp;)&gt;&amp; <i>callback</i>)</h3>
+          <h3 class="fn" id="registerReasonersNotificationCallback"><a
+              name="registerReasonersNotificationCallback"></a><span class="type">void</span> FeederPublisher::<span
+              class="name">registerReasonersNotificationCallback</span>(const <span
+              class="type">std::function</span>&lt;<span class="type">void</span>(const <span
+              class="type">std::string</span>&amp;)&gt;&amp; <i>callback</i>)</h3>
           <p>Register a callback function to get notifications from the reasoners.</p>
           <p>The parameter <i>callback</i> is the callback function taking a string.</p>
 
@@ -298,10 +519,10 @@ <h3 class="fn" id="registerReasonersNotificationCallback"><a name="registerReaso
     <p>
       Brought to you by:
       <a class="laas_logo" href="https://www.laas.fr/public/">
-        <img src="../images/LogoLAAS-2016_BW.png " alt="LAAS-CNRS" height="60px"/>
+        <img src="../images/LogoLAAS-2016_BW.png " alt="LAAS-CNRS" height="60px" />
       </a>
     </p>
   </div>
 </footer>
 
-</html>
+</html>
\ No newline at end of file
diff --git a/include/ontologenius/API/ontologenius/FeederPublisher.h b/include/ontologenius/API/ontologenius/FeederPublisher.h
index 8fb30e44..198db849 100644
--- a/include/ontologenius/API/ontologenius/FeederPublisher.h
+++ b/include/ontologenius/API/ontologenius/FeederPublisher.h
@@ -45,7 +45,7 @@ namespace onto {
     /// @param on is the object of the triplet to add.
     /// @param stamp is the time at which the added relation become true.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void addProperty(const std::string& from, const std::string& property, const std::string& on, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void addProperty(const std::string& from, const std::string& property, const std::string& on, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
     /// @brief Adds the fact that "from" is linked to the data "value" of type "type" by the property "property".
     /// At least "from" must be already known to the system.
     /// The property can be unknown before calling this function.
@@ -55,14 +55,14 @@ namespace onto {
     /// @param value is the value of the triplet object.
     /// @param stamp is the time at which the added relation become true.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void addProperty(const std::string& from, const std::string& property, const std::string& type, const std::string& value, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void addProperty(const std::string& from, const std::string& property, const std::string& type, const std::string& value, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
     /// @brief Adds the inheratage: "from" is a "on". "from" and "on" could by a class, an individual or a property.
     /// At least from or on must be already known to the system. If one of them is unknown, it will be automatically created.
     /// @param from is the parent concept. It could by a class, an individual or a property.
     /// @param on is the child concept. It could by a class, an individual or a property.
     /// @param stamp is the time at which the added relation become true.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void addInheritage(const std::string& from, const std::string& on, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void addInheritage(const std::string& from, const std::string& on, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
     /// @brief Adds the label "name" in the language "lang" to the class, individual, or property "from".
     /// "from" must be already known to the system.
     /// @param from is the concept (individual, class, property) to which add a name in natural language.
@@ -70,18 +70,18 @@ namespace onto {
     /// @param name is the concept name in natural language.
     /// @param stamp is the time at which the added relation become true.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void addLanguage(const std::string& from, const std::string& lang, const std::string& name, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void addLanguage(const std::string& from, const std::string& lang, const std::string& name, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
     /// @brief Adds a class or individual.
     /// @param from the individual or class to add.
     /// @param stamp is the time at which the added relation become true.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void addConcept(const std::string& from, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void addConcept(const std::string& from, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
     /// @brief Adds an object property inverse axiom.
     /// @param property is the object property for which its inverse is define.
     /// @param inverse_property is the inverse property of the previous object property.
     /// @param stamp is the time at which the added relation become true.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void addInverseOf(const std::string& property, const std::string& inverse_property, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void addInverseOf(const std::string& property, const std::string& inverse_property, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
 
     /// @brief Removes the fact that "from" is linked to any object by the property "property".
     /// After this action, knowledge of the property is not removed.
@@ -89,7 +89,7 @@ namespace onto {
     /// @param property is the predicat of the triplet to remove.
     /// @param stamp is the time at which the added relation become false.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void removeProperty(const std::string& from, const std::string& property, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void removeProperty(const std::string& from, const std::string& property, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
     /// @brief Removes the fact that "from" is linked with "on" by the property "property".
     /// After this action, knowledge of the property is not removed.
     /// @param from is the subject of the triplet to remove.
@@ -97,7 +97,7 @@ namespace onto {
     /// @param on is the object of the triplet to remove.
     /// @param stamp is the time at which the added relation become false.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void removeProperty(const std::string& from, const std::string& property, const std::string& on, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void removeProperty(const std::string& from, const std::string& property, const std::string& on, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
     /// @brief Removes the fact that "from" is linked to the data "value" of type "type" by the property "property".
     /// After this action, knowledge of the property is not removed.
     /// @param from is the subject of the triplet to remove.
@@ -106,32 +106,32 @@ namespace onto {
     /// @param value is the value of the triplet object.
     /// @param stamp is the time at which the added relation become false.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void removeProperty(const std::string& from, const std::string& property, const std::string& type, const std::string& value, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void removeProperty(const std::string& from, const std::string& property, const std::string& type, const std::string& value, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
     /// @brief Removes the inheratage: "from" is a "on". "from" and "on" could by a class, an individual or a property.
     /// @param from is the parent concept. It could by a class, an individual or a property.
     /// @param on is the child concept. It could by a class, an individual or a property.
     /// @param stamp is the time at which the added relation become false.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void removeInheritage(const std::string& from, const std::string& on, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void removeInheritage(const std::string& from, const std::string& on, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
     /// @brief Removes the label "name" in the language "lang" to the class, individual, or property "from".
     /// @param from is the concept (individual, class, property) to which remove a name in natural language.
     /// @param lang is the language indentifier (en, fr, de, ...).
     /// @param name is the concept name in natural language.
     /// @param stamp is the time at which the added relation become false.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void removeLanguage(const std::string& from, const std::string& lang, const std::string& name, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void removeLanguage(const std::string& from, const std::string& lang, const std::string& name, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
     /// @brief Removes a class or individual.
     /// All inheritance, properties, and labels applied to "from" are also removed
     /// @param from the individual or class to remove.
     /// @param stamp is the time at which the added relation become false.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void removeConcept(const std::string& from, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void removeConcept(const std::string& from, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
     /// @brief Removes an object property inverse axiom.
     /// @param property is the object property for which its inverse has to be removed.
     /// @param inverse_property is the inverse property of the previous object property.
     /// @param stamp is the time at which the added relation become false.
     /// If the time stamp stamp is not defined, the function takes the current ROS time as the time stamp.
-    void removeInverseOf(const std::string& property, const std::string& inverse_property, const onto_ros::Time& stamp = onto_ros::Node::get().current_time());
+    void removeInverseOf(const std::string& property, const std::string& inverse_property, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime());
 
     /// @brief Returns the number of subscribers that are currently connected to the internal ROS publisher.
     size_t getNumSubscribers() { return stamped_pub_.getNumSubscribers(); }
diff --git a/include/ontologenius/API/ontologenius/clients/ClientBase.h b/include/ontologenius/API/ontologenius/clients/ClientBase.h
index 939236b6..10ca66f7 100644
--- a/include/ontologenius/API/ontologenius/clients/ClientBase.h
+++ b/include/ontologenius/API/ontologenius/clients/ClientBase.h
@@ -54,25 +54,25 @@ namespace onto {
     {
       cpt++;
 
-      auto req = ontologenius::compat::make_request<ontologenius::compat::OntologeniusService>();
-      auto res = ontologenius::compat::make_response<ontologenius::compat::OntologeniusService>();
+      auto req = ontologenius::compat::makeRequest<ontologenius::compat::OntologeniusService>();
+      auto res = ontologenius::compat::makeResponse<ontologenius::compat::OntologeniusService>();
 
       [action, param](auto&& req) {
         req->action = action;
         req->param = param;
       }(ontologenius::compat::onto_ros::getServicePointer(req));
 
-      using ResultTy = typename decltype(client_)::Status;
+      using ResultTy = typename decltype(client_)::Status_e;
 
       switch(client_.call(req, res))
       {
-      case ResultTy::SUCCESSFUL_WITH_RETRIES:
+      case ResultTy::ros_status_successful_with_retry:
       {
         if(client_verbose)
           std::cout << COLOR_GREEN << "Restored ontologenius/" << name_ << COLOR_OFF << std::endl;
         [[fallthrough]];
       }
-      case ResultTy::SUCCESSFUL:
+      case ResultTy::ros_status_successful:
       {
         return [&](auto&& res) {
           code = res->code;
@@ -80,7 +80,7 @@ namespace onto {
           return res->values;
         }(ontologenius::compat::onto_ros::getServicePointer(res));
       }
-      case ResultTy::FAILURE:
+      case ResultTy::ros_status_failure:
         [[fallthrough]];
       default:
       {
diff --git a/include/ontologenius/API/ontologenius/clientsIndex/ClientBaseIndex.h b/include/ontologenius/API/ontologenius/clientsIndex/ClientBaseIndex.h
index 7aa6c696..b65ae9f0 100644
--- a/include/ontologenius/API/ontologenius/clientsIndex/ClientBaseIndex.h
+++ b/include/ontologenius/API/ontologenius/clientsIndex/ClientBaseIndex.h
@@ -54,25 +54,25 @@ namespace onto {
     {
       cpt++;
 
-      auto req = ontologenius::compat::make_request<ontologenius::compat::OntologeniusIndexService>();
-      auto res = ontologenius::compat::make_response<ontologenius::compat::OntologeniusIndexService>();
+      auto req = ontologenius::compat::makeRequest<ontologenius::compat::OntologeniusIndexService>();
+      auto res = ontologenius::compat::makeResponse<ontologenius::compat::OntologeniusIndexService>();
 
       [action, param](auto&& req) {
         req->action = action;
         req->param = param;
       }(ontologenius::compat::onto_ros::getServicePointer(req));
 
-      using ResultTy = typename decltype(client_)::Status;
+      using ResultTy = typename decltype(client_)::Status_e;
 
       switch(client_.call(req, res))
       {
-      case ResultTy::SUCCESSFUL_WITH_RETRIES:
+      case ResultTy::ros_status_successful_with_retry:
       {
         if(client_verbose)
           std::cout << COLOR_GREEN << "Restored ontologenius/" << name_ << COLOR_OFF << std::endl;
         [[fallthrough]];
       }
-      case ResultTy::SUCCESSFUL:
+      case ResultTy::ros_status_successful:
       {
         return [&](auto&& res) {
           code = res->code;
@@ -80,7 +80,7 @@ namespace onto {
           return res->string_values;
         }(ontologenius::compat::onto_ros::getServicePointer(res));
       }
-      case ResultTy::FAILURE:
+      case ResultTy::ros_status_failure:
       {
         if(client_verbose)
           std::cout << COLOR_ORANGE << "Failed to call call ontologenius/" << name_ << COLOR_OFF << std::endl;
@@ -101,25 +101,25 @@ namespace onto {
     {
       cpt++;
 
-      auto req = ontologenius::compat::make_request<ontologenius::compat::OntologeniusIndexService>();
-      auto res = ontologenius::compat::make_response<ontologenius::compat::OntologeniusIndexService>();
+      auto req = ontologenius::compat::makeRequest<ontologenius::compat::OntologeniusIndexService>();
+      auto res = ontologenius::compat::makeResponse<ontologenius::compat::OntologeniusIndexService>();
 
       [action, param](auto&& req) {
         req->action = action;
         req->param = param;
       }(ontologenius::compat::onto_ros::getServicePointer(req));
 
-      using ResultTy = typename decltype(client_)::Status;
+      using ResultTy = typename decltype(client_)::Status_e;
 
       switch(client_.call(req, res))
       {
-      case ResultTy::SUCCESSFUL_WITH_RETRIES:
+      case ResultTy::ros_status_successful_with_retry:
       {
         if(client_verbose)
           std::cout << COLOR_GREEN << "Restored ontologenius/" << name_ << COLOR_OFF << std::endl;
         [[fallthrough]];
       }
-      case ResultTy::SUCCESSFUL:
+      case ResultTy::ros_status_successful:
       {
         return [&](auto&& res) {
           code = res->code;
@@ -127,7 +127,7 @@ namespace onto {
           return res->index_values;
         }(ontologenius::compat::onto_ros::getServicePointer(res));
       }
-      case ResultTy::FAILURE:
+      case ResultTy::ros_status_failure:
       {
         if(client_verbose)
           std::cout << COLOR_ORANGE << "Failed to call call ontologenius/" << name_ << COLOR_OFF << std::endl;
diff --git a/include/ontologenius/compat/ros.h b/include/ontologenius/compat/ros.h
index b1b00638..1a898e72 100644
--- a/include/ontologenius/compat/ros.h
+++ b/include/ontologenius/compat/ros.h
@@ -73,10 +73,10 @@ namespace ontologenius::compat {
   using ResponseType = typename T::Response;
 
   template<typename T, typename Request_ = typename T::Request>
-  inline auto make_request() { return Request_(); }
+  inline auto makeRequest() { return Request_(); }
 
   template<typename T, typename Response_ = typename T::Response>
-  inline auto make_response() { return Response_(); }
+  inline auto makeResponse() { return Response_(); }
 
   // todo: RequestType, ResponseType
 
@@ -97,10 +97,10 @@ namespace ontologenius::compat {
   using ResponseType = std::shared_ptr<typename T::Response>;
 
   template<typename T, typename Request_ = typename T::Request>
-  inline auto make_request() { return std::make_shared<Request_>(); }
+  inline auto makeRequest() { return std::make_shared<Request_>(); }
 
   template<typename T, typename Response_ = typename T::Response>
-  inline auto make_response() { return std::make_shared<Response_>(); }
+  inline auto makeResponse() { return std::make_shared<Response_>(); }
 
 // template <typename T, typename Result_ = typename T::>
 #endif
@@ -202,7 +202,7 @@ namespace ontologenius::compat {
 
       void spin();
 
-      Time current_time();
+      Time currentTime();
 
     private:
       explicit Node(const std::string& node_name);
@@ -329,11 +329,11 @@ namespace ontologenius::compat {
     class Client
     {
     public:
-      enum class Status
+      enum class Status_e
       {
-        SUCCESSFUL,
-        SUCCESSFUL_WITH_RETRIES,
-        FAILURE
+        ros_status_successful,
+        ros_status_successful_with_retry,
+        ros_status_failure
       };
 
       explicit Client(const std::string& service_name) : name_(service_name)
@@ -347,10 +347,10 @@ namespace ontologenius::compat {
 #endif
       }
 
-      Status call(const ontologenius::compat::RequestType<T>& req, ontologenius::compat::ResponseType<T>& res)
+      Status_e call(const ontologenius::compat::RequestType<T>& req, ontologenius::compat::ResponseType<T>& res)
       {
         using namespace std::chrono_literals;
-        auto status = Status::FAILURE;
+        auto status = Status_e::ros_status_failure;
 
 #if ONTO_ROS_VERSION == 1
         T srv;
@@ -361,13 +361,13 @@ namespace ontologenius::compat {
           handle_ = node.handle_.serviceClient<T>(name_, true);
           if(handle_.call(srv))
           {
-            status = Status::SUCCESSFUL_WITH_RETRIES;
+            status = Status_e::ros_status_successful_with_retry;
             res = srv.response;
           }
         }
         else
         {
-          status = Status::SUCCESSFUL;
+          status = Status_e::ros_status_successful;
           res = srv.response;
         }
 
@@ -381,7 +381,7 @@ namespace ontologenius::compat {
 
         if(future.wait_for(5s) == std::future_status::ready)
         {
-          status = Status::SUCCESSFUL;
+          status = Status_e::ros_status_successful;
           res = future.get();
         }
 #endif
diff --git a/include/ontologenius/core/feeder/FeederEcho.h b/include/ontologenius/core/feeder/FeederEcho.h
index ef00be38..59301153 100644
--- a/include/ontologenius/core/feeder/FeederEcho.h
+++ b/include/ontologenius/core/feeder/FeederEcho.h
@@ -25,7 +25,7 @@ namespace ontologenius {
       // should we perhaps unlock the mutex...?
     }
 
-    void add(const std::string& data, const compat::onto_ros::Time& stamp = compat::onto_ros::Node::get().current_time())
+    void add(const std::string& data, const compat::onto_ros::Time& stamp = compat::onto_ros::Node::get().currentTime())
     {
       mut_.lock();
       echo_messages_.emplace_back(data, stamp);
diff --git a/include/ontologenius/core/ontoGraphs/Graphs/ClassGraph.h b/include/ontologenius/core/ontoGraphs/Graphs/ClassGraph.h
index 3a77765f..4d8ad117 100644
--- a/include/ontologenius/core/ontoGraphs/Graphs/ClassGraph.h
+++ b/include/ontologenius/core/ontoGraphs/Graphs/ClassGraph.h
@@ -124,7 +124,7 @@ namespace ontologenius {
     void getWith(ClassBranch* first_class, index_t second_class, std::unordered_set<std::string>& res, std::unordered_set<index_t>& do_not_take, uint32_t current_depth, int& found_depth, int depth_prop, std::unordered_set<ClassBranch*>& next_step);
     void getWith(ClassBranch* first_class, index_t second_class, std::unordered_set<index_t>& res, std::unordered_set<index_t>& do_not_take, uint32_t current_depth, int& found_depth, int depth_prop, std::unordered_set<ClassBranch*>& next_step);
     template<typename T>
-    void getWith_(ClassBranch* first_class, index_t second_class, std::unordered_set<T>& res, std::unordered_set<index_t>& do_not_take, uint32_t current_depth, int& found_depth, int depth_prop, std::unordered_set<ClassBranch*>& next_step);
+    void getWithTemplate(ClassBranch* first_class, index_t second_class, std::unordered_set<T>& res, std::unordered_set<index_t>& do_not_take, uint32_t current_depth, int& found_depth, int depth_prop, std::unordered_set<ClassBranch*>& next_step);
     void getDomainOf(ClassBranch* branch, std::unordered_set<std::string>& res, int depth = -1);
     void getDomainOf(ClassBranch* branch, std::unordered_set<index_t>& res, int depth = -1);
     void getRangeOf(ClassBranch* branch, std::unordered_set<std::string>& res, int depth = -1);
diff --git a/include/ontologenius/core/ontoGraphs/Graphs/Graph.h b/include/ontologenius/core/ontoGraphs/Graphs/Graph.h
index cf0d2d38..0b6085f6 100644
--- a/include/ontologenius/core/ontoGraphs/Graphs/Graph.h
+++ b/include/ontologenius/core/ontoGraphs/Graphs/Graph.h
@@ -571,7 +571,7 @@ namespace ontologenius {
 
     if(use_default)
     {
-      std::string tmp = branch->value();
+      const std::string& tmp = branch->value();
       if(std::regex_match(tmp, match, base_regex))
         return true;
     }
@@ -637,7 +637,7 @@ namespace ontologenius {
     LevenshteinDistance dist;
 
     std::shared_lock<std::shared_timed_mutex> lock(mutex_);
-    for(auto branch : this->all_branchs_)
+    for(auto* branch : this->all_branchs_)
     {
       if(use_default)
         if((tmp_cost = dist.get(branch->value(), value)) <= lower_cost)
diff --git a/include/ontologenius/core/ontoGraphs/Graphs/OntoGraph.h b/include/ontologenius/core/ontoGraphs/Graphs/OntoGraph.h
index 90914550..d4d862ff 100644
--- a/include/ontologenius/core/ontoGraphs/Graphs/OntoGraph.h
+++ b/include/ontologenius/core/ontoGraphs/Graphs/OntoGraph.h
@@ -341,7 +341,7 @@ namespace ontologenius {
     {
       std::unordered_set<B*> ups;
       getUpPtr(branch, ups);
-      for(auto up : ups)
+      for(auto* up : ups)
         for(auto& disjoint : up->disjoints_)
           getDown(disjoint.elem, res);
     }
@@ -358,7 +358,7 @@ namespace ontologenius {
     {
       std::unordered_set<B*> ups;
       getUpPtr(branch, ups);
-      for(auto up : ups)
+      for(auto* up : ups)
         for(auto& disjoint : up->disjoints_)
           getDownPtr(disjoint.elem, res);
     }
@@ -371,7 +371,7 @@ namespace ontologenius {
     {
       std::unordered_set<B*> ups;
       getUpPtr(branch, ups);
-      for(auto up : ups)
+      for(auto* up : ups)
         for(auto& disjoint : up->disjoints_)
           res.insert(disjoint.elem);
     }
diff --git a/include/ontologenius/core/reasoner/Reasoners.h b/include/ontologenius/core/reasoner/Reasoners.h
index ee83e4e5..e20edc8c 100644
--- a/include/ontologenius/core/reasoner/Reasoners.h
+++ b/include/ontologenius/core/reasoner/Reasoners.h
@@ -28,7 +28,7 @@ namespace ontologenius {
 
     int activate(const std::string& plugin);
     int deactivate(const std::string& plugin);
-    std::string getDescription(std::string& plugin);
+    std::string getDescription(const std::string& plugin);
 
     void runPreReasoners(QueryOrigin_e origin, const std::string& action, const std::string& param);
     void runPostReasoners();
diff --git a/src/API/ontologenius/ConversionClient.cpp b/src/API/ontologenius/ConversionClient.cpp
index 23571f5d..7c3b1fc0 100644
--- a/src/API/ontologenius/ConversionClient.cpp
+++ b/src/API/ontologenius/ConversionClient.cpp
@@ -132,8 +132,8 @@ namespace onto {
 
   std::vector<std::string> ConversionClient::index2Id(const std::vector<int64_t>& indexes, int8_t source)
   {
-    auto req = ontologenius::compat::make_request<ontologenius::compat::OntologeniusConversion>();
-    auto res = ontologenius::compat::make_response<ontologenius::compat::OntologeniusConversion>();
+    auto req = ontologenius::compat::makeRequest<ontologenius::compat::OntologeniusConversion>();
+    auto res = ontologenius::compat::makeResponse<ontologenius::compat::OntologeniusConversion>();
 
     [source, indexes](auto&& req) {
       req->source = source;
@@ -155,8 +155,8 @@ namespace onto {
 
   std::vector<int64_t> ConversionClient::id2Index(const std::vector<std::string>& ids, int8_t source)
   {
-    auto req = ontologenius::compat::make_request<ontologenius::compat::OntologeniusConversion>();
-    auto res = ontologenius::compat::make_response<ontologenius::compat::OntologeniusConversion>();
+    auto req = ontologenius::compat::makeRequest<ontologenius::compat::OntologeniusConversion>();
+    auto res = ontologenius::compat::makeResponse<ontologenius::compat::OntologeniusConversion>();
 
     [source, ids](auto&& req) {
       req->source = source;
@@ -179,17 +179,17 @@ namespace onto {
   bool ConversionClient::call(compat::RequestType<compat::OntologeniusConversion>& req,
                               compat::ResponseType<compat::OntologeniusConversion>& res)
   {
-    using ResultTy = typename decltype(client_)::Status;
+    using ResultTy = typename decltype(client_)::Status_e;
 
     switch(client_.call(req, res))
     {
-    case ResultTy::SUCCESSFUL_WITH_RETRIES:
+    case ResultTy::ros_status_successful_with_retry:
       [[fallthrough]];
-    case ResultTy::SUCCESSFUL:
+    case ResultTy::ros_status_successful:
     {
       return true;
     }
-    case ResultTy::FAILURE:
+    case ResultTy::ros_status_failure:
     {
       if(client_verbose_)
         std::cout << COLOR_RED << "Failed to call ontologenius/" << name_ << COLOR_OFF << std::endl;
diff --git a/src/API/ontologenius/FeederPublisher.cpp b/src/API/ontologenius/FeederPublisher.cpp
index 80a4a594..b30a11ee 100644
--- a/src/API/ontologenius/FeederPublisher.cpp
+++ b/src/API/ontologenius/FeederPublisher.cpp
@@ -48,7 +48,7 @@ namespace onto {
   void FeederPublisher::removeProperty(const std::string& from, const std::string& property, const ontologenius::compat::onto_ros::Time& stamp)
   {
     std::string msg = "[del]" + from + "|" + property + "|_";
-    publishStamped(msg, ontologenius::compat::onto_ros::Node::get().current_time());
+    publishStamped(msg, ontologenius::compat::onto_ros::Node::get().currentTime());
     msg += ":_";
     publishStamped(msg, stamp);
   }
@@ -127,7 +127,7 @@ namespace onto {
 
     std::chrono::time_point<std::chrono::system_clock> start;
     start = std::chrono::system_clock::now();
-    publishStamped(msg, ontologenius::compat::onto_ros::Node::get().current_time());
+    publishStamped(msg, ontologenius::compat::onto_ros::Node::get().currentTime());
 
     while((!updated_) && (std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - start).count()) < (unsigned int)timeout)
     {
@@ -149,7 +149,7 @@ namespace onto {
 
     std::chrono::time_point<std::chrono::system_clock> start;
     start = std::chrono::system_clock::now();
-    publishStamped(msg, ontologenius::compat::onto_ros::Node::get().current_time());
+    publishStamped(msg, ontologenius::compat::onto_ros::Node::get().currentTime());
 
     while((!updated_) && (std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - start).count()) < (unsigned int)timeout)
     {
@@ -165,7 +165,7 @@ namespace onto {
 
   void FeederPublisher::sendNop()
   {
-    publishStamped("[nop]nop|", ontologenius::compat::onto_ros::Node::get().current_time());
+    publishStamped("[nop]nop|", ontologenius::compat::onto_ros::Node::get().currentTime());
   }
 
   void FeederPublisher::publish(const std::string& str)
diff --git a/src/API/ontologenius/clients/SparqlClient.cpp b/src/API/ontologenius/clients/SparqlClient.cpp
index afc0fc7f..1865c53e 100644
--- a/src/API/ontologenius/clients/SparqlClient.cpp
+++ b/src/API/ontologenius/clients/SparqlClient.cpp
@@ -10,26 +10,26 @@ namespace onto {
 
   std::pair<std::vector<std::string>, std::vector<ontologenius::compat::OntologeniusSparqlResponse>> SparqlClient::call(const std::string& query)
   {
-    auto req = ontologenius::compat::make_request<ontologenius::compat::OntologeniusSparqlService>();
-    auto res = ontologenius::compat::make_response<ontologenius::compat::OntologeniusSparqlService>();
+    auto req = ontologenius::compat::makeRequest<ontologenius::compat::OntologeniusSparqlService>();
+    auto res = ontologenius::compat::makeResponse<ontologenius::compat::OntologeniusSparqlService>();
 
     [query](auto&& req) {
       req->query = query;
     }(ontologenius::compat::onto_ros::getServicePointer(req));
 
-    using ResultTy = typename decltype(client_)::Status;
+    using ResultTy = typename decltype(client_)::Status_e;
 
     switch(client_.call(req, res))
     {
-    case ResultTy::SUCCESSFUL_WITH_RETRIES:
+    case ResultTy::ros_status_successful_with_retry:
       [[fallthrough]];
-    case ResultTy::SUCCESSFUL:
+    case ResultTy::ros_status_successful:
     {
       return [](auto&& res) -> std::pair<std::vector<std::string>, std::vector<ontologenius::compat::OntologeniusSparqlResponse>> {
         return {res->names, res->results};
       }(ontologenius::compat::onto_ros::getServicePointer(res));
     }
-    case ResultTy::FAILURE:
+    case ResultTy::ros_status_failure:
       [[fallthrough]];
     default:
     {
diff --git a/src/API/ontologenius/clientsIndex/SparqlIndexClient.cpp b/src/API/ontologenius/clientsIndex/SparqlIndexClient.cpp
index f51190e9..3100f9f4 100644
--- a/src/API/ontologenius/clientsIndex/SparqlIndexClient.cpp
+++ b/src/API/ontologenius/clientsIndex/SparqlIndexClient.cpp
@@ -10,26 +10,26 @@ namespace onto {
 
   std::pair<std::vector<std::string>, std::vector<ontologenius::compat::OntologeniusSparqlIndexResponse>> SparqlIndexClient::call(const std::string& query)
   {
-    auto req = ontologenius::compat::make_request<ontologenius::compat::OntologeniusSparqlIndexService>();
-    auto res = ontologenius::compat::make_response<ontologenius::compat::OntologeniusSparqlIndexService>();
+    auto req = ontologenius::compat::makeRequest<ontologenius::compat::OntologeniusSparqlIndexService>();
+    auto res = ontologenius::compat::makeResponse<ontologenius::compat::OntologeniusSparqlIndexService>();
 
     [query](auto&& req) {
       req->query = query;
     }(ontologenius::compat::onto_ros::getServicePointer(req));
 
-    using ResultTy = typename decltype(client_)::Status;
+    using ResultTy = typename decltype(client_)::Status_e;
 
     switch(client_.call(req, res))
     {
-    case ResultTy::SUCCESSFUL_WITH_RETRIES:
+    case ResultTy::ros_status_successful_with_retry:
       [[fallthrough]];
-    case ResultTy::SUCCESSFUL:
+    case ResultTy::ros_status_successful:
     {
       return [](auto&& res) -> std::pair<std::vector<std::string>, std::vector<ontologenius::compat::OntologeniusSparqlIndexResponse>> {
         return {res->names, res->results};
       }(ontologenius::compat::onto_ros::getServicePointer(res));
     }
-    case ResultTy::FAILURE:
+    case ResultTy::ros_status_failure:
       [[fallthrough]];
     default:
     {
diff --git a/src/compat/ros.cpp b/src/compat/ros.cpp
index b10b343f..a2432692 100644
--- a/src/compat/ros.cpp
+++ b/src/compat/ros.cpp
@@ -50,7 +50,7 @@ namespace ontologenius::compat::onto_ros {
 #endif
   }
 
-  Time Node::current_time()
+  Time Node::currentTime()
   {
 #if ONTO_ROS_VERSION == 1
     return Time(ros::Time::now());
diff --git a/src/core/ontoGraphs/Graphs/ClassGraph.cpp b/src/core/ontoGraphs/Graphs/ClassGraph.cpp
index 28b85c94..0bc1c77a 100644
--- a/src/core/ontoGraphs/Graphs/ClassGraph.cpp
+++ b/src/core/ontoGraphs/Graphs/ClassGraph.cpp
@@ -892,16 +892,16 @@ namespace ontologenius {
 
   void ClassGraph::getWith(ClassBranch* first_class, index_t second_class, std::unordered_set<std::string>& res, std::unordered_set<index_t>& do_not_take, uint32_t current_depth, int& found_depth, int depth_prop, std::unordered_set<ClassBranch*>& next_step)
   {
-    getWith_(first_class, second_class, res, do_not_take, current_depth, found_depth, depth_prop, next_step);
+    getWithTemplate(first_class, second_class, res, do_not_take, current_depth, found_depth, depth_prop, next_step);
   }
 
   void ClassGraph::getWith(ClassBranch* first_class, index_t second_class, std::unordered_set<index_t>& res, std::unordered_set<index_t>& do_not_take, uint32_t current_depth, int& found_depth, int depth_prop, std::unordered_set<ClassBranch*>& next_step)
   {
-    getWith_(first_class, second_class, res, do_not_take, current_depth, found_depth, depth_prop, next_step);
+    getWithTemplate(first_class, second_class, res, do_not_take, current_depth, found_depth, depth_prop, next_step);
   }
 
   template<typename T>
-  void ClassGraph::getWith_(ClassBranch* first_class, index_t second_class, std::unordered_set<T>& res, std::unordered_set<index_t>& do_not_take, uint32_t current_depth, int& found_depth, int depth_prop, std::unordered_set<ClassBranch*>& next_step)
+  void ClassGraph::getWithTemplate(ClassBranch* first_class, index_t second_class, std::unordered_set<T>& res, std::unordered_set<index_t>& do_not_take, uint32_t current_depth, int& found_depth, int depth_prop, std::unordered_set<ClassBranch*>& next_step)
   {
     if(first_class != nullptr)
     {
diff --git a/src/core/reasoner/Reasoners.cpp b/src/core/reasoner/Reasoners.cpp
index 5a36e8cc..4171465a 100644
--- a/src/core/reasoner/Reasoners.cpp
+++ b/src/core/reasoner/Reasoners.cpp
@@ -175,7 +175,7 @@ namespace ontologenius {
     }
   }
 
-  std::string Reasoners::getDescription(std::string& plugin)
+  std::string Reasoners::getDescription(const std::string& plugin)
   {
     if(reasoners_.find(plugin) != reasoners_.end())
     {
diff --git a/src/interface/RosInterface.cpp b/src/interface/RosInterface.cpp
index b28d3abe..f0613561 100644
--- a/src/interface/RosInterface.cpp
+++ b/src/interface/RosInterface.cpp
@@ -210,7 +210,7 @@ namespace ontologenius {
 
   void RosInterface::knowledgeCallback(const compat::onto_ros::MessageWrapper<std_msgs_compat::String>& msg)
   {
-    auto now = compat::onto_ros::Node::get().current_time();
+    auto now = compat::onto_ros::Node::get().currentTime();
 
     feeder_.store(msg->data, {(uint32_t)now.seconds(), (uint32_t)now.nanoseconds()});
   }
@@ -367,7 +367,7 @@ namespace ontologenius {
 
     auto& node = compat::onto_ros::Node::get();
 
-    auto time = node.current_time();
+    auto time = node.currentTime();
     feeder_.store("[add]myself|", {time.seconds(), time.nanoseconds()});
     if(name_.empty() == false)
       feeder_.store("[add]myself|=|" + name_, {time.seconds(), time.nanoseconds()});
diff --git a/src/nodes/ontologenius_multi.cpp b/src/nodes/ontologenius_multi.cpp
index 9ad3d5a7..3a88836d 100644
--- a/src/nodes/ontologenius_multi.cpp
+++ b/src/nodes/ontologenius_multi.cpp
@@ -8,6 +8,7 @@
 #include <iterator>
 #include <map>
 #include <regex>
+#include <stdexcept>
 #include <string>
 #include <thread>
 #include <unistd.h>
diff --git a/src/tests/CI/copy_test.cpp b/src/tests/CI/copy_test.cpp
index 7bfed59a..318712ef 100644
--- a/src/tests/CI/copy_test.cpp
+++ b/src/tests/CI/copy_test.cpp
@@ -1,6 +1,7 @@
 #include <chrono>
 #include <gtest/gtest.h>
 #include <iostream>
+#include <ratio>
 #include <string>
 
 #include "ontologenius/core/ontoGraphs/Ontology.h"
