diff --git a/scripts/license_header_2021.txt b/scripts/license_header_2022.txt
similarity index 89%
rename from scripts/license_header_2021.txt
rename to scripts/license_header_2022.txt
index 3b8ca59495e5cb456355512ae9590964601f1c44..2e6616c0ff54d5e75cb9fa652a78e00b660da4a0 100644
--- a/scripts/license_header_2021.txt
+++ b/scripts/license_header_2022.txt
@@ -1,4 +1,4 @@
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp
index 78d2409d10c000b191d0c2b2add12cf7c19aa4c8..9928d30bfcaf1b58d33aa210a64708bd9a437451 100644
--- a/src/corner_falko_2d.cpp
+++ b/src/corner_falko_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h
index 832a7b688a985df98df85565bf7d38d6a1c68dd3..6c951fdf2809e3b123bbf952ae22d77ddaafc65d 100644
--- a/src/corner_falko_2d.h
+++ b/src/corner_falko_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/corner_finder.cpp b/src/corner_finder.cpp
index 2b3158d7c5482ac2bd471036ea5fa6dd5eb848db..f973bb0ea525939658e177884947df2ba792be90 100644
--- a/src/corner_finder.cpp
+++ b/src/corner_finder.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/corner_finder.h b/src/corner_finder.h
index 34e5f6a166e315f6324f61e4ef11f0249ab8ac9c..c4a7d3aa2a2daf88a509cdef7a7f3ff562faa46d 100644
--- a/src/corner_finder.h
+++ b/src/corner_finder.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/corner_finder_inscribed_angle.cpp b/src/corner_finder_inscribed_angle.cpp
index 4fb77cce3f60ca8fe34b8349ce600258669b8503..d5fef2be4071102af2d901a9bd9ccd1ac6eedb1d 100644
--- a/src/corner_finder_inscribed_angle.cpp
+++ b/src/corner_finder_inscribed_angle.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/corner_finder_inscribed_angle.h b/src/corner_finder_inscribed_angle.h
index 1af53b4e5aeab8601b95b96d689830c0b5afe3bd..65518f4bc181fde6984eb8a0e4494287ef52b7b3 100644
--- a/src/corner_finder_inscribed_angle.h
+++ b/src/corner_finder_inscribed_angle.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/corner_point.cpp b/src/corner_point.cpp
index 600f8be3d8f9b9ffbd16e73dd22e8d2cd53dbba2..fa74cfd165d50a7ff7f0c9f857e3e86b2b88cf2e 100644
--- a/src/corner_point.cpp
+++ b/src/corner_point.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/corner_point.h b/src/corner_point.h
index d25884fa7809b5d1bf935e6f4ea00dbe8f41c40f..08637510c5171dc29b2c6070ec9aacd5517f8bf9 100644
--- a/src/corner_point.h
+++ b/src/corner_point.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/clustering.cpp b/src/deprecated/clustering.cpp
index 4c8d8bdffa45a5f2e10217f1c1702e197abfb881..9083e3678704126e7e739586365a9fe5417dc580 100644
--- a/src/deprecated/clustering.cpp
+++ b/src/deprecated/clustering.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/clustering.h b/src/deprecated/clustering.h
index 2dfd2ecf33a89c26208f73aa997f0a97aa0c5b13..d26446fa71349859bec770c8f6763ecb8bade05d 100644
--- a/src/deprecated/clustering.h
+++ b/src/deprecated/clustering.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/corner_detector.cpp b/src/deprecated/corner_detector.cpp
index 86a874b9b842cd21aef8b8af93f94d499bee6d86..540a7a170cba461be12a0004dd26b300f028b9e5 100644
--- a/src/deprecated/corner_detector.cpp
+++ b/src/deprecated/corner_detector.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/corner_detector.h b/src/deprecated/corner_detector.h
index afd9dcc1d765aa82c3a86cadc03873a85f67c47e..4ddf5bf645b49711cb3f6648d69ede00af0ae4ba 100644
--- a/src/deprecated/corner_detector.h
+++ b/src/deprecated/corner_detector.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/entities.cpp b/src/deprecated/entities.cpp
index e801e2a3df7c45c02ecc63052020e3f23127052a..4dd266543d0aa71770f4ab81be39a0207730a4a8 100644
--- a/src/deprecated/entities.cpp
+++ b/src/deprecated/entities.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/entities.h b/src/deprecated/entities.h
index 2a1214e160a615541c7e04e754426c4745fc47fd..0e0ae3835af4f1de6f6fc60e802feee691cbb44e 100644
--- a/src/deprecated/entities.h
+++ b/src/deprecated/entities.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/examples/test_corner_aperture.cpp b/src/deprecated/examples/test_corner_aperture.cpp
index 2e40bf1c4cfb6dcaab782dbef42ab35ff7d8d671..f90baf9a144990a569b008c103493626d07c3f05 100644
--- a/src/deprecated/examples/test_corner_aperture.cpp
+++ b/src/deprecated/examples/test_corner_aperture.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/examples/test_extract_corners.cpp b/src/deprecated/examples/test_extract_corners.cpp
index 973265181cb7199b3addc1da03351c54c10c545d..05e9947e312552d0b1845185a58d149751e2897b 100644
--- a/src/deprecated/examples/test_extract_corners.cpp
+++ b/src/deprecated/examples/test_extract_corners.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/examples/test_laser_detector.cpp b/src/deprecated/examples/test_laser_detector.cpp
index b500087aad0c3776a97aa7e5b7dd2ab28184dcfa..6cea73820e2081e48463d015152e097ced9bec37 100644
--- a/src/deprecated/examples/test_laser_detector.cpp
+++ b/src/deprecated/examples/test_laser_detector.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/line_detector.cpp b/src/deprecated/line_detector.cpp
index c2a71232c9cfaf0be17abddab26ba3948946f6d5..2e141f47613acbde2e93149803229cc7dc90ca62 100644
--- a/src/deprecated/line_detector.cpp
+++ b/src/deprecated/line_detector.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/line_detector.h b/src/deprecated/line_detector.h
index 1cf1e44afc6c244425bf2ed59520b4586ab80ca4..c81cade95d3ac73f8612bed699cf86633f5beccd 100644
--- a/src/deprecated/line_detector.h
+++ b/src/deprecated/line_detector.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/object_detector.cpp b/src/deprecated/object_detector.cpp
index 8217843a7419d513a169fa8db7579be52a52bc0b..ba9ba79c79d2d88d91bc26e84ecc6c4d815e7eac 100644
--- a/src/deprecated/object_detector.cpp
+++ b/src/deprecated/object_detector.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/object_detector.h b/src/deprecated/object_detector.h
index 4a5b18bd2a8b2fba950fa2f73d0521e5cecc06af..67d6f94c2dd62f11a4396d02a4dbf0b132fd5bdc 100644
--- a/src/deprecated/object_detector.h
+++ b/src/deprecated/object_detector.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/scan_basics.cpp b/src/deprecated/scan_basics.cpp
index 8a07e8e8e369644871be027be3455cd6c8c110cc..eb1be3c79184ffa7bf1854880748bf76087be9bd 100644
--- a/src/deprecated/scan_basics.cpp
+++ b/src/deprecated/scan_basics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/deprecated/scan_basics.h b/src/deprecated/scan_basics.h
index bef9dc90fd3ac8f0e920680a8ceac695de97506b..70592e90aeb70b5a9dcc3628520c744de525f800 100644
--- a/src/deprecated/scan_basics.h
+++ b/src/deprecated/scan_basics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/examples/polyline_demo.cpp b/src/examples/polyline_demo.cpp
index e2900e9c2ef89a6f57200ad18428a61123a28f1c..c9399bd57ba81d736605c8a6b0f0fa5fead0668b 100644
--- a/src/examples/polyline_demo.cpp
+++ b/src/examples/polyline_demo.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/grid_2d.cpp b/src/grid_2d.cpp
index 9e75f85f5d16ddfa48c06b01ed70002c32e1d0dd..798097a417bb479ad646939ac0fd3324bd4bef54 100644
--- a/src/grid_2d.cpp
+++ b/src/grid_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/grid_2d.h b/src/grid_2d.h
index 50d6257bccff8010d994f12c04b9b09025793e3e..5da0737de194a7ac42ac8db1a3f51396bd2b5863 100644
--- a/src/grid_2d.h
+++ b/src/grid_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/grid_cluster.cpp b/src/grid_cluster.cpp
index fb0d8593a437375e9cead927a341ad4b3b6693fb..c4b670b80ed2ba71a1ef584d6693ba82f14d446f 100644
--- a/src/grid_cluster.cpp
+++ b/src/grid_cluster.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/grid_cluster.h b/src/grid_cluster.h
index 7c4b28aacb155189c5e883242d0f2a986bc911e0..be510ba0fa868572fdc76b8799d26ad9eb383a41 100644
--- a/src/grid_cluster.h
+++ b/src/grid_cluster.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/icp.cpp b/src/icp.cpp
index f09a0cec08c225c61c20d7fe5620322d735b3c7f..f2bbd8b804a33c96b6984ebf39aa7bfd7a77817c 100644
--- a/src/icp.cpp
+++ b/src/icp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/icp.h b/src/icp.h
index 76e0805aa0a72920a182087c556e2f53f8fbe5ad..8b1a39fd3424ce20b91080f3a99ce6bb1217783b 100644
--- a/src/icp.h
+++ b/src/icp.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/laser_scan.cpp b/src/laser_scan.cpp
index 403bcae412a025097e10bd40a0934af7684c9595..4fbb90cfb0cec69b406cc68f7b543facd7fa6b94 100644
--- a/src/laser_scan.cpp
+++ b/src/laser_scan.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/laser_scan.h b/src/laser_scan.h
index 05b4121c394037c61221ec7a061d091f147ca81f..8871fcc8643f4fb0fe4ec1609c4a48f5f9f88cbe 100644
--- a/src/laser_scan.h
+++ b/src/laser_scan.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/laser_scan_utils.h b/src/laser_scan_utils.h
index ac5600ad5e01c5927341487cdfdbad7c892523a4..7eb29a6173b24293aa302f0bbbf6c1d8637fef78 100644
--- a/src/laser_scan_utils.h
+++ b/src/laser_scan_utils.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/laser_scan_with_params.cpp b/src/laser_scan_with_params.cpp
index 2c2fc01df54f395aa4be68672af4a997262f447f..ad6aa84e0d0893e1868de70a5ad06f6bc20180d0 100644
--- a/src/laser_scan_with_params.cpp
+++ b/src/laser_scan_with_params.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/laser_scan_with_params.h b/src/laser_scan_with_params.h
index 1b6d3d3009382d91a3a4eee88a0fc952c46ec80d..45ab37dfd46d52c1de027ad52cc7c24b60765361 100644
--- a/src/laser_scan_with_params.h
+++ b/src/laser_scan_with_params.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/line_finder.cpp b/src/line_finder.cpp
index 4668b035ec555e4d71015b76f75c201a63a54908..3667697649702bf35a548e1a0bd311b03385a153 100644
--- a/src/line_finder.cpp
+++ b/src/line_finder.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/line_finder.h b/src/line_finder.h
index a20c2e8c16d317f6eeaa6623e8bd9eec8625b415..c2281ae19d8e8e519c1c7a69f9c40b8573ac039f 100644
--- a/src/line_finder.h
+++ b/src/line_finder.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
@@ -120,4 +120,4 @@ class LineFinder
         virtual void print() const;
 };
 }//namespace
-#endif
\ No newline at end of file
+#endif
diff --git a/src/line_finder_hough.cpp b/src/line_finder_hough.cpp
index 07a19890a2ec9b6735e281867bae9bbf05625915..f04163aff1247051d750d812e3a2925f614f4b1f 100644
--- a/src/line_finder_hough.cpp
+++ b/src/line_finder_hough.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/line_finder_hough.h b/src/line_finder_hough.h
index beacc9c0e95ea517b7eca009f535ff33f3380377..eaf538668b37f5583292608892403133f8792c51 100644
--- a/src/line_finder_hough.h
+++ b/src/line_finder_hough.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
@@ -111,4 +111,4 @@ class LineFinderHough : public LineFinder
         void print() const override;
 };
 }//namespace
-#endif
\ No newline at end of file
+#endif
diff --git a/src/line_finder_iterative.cpp b/src/line_finder_iterative.cpp
index e4114218bdace766b6fc909c2747dc3ea8db7256..cdd97d8344953b0efcf92cf8fae07e574fb42b69 100644
--- a/src/line_finder_iterative.cpp
+++ b/src/line_finder_iterative.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/line_finder_iterative.h b/src/line_finder_iterative.h
index 04d0bfd666f9a14108347c3677115c7107eab24b..2e04dfeca12064928beeece50c4c3e1ceb60eea7 100644
--- a/src/line_finder_iterative.h
+++ b/src/line_finder_iterative.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/line_finder_jump_fit.cpp b/src/line_finder_jump_fit.cpp
index 1b1b25619dd5e0155c0710c9af91bc7900fd303d..8397a306cf72a9ee1248edce51726d7db01fa0ba 100644
--- a/src/line_finder_jump_fit.cpp
+++ b/src/line_finder_jump_fit.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/line_finder_jump_fit.h b/src/line_finder_jump_fit.h
index 365f8f95a6d158c3e79194df7a64eb747afed755..d967615c0fcc5bc313fe63e853dcf9ebb7f4b943 100644
--- a/src/line_finder_jump_fit.h
+++ b/src/line_finder_jump_fit.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
@@ -106,4 +106,4 @@ class LineFinderJumpFit : public LineFinder
         void print() const override;
 };
 }//namespace
-#endif
\ No newline at end of file
+#endif
diff --git a/src/line_segment.cpp b/src/line_segment.cpp
index 3fd6bc71d55a0d4a27afbb07c93ebdb1952726be..a3b8ec185d0d0848ac65928e27e8aa88f9604ac5 100644
--- a/src/line_segment.cpp
+++ b/src/line_segment.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/line_segment.h b/src/line_segment.h
index bc1b6d3f91607ff0f20d1731e98c8675c68210af..bd03fa8f14c460ac4335e23498776d69f3dad7fc 100644
--- a/src/line_segment.h
+++ b/src/line_segment.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/loop_closure_base.cpp b/src/loop_closure_base.cpp
index be326121f70257daa3dbbdfc82fbbbb10e89d836..03a436ee52a86dc8763fc6c33a2e3da7d5e7bb66 100644
--- a/src/loop_closure_base.cpp
+++ b/src/loop_closure_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/loop_closure_base.h b/src/loop_closure_base.h
index 7f5313fddfe020748f43bdac29646933a131b1a3..0e3266c965143c72a953c4f2de49539b46d3ec0c 100644
--- a/src/loop_closure_base.h
+++ b/src/loop_closure_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index e5e5b4c2bf3e5401ee951ce58fdbd462a688048c..9b5fdd1ae040cd56317ab107f18e9df9d321cad7 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/match_loop_closure_scene.h b/src/match_loop_closure_scene.h
index b92dc8b10ab96d080b6b98ce6b7c23b40521aa49..96e0cd634d8175fb0480d56b6818ec04c44fc70e 100644
--- a/src/match_loop_closure_scene.h
+++ b/src/match_loop_closure_scene.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/point_set.cpp b/src/point_set.cpp
index 7fa94d4c39fbe3b0e404b639182748a46a068b4f..0970a415c794279a304449e6560e9a791dee56b5 100644
--- a/src/point_set.cpp
+++ b/src/point_set.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/point_set.h b/src/point_set.h
index 8994962f72574e3665800671d582b1f233f99cb6..516efd5f9757945252224ed9e69130be5557a087 100644
--- a/src/point_set.h
+++ b/src/point_set.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
@@ -131,4 +131,4 @@ class PointSet
         virtual void print() const;    
 };
 }//namespace
-#endif
\ No newline at end of file
+#endif
diff --git a/src/polyline.cpp b/src/polyline.cpp
index 8d27612e039e968ca62311d5a931080d34457beb..d4658c57a628aa73084f07299281f90bc76c65d0 100644
--- a/src/polyline.cpp
+++ b/src/polyline.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/polyline.h b/src/polyline.h
index 3dc9260257c61b1c91f8e5c7f633ac7eb3d9a3f8..7769a2ac33b1a414b1fc15e436658967db4e3507 100644
--- a/src/polyline.h
+++ b/src/polyline.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/scan_segment.cpp b/src/scan_segment.cpp
index e44fa811f849a73c176897d025ae4dd5d2c79a37..05af3e6971f0756506826d6932a81eafd5c2f016 100644
--- a/src/scan_segment.cpp
+++ b/src/scan_segment.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/scan_segment.h b/src/scan_segment.h
index dbdcb095598252b50747561754d7fa79b5d05133..39bad354f0ff63e0296c8da41da0caf9e6bbadb5 100644
--- a/src/scan_segment.h
+++ b/src/scan_segment.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/scene_base.h b/src/scene_base.h
index e0605f223b89cb030fd03bff7dff9d487575f76d..b53bd00917370027986c25b778926e82bd4ad61a 100644
--- a/src/scene_base.h
+++ b/src/scene_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/scene_falko.h b/src/scene_falko.h
index 7c4d5f3cefde1f1b6fd862efdb12495d841a8858..b341c8014883db3146c77aa321c6b299489c22ab 100644
--- a/src/scene_falko.h
+++ b/src/scene_falko.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/data/scan_data.h b/test/data/scan_data.h
index 211fbb53bec8207259df6b86d580690332cc3f3b..46516f63bec63c83663d5d4f1bb05e34ce6cd5a9 100644
--- a/test/data/scan_data.h
+++ b/test/data/scan_data.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest/utils_gtest.h b/test/gtest/utils_gtest.h
index 555b84a494899c03f26da0902b0142db5690d0e3..cdc9cf0193ac3eaf44f694827b43c4419712e23d 100644
--- a/test/gtest/utils_gtest.h
+++ b/test/gtest/utils_gtest.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index c87832d857ffa159295de48a2f73f1bcb561c457..f2258b6a11b17e82e00f3f798164aa2e7e45c017 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_icp.cpp b/test/gtest_icp.cpp
index de1fc3b93f2a1f8c38b78cfc8d562c58632a0baa..d410c0b9784a2c9c1b4c725fa0c1bce57acaa182 100644
--- a/test/gtest_icp.cpp
+++ b/test/gtest_icp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_loop_closure_falko.cpp b/test/gtest_loop_closure_falko.cpp
index b16863fa19f2b0bdf55b2643b40089c5262520da..35f5cbaceba65f90140d5022f643fbc43195b0a9 100644
--- a/test/gtest_loop_closure_falko.cpp
+++ b/test/gtest_loop_closure_falko.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //