robotology · traversaro · Nov 17, 2020 · Nov 17, 2020 · Nov 17, 2020 · Nov 17, 2020
diff --git a/README.md b/README.md
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -1,11 +1,10 @@
-# Copyright: 2015 Fondazione Istituto Italiano di Tecnologia
-# Author: Silvio Traversaro
-# CopyPolicy: Released under the terms of the GNU GPL v2.0.
-#
+# Copyright: 2020 Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the MIT license
 
-cmake_minimum_required(VERSION 2.8.11)
 
-project("iDynTree_Examples")
+cmake_minimum_required(VERSION 3.16)
 
-add_subdirectory(KinDynComputationsWithEigen)
+project(iDynTreeExamples)
+
+add_subdirectory(cxx)
 
diff --git a/examples/cxx/CMakeLists.txt b/examples/cxx/CMakeLists.txt
@@ -0,0 +1,9 @@
+# Copyright: 2020 Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the MIT license
+
+cmake_minimum_required(VERSION 3.16)
+
+project(iDynTreeCxxExamples)
+
+add_subdirectory(KinDynComputationsWithEigen)
+add_subdirectory(InverseKinematics)
diff --git a/examples/InverseKinematics/CMakeLists.txt → ...ples/cxx/InverseKinematics/CMakeLists.txt b/examples/InverseKinematics/CMakeLists.txt → ...ples/cxx/InverseKinematics/CMakeLists.txt
diff --git a/examples/InverseKinematics/README.md → examples/cxx/InverseKinematics/README.md b/examples/InverseKinematics/README.md → examples/cxx/InverseKinematics/README.md
diff --git a/...tics/iDynTreeExampleInverseKinematics.cpp → ...tics/iDynTreeExampleInverseKinematics.cpp b/...tics/iDynTreeExampleInverseKinematics.cpp → ...tics/iDynTreeExampleInverseKinematics.cpp
diff --git a/...inDynComputationsWithEigen/CMakeLists.txt → ...inDynComputationsWithEigen/CMakeLists.txt b/...inDynComputationsWithEigen/CMakeLists.txt → ...inDynComputationsWithEigen/CMakeLists.txt
diff --git a/...ples/KinDynComputationsWithEigen/main.cpp → .../cxx/KinDynComputationsWithEigen/main.cpp b/...ples/KinDynComputationsWithEigen/main.cpp → .../cxx/KinDynComputationsWithEigen/main.cpp
@@ -12,15 +12,15 @@
 // C headers
 #include <cstdlib>
 
-// Eigen headers 
+// Eigen headers
 #include <Eigen/Core>
 
 // iDynTree headers
 #include <iDynTree/Model/FreeFloatingState.h>
 #include <iDynTree/KinDynComputations.h>
 #include <iDynTree/ModelIO/ModelLoader.h>
 
-// Helpers function to convert between 
+// Helpers function to convert between
 // iDynTree datastructures
 #include <iDynTree/Core/EigenHelpers.h>
 

diff --git a/examples/fixedBaseGravityCompensation/CMakeLists.txt b/examples/fixedBaseGravityCompensation/CMakeLists.txt