diff --git a/code_generation/robot_config.cpp.template b/code_generation/robot_config.cpp.template
index b043a86..68cbda2 100644
--- a/code_generation/robot_config.cpp.template
+++ b/code_generation/robot_config.cpp.template
@@ -219,7 +219,7 @@ namespace fast_fk::internal {
 }
 
 #ifdef FAST_FK_USE_IK
-#include "fast_inverse_kinematics/fast_inverse_kinematics.hpp"
+#include "fast_forward_kinematics/fast_inverse_kinematics.hpp"
 
 namespace fast_fk::internal {
     constexpr float axis_scale = 1;
diff --git a/include/fast_inverse_kinematics/fast_inverse_kinematics.hpp b/include/fast_forward_kinematics/fast_inverse_kinematics.hpp
similarity index 100%
rename from include/fast_inverse_kinematics/fast_inverse_kinematics.hpp
rename to include/fast_forward_kinematics/fast_inverse_kinematics.hpp
diff --git a/include/fast_inverse_kinematics/fast_kinematics.hpp b/include/fast_forward_kinematics/fast_kinematics.hpp
similarity index 97%
rename from include/fast_inverse_kinematics/fast_kinematics.hpp
rename to include/fast_forward_kinematics/fast_kinematics.hpp
index 1d90d09..f42f353 100644
--- a/include/fast_inverse_kinematics/fast_kinematics.hpp
+++ b/include/fast_forward_kinematics/fast_kinematics.hpp
@@ -1,10 +1,11 @@
 #pragma once
 
+#include <memory>
+
 #include <Eigen/Core>
 #include <Eigen/Dense>
 
-#include "fast_inverse_kinematics.hpp"
-#include "memory"
+#include "fast_forward_kinematics/fast_inverse_kinematics.hpp"
 
 namespace fast_fk
 {
diff --git a/include/fast_inverse_kinematics/kinematics_interface.hpp b/include/fast_forward_kinematics/kinematics_interface.hpp
similarity index 100%
rename from include/fast_inverse_kinematics/kinematics_interface.hpp
rename to include/fast_forward_kinematics/kinematics_interface.hpp
diff --git a/test/forward_kinematics_test.cpp b/test/forward_kinematics_test.cpp
index a0a174d..13067ee 100644
--- a/test/forward_kinematics_test.cpp
+++ b/test/forward_kinematics_test.cpp
@@ -3,7 +3,7 @@
 
 #ifdef USE_FAST_KINEMATICS
 
-#include "fast_inverse_kinematics/fast_kinematics.hpp"
+#include "fast_forward_kinematics/fast_kinematics.hpp"
 
 using KI = fast_fk::JointData;
 #else
diff --git a/test/inverse_kinematics_test.cpp b/test/inverse_kinematics_test.cpp
index 91d660d..136708e 100644
--- a/test/inverse_kinematics_test.cpp
+++ b/test/inverse_kinematics_test.cpp
@@ -2,7 +2,7 @@
 #include "iostream"
 
 #ifdef USE_FAST_KINEMATICS
-#include "fast_inverse_kinematics/fast_kinematics.hpp"
+#include "fast_forward_kinematics/fast_kinematics.hpp"
 using IK = fast_fk::JointData;
 #else