diff --git a/src/Color.i b/src/Color.i
deleted file mode 100644
index 4af1792d0..000000000
--- a/src/Color.i
+++ /dev/null
@@ -1,113 +0,0 @@
-/*
- * Copyright (C) 2021 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
-*/
-
-%module Color
-%{
-#include <ignition/math/Color.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/config.hh>
-%}
-
-%include "std_string.i"
-
-namespace ignition
-{
-  namespace math
-  {
-      class Color
-      {
-        %rename("%(undercase)s", %$isfunction, %$ismember, %$not %$isconstructor) "";
-        %rename("%(uppercase)s", %$isstatic, %$isvariable) "";
-        public: static const Color White;
-        public: static const Color Black;
-        public: static const Color Red;
-        public: static const Color Green;
-        public: static const Color Blue;
-        public: static const Color Yellow;
-        public: static const Color Magenta;
-        public: static const Color Cyan;
-        public: typedef unsigned int RGBA;
-        public: typedef unsigned int BGRA;
-        public: typedef unsigned int ARGB;
-        public: typedef unsigned int ABGR;
-
-        public: Color();
-        public: Color(const float _r, const float _g, const float _b,
-                    const float _a = 1.0);
-        public: Color(const Color &_clr);
-        public: virtual ~Color();
-        public: void Reset();
-        public: void Set(const float _r = 1, const float _g = 1,
-                    const float _b = 1, const float _a = 1);
-        public: Vector3<float> HSV() const;
-        public: void SetFromHSV(const float _h, const float _s, const float _v);
-        public: Vector3<float> YUV() const;
-        public: void SetFromYUV(const float _y, const float _u, const float _v);
-        public: RGBA AsRGBA() const;
-        public: BGRA AsBGRA() const;
-        public: ARGB AsARGB() const;
-        public: ABGR AsABGR() const;
-        public: void SetFromRGBA(const RGBA _v);
-        public: void SetFromBGRA(const BGRA _v);
-        public: void SetFromARGB(const ARGB _v);
-        public: void SetFromABGR(const ABGR _v);
-        public: Color operator+(const Color &_pt) const;
-        public: Color operator+(const float &_v) const;
-        public: const Color &operator+=(const Color &_pt);
-        public: Color operator-(const Color &_pt) const;
-        public: Color operator-(const float &_v) const;
-        public: const Color &operator-=(const Color &_pt);
-        public: const Color operator/(const Color &_pt) const;
-        public: const Color operator/(const float &_v) const;
-        public: const Color &operator/=(const Color &_pt);
-        public: const Color operator*(const Color &_pt) const;
-        public: const Color operator*(const float &_v) const;
-        public: const Color &operator*=(const Color &_pt);
-        public: bool operator==(const Color &_pt) const;
-        public: bool operator!=(const Color &_pt) const;
-        private: void Clamp();
-        public: float R() const;
-        public: float G() const;
-        public: float B() const;
-        public: float A() const;
-        public: void R(const float _r);
-        public: void G(const float _g);
-        public: void B(const float _b);
-        public: void A(const float _a);
-        private: float r = 0;
-        private: float g = 0;
-        private: float b = 0;
-        private: float a = 1;
-      };
-
-      %extend Color{
-        float __getitem__(const unsigned int i)
-        {
-          return (*$self)[i];
-        }
-      }
-
-      %extend Color {
-        std::string __str__() const {
-          std::ostringstream out;
-          out << *$self;
-          return out.str();
-        }
-      }
-  }
-}
diff --git a/src/Color_TEST.py b/src/Color_TEST.py
deleted file mode 100644
index c8018614d..000000000
--- a/src/Color_TEST.py
+++ /dev/null
@@ -1,334 +0,0 @@
-# Copyright (C) 2021 Open Source Robotics Foundation
-
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-
-#       http://www.apache.org/licenses/LICENSE-2.0
-
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import unittest
-import math
-from ignition.math import Color
-from ignition.math import Vector3f
-
-
-class TestColor(unittest.TestCase):
-
-    def test_const_color(self):
-        self.assertAlmostEqual(1.0, Color.WHITE.r())
-        self.assertAlmostEqual(1.0, Color.WHITE.g())
-        self.assertAlmostEqual(1.0, Color.WHITE.b())
-        self.assertAlmostEqual(1.0, Color.WHITE.a())
-
-        self.assertAlmostEqual(0.0, Color.BLACK.r())
-        self.assertAlmostEqual(0.0, Color.BLACK.g())
-        self.assertAlmostEqual(0.0, Color.BLACK.b())
-        self.assertAlmostEqual(1.0, Color.BLACK.a())
-
-        self.assertAlmostEqual(1.0, Color.RED.r())
-        self.assertAlmostEqual(0.0, Color.RED.g())
-        self.assertAlmostEqual(0.0, Color.RED.b())
-        self.assertAlmostEqual(1.0, Color.RED.a())
-
-        self.assertAlmostEqual(0.0, Color.GREEN.r())
-        self.assertAlmostEqual(1.0, Color.GREEN.g())
-        self.assertAlmostEqual(0.0, Color.GREEN.b())
-        self.assertAlmostEqual(1.0, Color.GREEN.a())
-
-        self.assertAlmostEqual(0.0, Color.BLUE.r())
-        self.assertAlmostEqual(0.0, Color.BLUE.g())
-        self.assertAlmostEqual(1.0, Color.BLUE.b())
-        self.assertAlmostEqual(1.0, Color.BLUE.a())
-
-        self.assertAlmostEqual(1.0, Color.YELLOW.r())
-        self.assertAlmostEqual(1.0, Color.YELLOW.g())
-        self.assertAlmostEqual(0.0, Color.YELLOW.b())
-        self.assertAlmostEqual(1.0, Color.YELLOW.a())
-
-        self.assertAlmostEqual(1.0, Color.MAGENTA.r())
-        self.assertAlmostEqual(0.0, Color.MAGENTA.g())
-        self.assertAlmostEqual(1.0, Color.MAGENTA.b())
-        self.assertAlmostEqual(1.0, Color.MAGENTA.a())
-
-        self.assertAlmostEqual(0.0, Color.CYAN.r())
-        self.assertAlmostEqual(1.0, Color.CYAN.g())
-        self.assertAlmostEqual(1.0, Color.CYAN.b())
-        self.assertAlmostEqual(1.0, Color.CYAN.a())
-
-    def test_color(self):
-        clr0 = Color()
-        self.assertAlmostEqual(0.0, clr0.r())
-        self.assertAlmostEqual(0.0, clr0.g())
-        self.assertAlmostEqual(0.0, clr0.b())
-        self.assertAlmostEqual(1.0, clr0.a())
-        self.assertEqual(clr0.as_rgba(), 255)
-        clr0.a(0.0)
-        self.assertEqual(clr0.as_rgba(), 0)
-
-        clr = Color(.1, .2, .3, 1.0)
-        self.assertAlmostEqual(0.1, clr.r())
-        self.assertAlmostEqual(0.2, clr.g())
-        self.assertAlmostEqual(0.3, clr.b())
-        self.assertAlmostEqual(1.0, clr.a())
-
-        clr.set(1, 0, 0, 0)
-        self.assertAlmostEqual(clr.as_rgba(), 255 << 24)
-        self.assertAlmostEqual(clr.as_bgra(), 255 << 8)
-        self.assertAlmostEqual(clr.as_argb(), 255 << 16)
-        self.assertAlmostEqual(clr.as_abgr(), 255)
-        clr0.set_from_rgba(255 << 24)
-        self.assertEqual(clr0, clr)
-        clr0.set_from_bgra(255 << 8)
-        self.assertEqual(clr0, clr)
-        clr0.set_from_argb(255 << 16)
-        self.assertEqual(clr0, clr)
-        clr0.set_from_abgr(255)
-        self.assertEqual(clr0, clr)
-
-        clr.set(0, 1, 0, 0)
-        self.assertAlmostEqual(clr.as_rgba(), 255 << 16)
-        self.assertAlmostEqual(clr.as_bgra(), 255 << 16)
-        self.assertAlmostEqual(clr.as_argb(), 255 << 8)
-        self.assertAlmostEqual(clr.as_abgr(), 255 << 8)
-        clr0.set_from_rgba(255 << 16)
-        self.assertEqual(clr0, clr)
-        clr0.set_from_bgra(255 << 16)
-        self.assertEqual(clr0, clr)
-        clr0.set_from_argb(255 << 8)
-        self.assertEqual(clr0, clr)
-        clr0.set_from_abgr(255 << 8)
-        self.assertEqual(clr0, clr)
-
-        clr.set(0, 0, 1, 0)
-        self.assertAlmostEqual(clr.as_rgba(), 255 << 8)
-        self.assertAlmostEqual(clr.as_bgra(), 255 << 24)
-        self.assertAlmostEqual(clr.as_argb(), 255)
-        self.assertAlmostEqual(clr.as_abgr(), 255 << 16)
-        clr0.set_from_rgba(255 << 8)
-        self.assertEqual(clr0, clr)
-        clr0.set_from_bgra(255 << 24)
-        self.assertEqual(clr0, clr)
-        clr0.set_from_argb(255)
-        self.assertEqual(clr0, clr)
-        clr0.set_from_abgr(255 << 16)
-        self.assertEqual(clr0, clr)
-
-        clr.set(0, 0, 0, 1)
-        self.assertAlmostEqual(clr.as_rgba(), 255)
-        self.assertAlmostEqual(clr.as_bgra(), 255)
-        self.assertAlmostEqual(clr.as_argb(), 255 << 24)
-        self.assertAlmostEqual(clr.as_abgr(), 255 << 24)
-        clr0.set_from_rgba(255)
-        self.assertEqual(clr0, clr)
-        clr0.set_from_bgra(255)
-        self.assertEqual(clr0, clr)
-        clr0.set_from_argb(255 << 24)
-        self.assertEqual(clr0, clr)
-        clr0.set_from_abgr(255 << 24)
-        self.assertEqual(clr0, clr)
-
-        clr.reset()
-        self.assertAlmostEqual(0.0, clr.r())
-        self.assertAlmostEqual(0.0, clr.g())
-        self.assertAlmostEqual(0.0, clr.b())
-        self.assertAlmostEqual(1.0, clr.a())
-
-        clr.set_from_hsv(0, 0.5, 1.0)
-        self.assertAlmostEqual(1.0, clr.r())
-        self.assertAlmostEqual(0.5, clr.g())
-        self.assertAlmostEqual(0.5, clr.b())
-        self.assertAlmostEqual(1.0, clr.a())
-
-        self.assertTrue(clr.hsv() == Vector3f(6, 0.5, 1))
-
-        clr.set_from_hsv(60, 0.0, 1.0)
-        self.assertAlmostEqual(1.0, clr.r())
-        self.assertAlmostEqual(1.0, clr.g())
-        self.assertAlmostEqual(1.0, clr.b())
-        self.assertAlmostEqual(1.0, clr.a())
-
-        clr.set_from_hsv(120, 0.5, 1.0)
-        self.assertAlmostEqual(0.5, clr.r())
-        self.assertAlmostEqual(1.0, clr.g())
-        self.assertAlmostEqual(0.5, clr.b())
-        self.assertAlmostEqual(1.0, clr.a())
-
-        clr.set_from_hsv(180, 0.5, 1.0)
-        self.assertAlmostEqual(0.5, clr.r())
-        self.assertAlmostEqual(1.0, clr.g())
-        self.assertAlmostEqual(1.0, clr.b())
-        self.assertAlmostEqual(1.0, clr.a())
-
-        clr.set_from_hsv(240, 0.5, 1.0)
-        self.assertAlmostEqual(0.5, clr.r())
-        self.assertAlmostEqual(0.5, clr.g())
-        self.assertAlmostEqual(1.0, clr.b())
-        self.assertAlmostEqual(1.0, clr.a())
-
-        clr.set_from_hsv(300, 0.5, 1.0)
-        self.assertAlmostEqual(1.0, clr[0])
-        self.assertAlmostEqual(0.5, clr[1])
-        self.assertAlmostEqual(1.0, clr[2])
-        self.assertAlmostEqual(1.0, clr[3])
-        self.assertTrue(math.isnan(clr[4]))
-
-        clr.set(0.1, 0.2, 0.3, 0.4)
-        clr = clr + 0.2
-        self.assertTrue(clr == Color(0.3, 0.4, 0.5, 0.6))
-
-        clr.set(0.1, 0.2, 0.3, 0.4)
-        clr += Color(0.2, 0.2, 0.2, 0.2)
-        self.assertTrue(clr == Color(0.3, 0.4, 0.5, 0.6))
-
-        clr.set(0.1, 0.2, 0.3, 0.4)
-        clr = clr - 0.1
-        self.assertTrue(clr == Color(0.0, 0.1, 0.2, 0.3))
-
-        clr.set(0.1, 0.2, 0.3, 0.4)
-        clr -= Color(0.1, 0.1, 0.1, 0.1)
-        self.assertTrue(clr == Color(0.0, 0.1, 0.2, 0.3))
-
-        clr.set(1.0, 1.0, 1.0, 1.0)
-        clr = clr / 1.6
-        self.assertTrue(clr == Color(0.625, 0.625, 0.625, 0.625))
-
-        clr.set(1.0, 1.0, 1.0, 1.0)
-        clr /= Color(1.0, 1.0, 1.0, 1.0)
-        self.assertTrue(clr == Color(1.0, 1.0, 1.0, 1.0))
-
-        clr.set(.1, .2, .3, .4)
-        clr = clr * .1
-        self.assertTrue(clr == Color(0.01, 0.02, 0.03, 0.04))
-
-        clr.set(.1, .2, .3, .4)
-        clr *= Color(0.1, 0.1, 0.1, 0.1)
-        self.assertTrue(clr == Color(0.01, 0.02, 0.03, 0.04))
-
-        clr.set_from_yuv(0.5, 0.2, 0.8)
-        self.assertAlmostEqual(0.00553, clr.r(), delta=1e-3)
-        self.assertAlmostEqual(0.0, clr.g())
-        self.assertAlmostEqual(0.9064, clr.b(), delta=1e-3)
-        self.assertAlmostEqual(0.04, clr.a())
-
-        self.assertTrue(clr.yuv() == Vector3f(0.104985, 0.95227, 0.429305))
-
-        clr = Color(1.0, 0.0, 0.5, 1.0) + Color(0.1, 0.3, 0.4, 1.0)
-        self.assertAlmostEqual(0.00431373, clr.r(), delta=1e-4)
-        self.assertAlmostEqual(0.3, clr.g(), delta=1e-4)
-        self.assertAlmostEqual(0.9, clr.b(), delta=1e-4)
-        self.assertAlmostEqual(1.0, clr.a(), delta=1e-4)
-
-        clr = Color(1.0, 0.0, 0.5, 1.0) - Color(0.1, 0.3, 0.4, 1.0)
-        self.assertAlmostEqual(0.9, clr.r(), delta=1e-4)
-        self.assertAlmostEqual(0.0, clr.g(), delta=1e-4)
-        self.assertAlmostEqual(0.1, clr.b(), delta=1e-4)
-        self.assertAlmostEqual(0.0, clr.a(), delta=1e-4)
-
-        clr = Color(0.5, 0.2, 0.4, 0.6) / 2.0
-        self.assertAlmostEqual(0.25, clr.r(), delta=1e-4)
-        self.assertAlmostEqual(0.1, clr.g(), delta=1e-4)
-        self.assertAlmostEqual(0.2, clr.b(), delta=1e-4)
-        self.assertAlmostEqual(0.3, clr.a(), delta=1e-4)
-
-    def test_mul(self):
-        clr = Color(0.0, 0.01, 0.2, 1.0)
-        clr2 = Color(1.0, 0.2, 0.2, 0.0)
-        clr3 = clr * clr2
-
-        self.assertAlmostEqual(clr3.r(), 0.0)
-        self.assertAlmostEqual(clr3.g(), 0.002)
-        self.assertAlmostEqual(clr3.b(), 0.04)
-        self.assertAlmostEqual(clr3.a(), 0.0)
-
-    def test_division(self):
-        clr = Color(0.0, 0.01, 0.2, 1.0)
-        clr2 = clr / 0.2
-        self.assertAlmostEqual(clr2.r(), 0.0)
-        self.assertAlmostEqual(clr2.g(), 0.05)
-        self.assertAlmostEqual(clr2.b(), 1.0)
-        self.assertAlmostEqual(clr2.a(), 1.0)
-
-        clr2 = clr / 2.0
-        self.assertAlmostEqual(clr2.r(), 0.0)
-        self.assertAlmostEqual(clr2.g(), 0.005)
-        self.assertAlmostEqual(clr2.b(), 0.1)
-        self.assertAlmostEqual(clr2.a(), 0.5)
-
-        clr2.set(0.0, 0.2, 0.4, 0.5)
-        clr3 = clr / clr2
-        self.assertAlmostEqual(clr3.r(), 0.0)
-        self.assertAlmostEqual(clr3.g(), 0.05)
-        self.assertAlmostEqual(clr3.b(), 0.5)
-        self.assertAlmostEqual(clr3.a(), 1.0)
-
-        clr.set(0.0, 0.0, 0.0, 0.0)
-        clr2.set(0.0, 0.0, 0.0, 0.0)
-        clr3 = clr / clr2
-        self.assertAlmostEqual(clr3.r(), 0.0)
-        self.assertAlmostEqual(clr3.g(), 0.0)
-        self.assertAlmostEqual(clr3.b(), 0.0)
-        self.assertAlmostEqual(clr3.a(), 0.0)
-
-    def test_const_set(self):
-        clr = Color(0.1, 0.2, 0.3, 0.4)
-        self.assertAlmostEqual(clr.r(), 0.1)
-        self.assertAlmostEqual(clr.g(), 0.2)
-        self.assertAlmostEqual(clr.b(), 0.3)
-        self.assertAlmostEqual(clr.a(), 0.4)
-
-        clr2 = Color()
-        clr2.r(0.4)
-        clr2.g(0.3)
-        clr2.b(0.2)
-        clr2.a(0.1)
-        self.assertAlmostEqual(clr2.r(), 0.4)
-        self.assertAlmostEqual(clr2.g(), 0.3)
-        self.assertAlmostEqual(clr2.b(), 0.2)
-        self.assertAlmostEqual(clr2.a(), 0.1)
-
-        self.assertTrue(clr2 != clr)
-
-    def test_stream_out(self):
-        c = Color(0.1, 0.2, 0.3, 0.5)
-        self.assertAlmostEqual(str(c), "0.1 0.2 0.3 0.5")
-
-    def test_HSV(self):
-        clr = Color()
-        hsv = clr.hsv()
-        self.assertAlmostEqual(hsv.X(), -1.0)
-        self.assertAlmostEqual(hsv.Y(), 0.0)
-        self.assertAlmostEqual(hsv.Z(), 0.0)
-
-        clr.set(0.1, 0.2, 0.3, 1.0)
-        hsv = clr.hsv()
-        self.assertAlmostEqual(hsv.X(), 3.5, delta=1e-3)
-        self.assertAlmostEqual(hsv.Y(), 0.666667, delta=1e-3)
-        self.assertAlmostEqual(hsv.Z(), 0.3, delta=1e-3)
-
-        clr.set(0.3, 0.2, 0.1, 1.0)
-        hsv = clr.hsv()
-        self.assertAlmostEqual(hsv.X(), 0.5, delta=1e-3)
-        self.assertAlmostEqual(hsv.Y(), 0.666667, delta=1e-3)
-        self.assertAlmostEqual(hsv.Z(), 0.3, delta=1e-3)
-
-        clr.set_from_hsv(60, 10, 5)
-        self.assertAlmostEqual(clr.r(), 0.0196078, delta=1e-3)
-        self.assertAlmostEqual(clr.g(), 0.0196078, delta=1e-3)
-        self.assertAlmostEqual(clr.b(), 0.0, delta=1e-3)
-        self.assertAlmostEqual(clr.a(), 1.0, delta=1e-3)
-
-        clr.set_from_hsv(360.0, 0.5, 0.6)
-        self.assertAlmostEqual(clr.r(), 0.6, delta=1e-3)
-        self.assertAlmostEqual(clr.g(), 0.3, delta=1e-3)
-        self.assertAlmostEqual(clr.b(), 0.3, delta=1e-3)
-        self.assertAlmostEqual(clr.a(), 1.0, delta=1e-3)
-
-
-if __name__ == '__main__':
-    unittest.main()
diff --git a/src/RollingMean.i b/src/RollingMean.i
deleted file mode 100644
index d024b8b6f..000000000
--- a/src/RollingMean.i
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
- * Copyright (C) 2021 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
-*/
-
-%module rollingMean
-%{
-#include <ignition/math/RollingMean.hh>
-%}
-
-namespace ignition
-{
-  namespace math
-  {
-    class RollingMean
-    {
-      %rename("%(undercase)s", %$isfunction, %$ismember, %$not %$isconstructor) "";
-      public: explicit RollingMean(size_t _windowSize = 10);
-      public: ~RollingMean();
-      public: double Mean() const;
-      public: size_t Count() const;
-      public: void Push(double _value);
-      public: void Clear();
-      public: void SetWindowSize(size_t _windowSize);
-      public: size_t WindowSize() const;
-
-      #ifdef _WIN32
-      #pragma warning(push)
-      #pragma warning(disable: 4251)
-      #endif
-          private: std::unique_ptr<RollingMeanPrivate> dataPtr;
-      #ifdef _WIN32
-      #pragma warning(pop)
-      #endif
-    };
-  }
-}
\ No newline at end of file
diff --git a/src/RollingMean_TEST.py b/src/RollingMean_TEST.py
deleted file mode 100644
index 76a7795c3..000000000
--- a/src/RollingMean_TEST.py
+++ /dev/null
@@ -1,55 +0,0 @@
-# Copyright (C) 2021 Open Source Robotics Foundation
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#       http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import unittest
-import math
-from ignition.math import RollingMean
-
-
-class TestRollingMean(unittest.TestCase):
-
-    def test_rolling_mean(self):
-        mean = RollingMean()
-        self.assertEqual(0, mean.count())
-        self.assertEqual(10, mean.window_size())
-
-        mean.set_window_size(4)
-        self.assertEqual(4, mean.window_size())
-        mean.set_window_size(0)
-        self.assertEqual(4, mean.window_size())
-
-        mean.push(1.0)
-        self.assertAlmostEqual(1.0, mean.mean())
-        mean.push(2.0)
-        self.assertAlmostEqual(1.5, mean.mean())
-        mean.push(3.0)
-        self.assertAlmostEqual(2.0, mean.mean())
-        mean.push(10.0)
-        self.assertAlmostEqual(4.0, mean.mean())
-        mean.push(20.0)
-        self.assertAlmostEqual(8.75, mean.mean())
-
-        mean.clear()
-        self.assertTrue(math.isnan(mean.mean()))
-
-        mean.push(100.0)
-        mean.push(200.0)
-        mean.push(300.0)
-        self.assertEqual(3, mean.count())
-        mean.set_window_size(2)
-        self.assertEqual(0, mean.count())
-
-
-if __name__ == '__main__':
-    unittest.main()
diff --git a/src/Spline.i b/src/Spline.i
deleted file mode 100644
index 1b6bfb0cf..000000000
--- a/src/Spline.i
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- * Copyright (C) 2016 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
-*/
-
-%module spline
-%{
-#include <ignition/math/Spline.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/config.hh>
-%}
-
-namespace ignition
-{
-  namespace math
-  {
-    class ControlPoint;
-    class SplinePrivate;
-
-    class Spline
-    {
-      %rename("%(undercase)s", %$isfunction, %$ismember, %$not %$isconstructor) "";
-      public: Spline();
-      public: ~Spline();
-      public: void Tension(double _t);
-      public: double Tension() const;
-      public: double ArcLength() const;
-      public: double ArcLength(const double _t) const;
-      public: double ArcLength(const unsigned int _index,
-                               const double _t) const;
-      public: void AddPoint(const Vector3<double> &_p);
-      public: void AddPoint(const Vector3<double> &_p, const Vector3<double> &_t);
-      private: void AddPoint(const ControlPoint &_cp, const bool _fixed);
-      public: Vector3<double> Point(const unsigned int _index) const;
-      public: Vector3<double> Tangent(const unsigned int _index) const;
-      public: Vector3<double> MthDerivative(const unsigned int _index,
-                                     const unsigned int _mth) const;
-      public: size_t PointCount() const;
-      public: void Clear();
-      public: bool UpdatePoint(const unsigned int _index,
-                               const Vector3<double> &_p);
-      public: bool UpdatePoint(const unsigned int _index,
-                               const Vector3<double> &_p,
-                               const Vector3<double> &_t);
-      private: bool UpdatePoint(const unsigned int _index,
-                                const ControlPoint &_cp,
-                                const bool _fixed);
-      public: Vector3<double> Interpolate(const double _t) const;
-      public: Vector3<double> Interpolate(const unsigned int _fromIndex,
-                                   const double _t) const;
-      public: Vector3<double> InterpolateTangent(const double _t) const;
-      public: Vector3<double> InterpolateTangent(const unsigned int _fromIndex,
-                                          const double _t) const;
-      public: Vector3<double> InterpolateMthDerivative(const unsigned int _mth,
-                                                const double _1) const;
-      public: Vector3<double> InterpolateMthDerivative(const unsigned int _fromIndex,
-                                                const unsigned int _mth,
-                                                const double _s) const;
-      public: void AutoCalculate(bool _autoCalc);
-      public: void RecalcTangents();
-    };
-  }
-}
\ No newline at end of file
diff --git a/src/Spline_TEST.py b/src/Spline_TEST.py
deleted file mode 100644
index 9f60db8fb..000000000
--- a/src/Spline_TEST.py
+++ /dev/null
@@ -1,166 +0,0 @@
-# Copyright (C) 2021 Open Source Robotics Foundation
-
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-
-#       http://www.apache.org/licenses/LICENSE-2.0
-
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import unittest
-import math
-from ignition.math import Vector3d
-from ignition.math import Spline
-
-
-class TestSpline(unittest.TestCase):
-
-    def test_spline(self):
-        s = Spline()
-
-        s.add_point(Vector3d(0, 0, 0))
-        self.assertEqual(1, s.point_count())
-
-        s.clear()
-        self.assertEqual(0, s.point_count())
-
-        s.add_point(Vector3d(0, 0, 0))
-        self.assertTrue(s.point(0) == Vector3d(0, 0, 0))
-        s.add_point(Vector3d(1, 1, 1))
-        self.assertTrue(s.point(1) == Vector3d(1, 1, 1))
-
-        # update_point
-        self.assertFalse(s.update_point(2, Vector3d(2, 2, 2)))
-
-        self.assertTrue(s.update_point(1, Vector3d(2, 2, 2)))
-        s.auto_calculate(False)
-        self.assertTrue(s.update_point(0, Vector3d(-1, -1, -1)))
-        s.auto_calculate(True)
-
-        # interpolate
-        self.assertAlmostEqual(s.interpolate(0.0), Vector3d(-1, -1, -1))
-        self.assertAlmostEqual(s.interpolate(0.5), Vector3d(0.5, 0.5, 0.5))
-        self.assertAlmostEqual(s.interpolate(1.0), Vector3d(2, 2, 2))
-
-        # interpolate
-        s.add_point(Vector3d(4, 4, 4))
-        self.assertAlmostEqual(s.interpolate(1, 0.2),
-                               Vector3d(2.496, 2.496, 2.496))
-
-    def test_fixed_tangent(self):
-        s = Spline()
-
-        # add_point
-        s.auto_calculate(False)
-        s.add_point(Vector3d(0, 0, 0))
-        s.add_point(Vector3d(0, 0.5, 0), Vector3d(0, 1, 0))
-        s.add_point(Vector3d(0.5, 1, 0), Vector3d(1, 0, 0))
-        s.add_point(Vector3d(1, 1, 0), Vector3d(1, 0, 0))
-
-        # update_point
-        s.update_point(0, Vector3d(0, 0, 0), Vector3d(0, 1, 0))
-
-        s.auto_calculate(True)
-
-        s.recalc_tangents()
-
-        # interpolate
-        self.assertAlmostEqual(s.interpolate(0, 0.5), Vector3d(0, 0.25, 0))
-        self.assertAlmostEqual(s.interpolate_tangent(0, 0.5),
-                               Vector3d(0, 0.25, 0))
-        self.assertAlmostEqual(s.interpolate(1, 0.5),
-                               Vector3d(0.125, 0.875, 0))
-        self.assertAlmostEqual(s.interpolate(2, 0.5), Vector3d(0.75, 1, 0))
-        self.assertAlmostEqual(s.interpolate_tangent(2, 0.5),
-                               Vector3d(0.25, 0, 0))
-
-    def test_arc_length(self):
-        s = Spline()
-        self.assertFalse(math.isfinite(s.arc_length()))
-        s.add_point(Vector3d(1, 1, 1), Vector3d(1, 1, 1))
-        self.assertFalse(math.isfinite(s.arc_length(0)))
-        s.add_point(Vector3d(3, 3, 3), Vector3d(1, 1, 1))
-        s.add_point(Vector3d(4, 4, 4), Vector3d(1, 1, 1))
-        self.assertAlmostEqual(s.arc_length(0, 1.0),
-                               3.46410161513775, delta=1e-14)
-        self.assertAlmostEqual(s.arc_length(), 5.19615242270663, delta=1e-14)
-        self.assertAlmostEqual(s.arc_length(), s.arc_length(1.0))
-        self.assertFalse(math.isfinite(s.arc_length(-1.0)))
-        self.assertFalse(math.isfinite(s.arc_length(4, 0.0)))
-
-    def test_tension(self):
-        s = Spline()
-
-        s.tension(0.1)
-        self.assertAlmostEqual(s.tension(), 0.1)
-
-    def test_interpolate(self):
-        s = Spline()
-        self.assertFalse(s.interpolate(0, 0.1).IsFinite())
-
-        s.add_point(Vector3d(0, 0, 0))
-        self.assertAlmostEqual(s.interpolate(0, 0.1), Vector3d(0, 0, 0))
-        self.assertFalse(s.interpolate_tangent(0.1).IsFinite())
-
-        s.add_point(Vector3d(1, 2, 3))
-        self.assertAlmostEqual(s.interpolate(0, 0.0), s.point(0))
-        self.assertFalse(s.interpolate(0, -0.1).IsFinite())
-        self.assertAlmostEqual(s.interpolate_tangent(0, 0.0), s.tangent(0))
-
-        # Fast and slow call variations
-        self.assertAlmostEqual(s.interpolate(0, 0.5), Vector3d(0.5, 1.0, 1.5))
-        self.assertAlmostEqual(s.interpolate(0, 1.0), s.point(1))
-        self.assertAlmostEqual(s.interpolate_tangent(0, 0.5),
-                               Vector3d(1.25, 2.5, 3.75))
-        self.assertAlmostEqual(s.interpolate_tangent(0, 1.0), s.tangent(1))
-        self.assertAlmostEqual(s.interpolate_mth_derivative(2, 0.5),
-                               Vector3d(0, 0, 0))
-        self.assertAlmostEqual(s.interpolate_mth_derivative(2, 1.0),
-                               Vector3d(-3, -6, -9))
-        self.assertAlmostEqual(s.interpolate_mth_derivative(3, 0.5),
-                               Vector3d(-6, -12, -18))
-        self.assertAlmostEqual(s.interpolate_mth_derivative(3, 1.0),
-                               Vector3d(-6, -12, -18))
-        self.assertAlmostEqual(s.interpolate_mth_derivative(4, 0.5),
-                               Vector3d(0, 0, 0))
-        self.assertAlmostEqual(s.interpolate_mth_derivative(4, 1.0),
-                               Vector3d(0, 0, 0))
-
-    def test_point(self):
-        s = Spline()
-        self.assertFalse(s.point(0).IsFinite())
-
-    def test_tangent(self):
-        s = Spline()
-        self.assertFalse(s.tangent(0).IsFinite())
-
-        s.add_point(Vector3d(0, 0, 0))
-        self.assertFalse(s.tangent(0).IsFinite())
-
-        s.add_point(Vector3d(1, 0, 0))
-        self.assertAlmostEqual(s.tangent(0), Vector3d(0.5, 0, 0))
-
-        s.add_point(Vector3d(1, 1, 0), Vector3d(-1, 1, 0))
-        self.assertAlmostEqual(s.tangent(1), Vector3d(0.5, 0.5, 0))
-        self.assertAlmostEqual(s.tangent(2), Vector3d(-1, 1, 0))
-
-    def test_recalc_tangents(self):
-        s = Spline()
-
-        s.add_point(Vector3d(0, 0, 0))
-        s.add_point(Vector3d(.4, .4, .4))
-        s.add_point(Vector3d(0, 0, 0))
-
-        s.recalc_tangents()
-
-        self.assertAlmostEqual(s.interpolate(0, 0.5), Vector3d(0.2, 0.2, 0.2))
-        self.assertAlmostEqual(s.interpolate(1, 0.5), Vector3d(0.2, 0.2, 0.2))
-
-
-if __name__ == '__main__':
-    unittest.main()
diff --git a/src/python/CMakeLists.txt b/src/python/CMakeLists.txt
index 2d502ff5f..47b9d25b9 100644
--- a/src/python/CMakeLists.txt
+++ b/src/python/CMakeLists.txt
@@ -69,9 +69,12 @@ if (PYTHONLIBS_FOUND)
     # Add the Python tests
     set(python_tests
       Angle_TEST
+      Color_TEST
       GaussMarkovProcess_TEST
       python_TEST
       Rand_TEST
+      RollingMean_TEST
+      Spline_TEST
       Vector2_TEST
       Vector3_TEST
       Vector4_TEST
diff --git a/src/python/python.i b/src/python/python.i
index 614c220bd..ee125c71a 100644
--- a/src/python/python.i
+++ b/src/python/python.i
@@ -5,3 +5,6 @@
 %include Vector2.i
 %include Vector3.i
 %include Vector4.i
+%include Color.i
+%include RollingMean.i
+%include Spline.i