diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index aab847e943a134381cedcfae79e3e833d0e5b18c..dc37ba55caea1788721ca5582c2ad8dd741bdd07 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,4 +1,5 @@
 stages:
+  - license
   - none
   - csm
   - falko
@@ -6,10 +7,65 @@ stages:
 
 ############ YAML ANCHORS ############
 .preliminaries_template: &preliminaries_definition
+  ## Install ssh-agent if not already installed, it is required by Docker.
+  ## (change apt-get to yum if you use an RPM-based image)
+  - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
+
+  ## Run ssh-agent (inside the build environment)
+  - eval $(ssh-agent -s)
+
+  ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
+  ## We're using tr to fix line endings which makes ed25519 keys work
+  ## without extra base64 encoding.
+  ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
+  - mkdir -p ~/.ssh
+  - chmod 700 ~/.ssh  
+  - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
+  # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
+  - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
+
   # update apt
   - apt-get update
 
-.build_install_csm_template: &build_install_csm_definition
+.license_header_template: &license_header_definition
+  - cd $CI_PROJECT_DIR
+
+  # configure git
+  - export CI_NEW_BRANCH=ci_processing$RANDOM
+  - echo creating new temporary branch... $CI_NEW_BRANCH
+  #- export CI_NEW_BRANCH=ci_processing$CI_COMMIT_SHORT_SHA
+  - git config --global user.email "${CI_EMAIL}"
+  - git config --global user.name "${CI_USERNAME}"
+  - git checkout -b $CI_NEW_BRANCH # temporary branch
+
+  # license headers
+  - export CURRENT_YEAR=$( date +'%Y' )
+  - echo "current year:" ${CURRENT_YEAR}
+  - cd scripts
+  - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
+      # add license headers to new files
+  -   echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
+  -   ./license_manager.sh --add --path=${CI_PROJECT_DIR} --license-header=license_header_${CURRENT_YEAR}.txt
+  - else
+      # update license headers of all files
+  -   export PREV_YEAR=$(( CURRENT_YEAR-1 ))
+  -   echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
+  -   git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
+  -   sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
+  -   ./license_manager.sh --update --path=${CI_PROJECT_DIR} --license-header=license_header_${CURRENT_YEAR}.txt
+  - fi
+  - cd ..
+
+  # push changes (if any)
+  - if git commit -a -m "[skip ci] license headers added or modified" ; then
+  -   git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
+  -   git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
+  - else
+  -   echo "No changes, nothing to commit!"
+  - fi
+
+.install_csm_template: &install_csm_definition
+  - cd $CI_BUILDS_DIR
   - apt-get install -y libgsl-dev
   - if [ -d csm ]; then
   -   echo "directory csm exists"
@@ -22,9 +78,9 @@ stages:
   - cmake .
   - make -j2
   - make install
-  - cd ..
 
-.build_install_falko_template: &build_install_falko_definition
+.install_falko_template: &install_falko_definition
+  - cd $CI_BUILDS_DIR
   - if [ -d falkolib ]; then
   -   echo "directory falkolib exists" 
   -   cd falkolib
@@ -38,9 +94,9 @@ stages:
   - cmake ..
   - make -j2
   - make install
-  - cd ../..
 
 .build_and_test_template: &build_and_test_definition
+  - cd $CI_PROJECT_DIR
   - mkdir -pv build
   - cd build
   - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
@@ -48,6 +104,17 @@ stages:
   - ctest 
   - make install
 
+############ LICENSE HEADERS ############
+license_headers:
+  stage: license
+  image: labrobotica/wolf_deps:16.04
+  except:
+    - master
+  before_script:
+    - *preliminaries_definition
+  script:
+    - *license_header_definition
+
 ############ UBUNTU 16.04 TESTS ############
 build_and_test_none:xenial:
   stage: none
@@ -64,10 +131,10 @@ build_and_test_csm:xenial:
   cache:
     - key: csm-xenial
       paths:
-      - csm/
+      - ${CI_BUILDS_DIR}/csm/
   before_script:
     - *preliminaries_definition
-    - *build_install_csm_definition
+    - *install_csm_definition
     - ldconfig # update links (shared libraries)
   script:
     - *build_and_test_definition
@@ -78,10 +145,10 @@ build_and_test_falko:xenial:
   cache:
     - key: falko-xenial
       paths:
-      - falkolib/
+      - ${CI_BUILDS_DIR}/falkolib/
   before_script:
     - *preliminaries_definition
-    - *build_install_falko_definition
+    - *install_falko_definition
     - ldconfig # update links (shared libraries)
   script:
     - *build_and_test_definition
@@ -92,14 +159,14 @@ build_and_test_csm_falko:xenial:
   cache:
     - key: csm-xenial
       paths:
-      - csm/
+      - ${CI_BUILDS_DIR}/csm/
     - key: falko-xenial
       paths:
-      - falkolib/
+      - ${CI_BUILDS_DIR}/falkolib/
   before_script:
     - *preliminaries_definition
-    - *build_install_falko_definition
-    - *build_install_csm_definition
+    - *install_falko_definition
+    - *install_csm_definition
     - ldconfig # update links (shared libraries)
   script:
     - *build_and_test_definition
@@ -120,10 +187,10 @@ build_and_test_csm:bionic:
   cache:
     - key: csm-bionic
       paths:
-      - csm/
+      - ${CI_BUILDS_DIR}/csm/
   before_script:
     - *preliminaries_definition
-    - *build_install_csm_definition
+    - *install_csm_definition
     - ldconfig # update links (shared libraries)
   script:
     - *build_and_test_definition
@@ -134,10 +201,10 @@ build_and_test_falko:bionic:
   cache:
     - key: falko-bionic
       paths:
-      - falkolib/
+      - ${CI_BUILDS_DIR}/falkolib/
   before_script:
     - *preliminaries_definition
-    - *build_install_falko_definition
+    - *install_falko_definition
     - ldconfig # update links (shared libraries)
   script:
     - *build_and_test_definition
@@ -148,14 +215,14 @@ build_and_test_csm_falko:bionic:
   cache:
     - key: csm-bionic
       paths:
-      - csm/
+      - ${CI_BUILDS_DIR}/csm/
     - key: falko-bionic
       paths:
-      - falkolib/
+      - ${CI_BUILDS_DIR}/falkolib/
   before_script:
     - *preliminaries_definition
-    - *build_install_falko_definition
-    - *build_install_csm_definition
+    - *install_falko_definition
+    - *install_csm_definition
     - ldconfig # update links (shared libraries)
   script:
-    - *build_and_test_definition
+    - *build_and_test_definition
\ No newline at end of file
diff --git a/scripts/license_header_2021.txt b/scripts/license_header_2021.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3b8ca59495e5cb456355512ae9590964601f1c44
--- /dev/null
+++ b/scripts/license_header_2021.txt
@@ -0,0 +1,17 @@
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
diff --git a/scripts/license_manager.sh b/scripts/license_manager.sh
new file mode 100755
index 0000000000000000000000000000000000000000..edf6410d3e7fabd41ebc2ccf93db3d007fe2baab
--- /dev/null
+++ b/scripts/license_manager.sh
@@ -0,0 +1,125 @@
+#!/bin/bash
+
+# ------ WOLF license_manager script ------
+#
+# This script is used for managing the license headers of code files (.h, .c, .cpp, .hpp)
+# This file is automatically called by the CI in gitlab.
+
+line_start_mark="//--------LICENSE_START--------"
+line_end_mark="//--------LICENSE_END--------"
+
+#options
+tmp=false
+mode="none"
+path=""
+#recursive=true
+license=""
+
+for i in "$@"; do
+  case $i in
+    --temp)
+      tmp=true
+      shift # past argument=value
+      ;;
+    --path=*)
+      path="${i#*=}"
+      shift # past argument=value
+      ;;
+    --license-header=*)
+      license="${i#*=}"
+      shift # past argument=value
+      ;;
+    --add)
+      mode="add"
+      if [ $mode == "update" ]; then
+        echo "Error: Script cannot be called with both options: --update or --add"
+        exit 1
+      fi
+      shift # past argument=value
+      ;;
+    --update)
+      mode="update"
+      if [ $mode == "add" ]; then
+        echo "Error: Script cannot be called with both options: --update or --add"
+        exit 1
+      fi
+      shift # past argument=value
+      ;;
+    *)
+      # unknown option
+      ;;
+  esac
+done
+
+# check options
+if [ "$path" == "" ]; then
+  echo 'Please, provide the path to the folder containing the code with --path=/my/folder/code'
+  exit 1
+else
+  if [ -d "$path" ]; then
+    echo "Valid path: ${path}"
+  else
+    echo "Error: ${path} not found. Can not continue."
+  exit 1
+  fi
+fi
+
+if [ "$license" == "" ]; then
+  echo 'Error: Please, provide the path to the folder containing the code with --license-header=/my/license/header/file.txt'
+  exit 1
+else
+  if [ -f "$license" ]; then
+    echo "Valid license header file: ${license} containing:"
+    cat ${license}
+  else
+    echo "Error: License header file ${license} not found. Can not continue."
+  exit 1
+  fi
+fi
+
+echo "mode: ${mode}"
+
+if [ $mode == "none" ]; then
+  echo "Error: Script should be called with one of the following options: --update or --add"
+  exit 1
+fi
+
+# PATH (AND tmp FOLDER)
+folder=$path
+if [ $tmp == true ]; then
+  echo "Creating temporary folder: ${path}_tmp"
+  mkdir -pv ${path}_tmp
+  cp -a $path/. ${path}_tmp
+  folder=${path}_tmp
+fi
+
+# DETECT AND REMOVE EXISTING LICENSE
+if [ $mode == "update" ]; then
+  echo "Recursely removing license header from all files (.c, .cpp, .h, .hpp)"
+  for i in $(find $folder -name '*.c' -or -name '*.cpp' -or -name '*.h' -or -name '*.hpp')
+  do
+    if grep -Fxq ${line_start_mark} $i 
+    then
+      echo "  Removing license header from file ${i}"
+      line_start="$(grep -wn $line_start_mark ${i} | head -n 1 | cut -d: -f1)"
+      line_end="$(grep -wn $line_end_mark ${i} | head -n 1 | cut -d: -f1)"
+      #echo ${line_start}
+      #echo ${line_end}
+      awk -v m=$line_start -v n=$line_end 'm <= NR && NR <= n {next} {print}' $i > tmpfile && mv tmpfile $i 
+      #cat $i
+    fi
+  done
+  #TODO
+fi
+
+# ADD CONTENT OF license-file AT THE BEGINNING OF CODE FILES
+echo "Recursively adding license header to all files (.c, .cpp, .h, .hpp)"
+for i in $(find $folder -name '*.c' -or -name '*.cpp' -or -name '*.h' -or -name '*.hpp')
+do
+  if grep -Fxq ${line_start_mark} $i; then
+    echo "skippping ${i}"
+  else
+    ( echo ${line_start_mark}$'\n//'; cat ${license}; echo $'//\n'${line_end_mark}; cat $i ) > temp_file
+    mv temp_file $i
+  fi
+done
\ No newline at end of file
diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp
index edce4b95f518ede523c5a6278a4d5c78a1f8683f..78d2409d10c000b191d0c2b2add12cf7c19aa4c8 100644
--- a/src/corner_falko_2d.cpp
+++ b/src/corner_falko_2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file corner_falko_2d.cpp
  *
diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h
index 89513e679a909bf1fbd75726e608aae446b3fa6f..832a7b688a985df98df85565bf7d38d6a1c68dd3 100644
--- a/src/corner_falko_2d.h
+++ b/src/corner_falko_2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file corner_falko_2d.h
  *
diff --git a/src/corner_finder.cpp b/src/corner_finder.cpp
index dd539f3ed1736162a6575a76e2b4ab061ded19bf..2b3158d7c5482ac2bd471036ea5fa6dd5eb848db 100644
--- a/src/corner_finder.cpp
+++ b/src/corner_finder.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "corner_finder.h"
 
 namespace laserscanutils
diff --git a/src/corner_finder.h b/src/corner_finder.h
index d9df2e6532bb2b09659ad10ba03a41819571a0f7..34e5f6a166e315f6324f61e4ef11f0249ab8ac9c 100644
--- a/src/corner_finder.h
+++ b/src/corner_finder.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef CORNER_FINDER_H_
 #define CORNER_FINDER_H_
 
diff --git a/src/corner_finder_inscribed_angle.cpp b/src/corner_finder_inscribed_angle.cpp
index ed46186e000b0fcf4b1ee6ae8a75d78a0460b652..4fb77cce3f60ca8fe34b8349ce600258669b8503 100644
--- a/src/corner_finder_inscribed_angle.cpp
+++ b/src/corner_finder_inscribed_angle.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "corner_finder_inscribed_angle.h"
 
 namespace laserscanutils
diff --git a/src/corner_finder_inscribed_angle.h b/src/corner_finder_inscribed_angle.h
index 5e5cda495a184ff1bbf50a94cf6ca93a269518a4..1af53b4e5aeab8601b95b96d689830c0b5afe3bd 100644
--- a/src/corner_finder_inscribed_angle.h
+++ b/src/corner_finder_inscribed_angle.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef CORNER_FINDER_INSCRIBED_ANGLE_H_
 #define CORNER_FINDER_INSCRIBED_ANGLE_H_
 
diff --git a/src/corner_point.cpp b/src/corner_point.cpp
index 2c3c782b8fbee350115e82c29be84f9917d2c468..600f8be3d8f9b9ffbd16e73dd22e8d2cd53dbba2 100644
--- a/src/corner_point.cpp
+++ b/src/corner_point.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "corner_point.h"
 
 //open namespace
diff --git a/src/corner_point.h b/src/corner_point.h
index 76f975b2a8d2bd0a639a66371b8a6d8a927e0fe0..d25884fa7809b5d1bf935e6f4ea00dbe8f41c40f 100644
--- a/src/corner_point.h
+++ b/src/corner_point.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef CORNER_POINT_H_
 #define CORNER_POINT_H_
 
diff --git a/src/deprecated/clustering.cpp b/src/deprecated/clustering.cpp
index 950d549aa62924182f6d611716ae7039ad043036..4c8d8bdffa45a5f2e10217f1c1702e197abfb881 100644
--- a/src/deprecated/clustering.cpp
+++ b/src/deprecated/clustering.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /******* DEPRECATED *******/
 
 #include "clustering.h"
diff --git a/src/deprecated/clustering.h b/src/deprecated/clustering.h
index a41b9fdb526a1f65fa75e819e5b829de467a6171..2dfd2ecf33a89c26208f73aa997f0a97aa0c5b13 100644
--- a/src/deprecated/clustering.h
+++ b/src/deprecated/clustering.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /******* DEPRECATED *******/
 
 #ifndef CLUSTERING_H
diff --git a/src/deprecated/corner_detector.cpp b/src/deprecated/corner_detector.cpp
index b7848fc24908812be4ae27568a81c2ead45fbc6c..86a874b9b842cd21aef8b8af93f94d499bee6d86 100644
--- a/src/deprecated/corner_detector.cpp
+++ b/src/deprecated/corner_detector.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #include "corner_detector.h"
 
diff --git a/src/deprecated/corner_detector.h b/src/deprecated/corner_detector.h
index 4f450161b1ed4e4a99ebcb19ef32567ade4082cb..afd9dcc1d765aa82c3a86cadc03873a85f67c47e 100644
--- a/src/deprecated/corner_detector.h
+++ b/src/deprecated/corner_detector.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #ifndef CORNERS_H_
 #define CORNERS_H_
diff --git a/src/deprecated/entities.cpp b/src/deprecated/entities.cpp
index a4a1fafdb375640b9e53260e60ba19b26b99ed78..e801e2a3df7c45c02ecc63052020e3f23127052a 100644
--- a/src/deprecated/entities.cpp
+++ b/src/deprecated/entities.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 //std
 #include "iostream"
 
diff --git a/src/deprecated/entities.h b/src/deprecated/entities.h
index fc72d8107e47eaa4f5d0e4d9f29ef4acbfb857b0..2a1214e160a615541c7e04e754426c4745fc47fd 100644
--- a/src/deprecated/entities.h
+++ b/src/deprecated/entities.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #ifndef ENTITIES_H_
 #define ENTITIES_H_
diff --git a/src/deprecated/examples/test_corner_aperture.cpp b/src/deprecated/examples/test_corner_aperture.cpp
index cf3bd15180fba1050415c7fc4554ccacd16a38f1..2e40bf1c4cfb6dcaab782dbef42ab35ff7d8d671 100644
--- a/src/deprecated/examples/test_corner_aperture.cpp
+++ b/src/deprecated/examples/test_corner_aperture.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 //std includes
 #include <iostream>
 
diff --git a/src/deprecated/examples/test_extract_corners.cpp b/src/deprecated/examples/test_extract_corners.cpp
index 825b781e86c8e8b5b314018ff844b938ebb22717..973265181cb7199b3addc1da03351c54c10c545d 100644
--- a/src/deprecated/examples/test_extract_corners.cpp
+++ b/src/deprecated/examples/test_extract_corners.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 //std includes
 #include <iostream>
 #include <list>
diff --git a/src/deprecated/examples/test_laser_detector.cpp b/src/deprecated/examples/test_laser_detector.cpp
index ba5029506302e4607730e8dec86254105fefdaad..b500087aad0c3776a97aa7e5b7dd2ab28184dcfa 100644
--- a/src/deprecated/examples/test_laser_detector.cpp
+++ b/src/deprecated/examples/test_laser_detector.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <algorithm>
 #include <fstream>
 #include <iostream>
diff --git a/src/deprecated/line_detector.cpp b/src/deprecated/line_detector.cpp
index a2f6eaa51c37475d467683e435c02fe9c4804ce5..c2a71232c9cfaf0be17abddab26ba3948946f6d5 100644
--- a/src/deprecated/line_detector.cpp
+++ b/src/deprecated/line_detector.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #include "line_detector.h"
 
diff --git a/src/deprecated/line_detector.h b/src/deprecated/line_detector.h
index 850e5b8f1d4278e10bfd2a0034f667d043d54c9a..1cf1e44afc6c244425bf2ed59520b4586ab80ca4 100644
--- a/src/deprecated/line_detector.h
+++ b/src/deprecated/line_detector.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #ifndef LINE_DETECTOR_H_
 #define LINE_DETECTOR_H_
diff --git a/src/deprecated/object_detector.cpp b/src/deprecated/object_detector.cpp
index 5a6c08f07bf1c317657ac7803c6ef01d5edfb726..8217843a7419d513a169fa8db7579be52a52bc0b 100644
--- a/src/deprecated/object_detector.cpp
+++ b/src/deprecated/object_detector.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "object_detector.h"
 
 
diff --git a/src/deprecated/object_detector.h b/src/deprecated/object_detector.h
index 781c397ac276bdb47573e86c593a53d53a43a34b..4a5b18bd2a8b2fba950fa2f73d0521e5cecc06af 100644
--- a/src/deprecated/object_detector.h
+++ b/src/deprecated/object_detector.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef OBJECT_DETECTOR_H
 #define OBJECT_DETECTOR_H
 
diff --git a/src/deprecated/scan_basics.cpp b/src/deprecated/scan_basics.cpp
index 48a5429307be809cd66a67aeb95364e84d183cba..8a07e8e8e369644871be027be3455cd6c8c110cc 100644
--- a/src/deprecated/scan_basics.cpp
+++ b/src/deprecated/scan_basics.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "scan_basics.h"
 
 void laserscanutils::ScanParams::print() const
diff --git a/src/deprecated/scan_basics.h b/src/deprecated/scan_basics.h
index 37e1cfdce92233d6bc2db92d0312c94df6f7ee19..bef9dc90fd3ac8f0e920680a8ceac695de97506b 100644
--- a/src/deprecated/scan_basics.h
+++ b/src/deprecated/scan_basics.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #ifndef SCAN_BASICS_H_
 #define SCAN_BASICS_H_
diff --git a/src/examples/polyline_demo.cpp b/src/examples/polyline_demo.cpp
index 47bf725adf11f113ee96c21b07cec70e1125f7ca..e2900e9c2ef89a6f57200ad18428a61123a28f1c 100644
--- a/src/examples/polyline_demo.cpp
+++ b/src/examples/polyline_demo.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file polyline_test.cpp
  *
diff --git a/src/grid_2d.cpp b/src/grid_2d.cpp
index 9297704d00ac3d35137643e5f92ee73b19ac9d6e..9e75f85f5d16ddfa48c06b01ed70002c32e1d0dd 100644
--- a/src/grid_2d.cpp
+++ b/src/grid_2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #include "grid_2d.h"
 
diff --git a/src/grid_2d.h b/src/grid_2d.h
index ba448e8810d875c670a88ca9c87c0c5a4e168b33..50d6257bccff8010d994f12c04b9b09025793e3e 100644
--- a/src/grid_2d.h
+++ b/src/grid_2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef GRID2D_H
 #define GRID2D_H
 
diff --git a/src/grid_cluster.cpp b/src/grid_cluster.cpp
index 326f314a0f7794f77c6fa6be00a772e3cee67265..fb0d8593a437375e9cead927a341ad4b3b6693fb 100644
--- a/src/grid_cluster.cpp
+++ b/src/grid_cluster.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "grid_cluster.h"
 
 namespace laserscanutils
diff --git a/src/grid_cluster.h b/src/grid_cluster.h
index 933eb5634f020d1483a02651eebbded1613d591a..7c4b28aacb155189c5e883242d0f2a986bc911e0 100644
--- a/src/grid_cluster.h
+++ b/src/grid_cluster.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef GRID_CLUSTER_H_
 #define GRID_CLUSTER_H_
 
diff --git a/src/icp.cpp b/src/icp.cpp
index 74a79d18fab692822197d04ca7faadeba2fb4873..f74e5d2ce40a0e21945622483522399f13a16f2b 100644
--- a/src/icp.cpp
+++ b/src/icp.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "icp.h"
 #include <algorithm>
 
diff --git a/src/icp.h b/src/icp.h
index 1f3195588ddbe58cef6cc58461487bc100eeca15..908356258b46b55786fdc85ae033fb11c6b2b2ae 100644
--- a/src/icp.h
+++ b/src/icp.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef ICP_H_
 #define ICP_H_
 
diff --git a/src/laser_scan.cpp b/src/laser_scan.cpp
index 398e859f9437d3244c48bf3817eb115836dc7f88..403bcae412a025097e10bd40a0934af7684c9595 100644
--- a/src/laser_scan.cpp
+++ b/src/laser_scan.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "laser_scan.h"
 
 namespace laserscanutils
diff --git a/src/laser_scan.h b/src/laser_scan.h
index 0574efeaf4285c02c0d488e7ae3cb8abda32277e..05b4121c394037c61221ec7a061d091f147ca81f 100644
--- a/src/laser_scan.h
+++ b/src/laser_scan.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef LASER_SCAN_H_
 #define LASER_SCAN_H_
 
diff --git a/src/laser_scan_utils.h b/src/laser_scan_utils.h
index 4c0e7de265ae8a356bfe3d695d52b6ed84557367..ac5600ad5e01c5927341487cdfdbad7c892523a4 100644
--- a/src/laser_scan_utils.h
+++ b/src/laser_scan_utils.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #ifndef TYPES_LASER_SCAN_UTILS_H_
 #define TYPES_LASER_SCAN_UTILS_H_
diff --git a/src/laser_scan_with_params.cpp b/src/laser_scan_with_params.cpp
index 98e893174f94c7d5717b803518b0ccf0ded4f24b..2c2fc01df54f395aa4be68672af4a997262f447f 100644
--- a/src/laser_scan_with_params.cpp
+++ b/src/laser_scan_with_params.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #include "laser_scan_with_params.h"
 
diff --git a/src/laser_scan_with_params.h b/src/laser_scan_with_params.h
index b979124f5876ba942dceb44fa1998ec1176bb89b..1b6d3d3009382d91a3a4eee88a0fc952c46ec80d 100644
--- a/src/laser_scan_with_params.h
+++ b/src/laser_scan_with_params.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef LASER_SCAN_WITH_PARAMS_H_
 #define LASER_SCAN_WITH_PARAMS_H_
 
diff --git a/src/line_finder.cpp b/src/line_finder.cpp
index 29636200f22941845e1697d20698c343e8c5a2d4..4668b035ec555e4d71015b76f75c201a63a54908 100644
--- a/src/line_finder.cpp
+++ b/src/line_finder.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "line_finder.h"
 
 namespace laserscanutils
diff --git a/src/line_finder.h b/src/line_finder.h
index 6bb6c3330cab80eec0822cd766e52e48a4a9d1b7..a20c2e8c16d317f6eeaa6623e8bd9eec8625b415 100644
--- a/src/line_finder.h
+++ b/src/line_finder.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef LINE_FINDER_H_
 #define LINE_FINDER_H_
 
diff --git a/src/line_finder_hough.cpp b/src/line_finder_hough.cpp
index 4f9543ba2c8c7d035635692243dedf3b8630383f..07a19890a2ec9b6735e281867bae9bbf05625915 100644
--- a/src/line_finder_hough.cpp
+++ b/src/line_finder_hough.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "line_finder_hough.h"
 
 namespace laserscanutils
diff --git a/src/line_finder_hough.h b/src/line_finder_hough.h
index a4e15e4061e54576c7945022a01cd22ba4d7af0e..beacc9c0e95ea517b7eca009f535ff33f3380377 100644
--- a/src/line_finder_hough.h
+++ b/src/line_finder_hough.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef LINE_FINDER_HOUGH_H_
 #define LINE_FINDER_HOUGH_H_
 
diff --git a/src/line_finder_iterative.cpp b/src/line_finder_iterative.cpp
index fd2863e83b6ff6c224d64474ab9522d7f0690ff8..e4114218bdace766b6fc909c2747dc3ea8db7256 100644
--- a/src/line_finder_iterative.cpp
+++ b/src/line_finder_iterative.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "line_finder_iterative.h"
 
 namespace laserscanutils
diff --git a/src/line_finder_iterative.h b/src/line_finder_iterative.h
index ff617a97adc65f78cf8eda9016870b27d084c610..04d0bfd666f9a14108347c3677115c7107eab24b 100644
--- a/src/line_finder_iterative.h
+++ b/src/line_finder_iterative.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef LINE_FINDER_ITERATIVE_H_
 #define LINE_FINDER_ITERATIVE_H_
 
diff --git a/src/line_finder_jump_fit.cpp b/src/line_finder_jump_fit.cpp
index 671141e7bb786bfca0e359fd0e6b4b0f43dac4e6..1b1b25619dd5e0155c0710c9af91bc7900fd303d 100644
--- a/src/line_finder_jump_fit.cpp
+++ b/src/line_finder_jump_fit.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "line_finder_jump_fit.h"
 
 namespace laserscanutils
diff --git a/src/line_finder_jump_fit.h b/src/line_finder_jump_fit.h
index 18b986b9b6411b9a8c2c3a9addfd85f791162b38..365f8f95a6d158c3e79194df7a64eb747afed755 100644
--- a/src/line_finder_jump_fit.h
+++ b/src/line_finder_jump_fit.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef LINE_FINDER_JUMP_FIT_H_
 #define LINE_FINDER_JUMP_FIT_H_
 
diff --git a/src/line_segment.cpp b/src/line_segment.cpp
index 1b13d5efae8622bf57c818576f0cb24689f7a57f..3fd6bc71d55a0d4a27afbb07c93ebdb1952726be 100644
--- a/src/line_segment.cpp
+++ b/src/line_segment.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "line_segment.h"
 
 namespace laserscanutils
diff --git a/src/line_segment.h b/src/line_segment.h
index d26ab3eb59af265230f4fda85debbe0afd4655e0..bc1b6d3f91607ff0f20d1731e98c8675c68210af 100644
--- a/src/line_segment.h
+++ b/src/line_segment.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef LINE_SEGMENT_H_
 #define LINE_SEGMENT_H_
 
diff --git a/src/loop_closure_base.cpp b/src/loop_closure_base.cpp
index 687cefdf826db8ee6cf6c27c7380c0379358b5a4..be326121f70257daa3dbbdfc82fbbbb10e89d836 100644
--- a/src/loop_closure_base.cpp
+++ b/src/loop_closure_base.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file loop_closure_base_2d.h
  *
diff --git a/src/loop_closure_base.h b/src/loop_closure_base.h
index b9fcd991852aac7d21d984de1963ad6206600f23..7f5313fddfe020748f43bdac29646933a131b1a3 100644
--- a/src/loop_closure_base.h
+++ b/src/loop_closure_base.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file loop_closure_base_2d.h
  *
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index 23a5def98a07998a078f93673e58b559c91b02ba..e5e5b4c2bf3e5401ee951ce58fdbd462a688048c 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file loop_closure_base_2d.h
  *
diff --git a/src/match_loop_closure_scene.h b/src/match_loop_closure_scene.h
index a99dc0045e3304ca433526452590a3e102d06e68..b92dc8b10ab96d080b6b98ce6b7c23b40521aa49 100644
--- a/src/match_loop_closure_scene.h
+++ b/src/match_loop_closure_scene.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file match_loop_closure.h
  *
diff --git a/src/point_set.cpp b/src/point_set.cpp
index aed39e414586b444e7bfc805a85ceb1c041c6801..7fa94d4c39fbe3b0e404b639182748a46a068b4f 100644
--- a/src/point_set.cpp
+++ b/src/point_set.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "scan_segment.h"
 
 namespace laserscanutils
diff --git a/src/point_set.h b/src/point_set.h
index 739cc71bae0d6a241f2c538699bdb83051cb5b26..8994962f72574e3665800671d582b1f233f99cb6 100644
--- a/src/point_set.h
+++ b/src/point_set.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef POINT_SET_H_
 #define POINT_SET_H_
 
diff --git a/src/polyline.cpp b/src/polyline.cpp
index aaac6faa81f04eeef266d95136fba86134024849..8d27612e039e968ca62311d5a931080d34457beb 100644
--- a/src/polyline.cpp
+++ b/src/polyline.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "polyline.h"
 
 namespace laserscanutils
diff --git a/src/polyline.h b/src/polyline.h
index ad8bb7715fb1490634a2f473c249e6cf281be081..3dc9260257c61b1c91f8e5c7f633ac7eb3d9a3f8 100644
--- a/src/polyline.h
+++ b/src/polyline.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef POLYLINE_H_
 #define POLYLINE_H_
 
diff --git a/src/scan_segment.cpp b/src/scan_segment.cpp
index 2a607862321455898ba7c3b81486eea62ba942a1..e44fa811f849a73c176897d025ae4dd5d2c79a37 100644
--- a/src/scan_segment.cpp
+++ b/src/scan_segment.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "scan_segment.h"
 
 namespace laserscanutils
diff --git a/src/scan_segment.h b/src/scan_segment.h
index c87693bc7122c7929f0c2d7e405496c964b8cb26..dbdcb095598252b50747561754d7fa79b5d05133 100644
--- a/src/scan_segment.h
+++ b/src/scan_segment.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef SCAN_SEGMENT_H_
 #define SCAN_SEGMENT_H_
 
diff --git a/src/scene_base.h b/src/scene_base.h
index 40651e4f9146e19c52791a0069eb08a8cefedc70..e0605f223b89cb030fd03bff7dff9d487575f76d 100644
--- a/src/scene_base.h
+++ b/src/scene_base.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file scene_base.h
  *
diff --git a/src/scene_falko.h b/src/scene_falko.h
index 9dbd1f8f4c07a92b1f4eb34225e2861789290ba3..7c4d5f3cefde1f1b6fd862efdb12495d841a8858 100644
--- a/src/scene_falko.h
+++ b/src/scene_falko.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file scene_falko.h
  *
diff --git a/test/data/scan_data.h b/test/data/scan_data.h
index 7728475cebae0255448ef14237e24b8578b6d3ee..211fbb53bec8207259df6b86d580690332cc3f3b 100644
--- a/test/data/scan_data.h
+++ b/test/data/scan_data.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * FALKOLib - Fast Adaptive Laser Keypoint Orientation-invariant
  * Copyright (C) 2016 Fabjan Kallasi and Dario Lodi Rizzini.
diff --git a/test/gtest/utils_gtest.h b/test/gtest/utils_gtest.h
index 2deddcb17755bb065887f55ce95ec6be4c8711e4..555b84a494899c03f26da0902b0142db5690d0e3 100644
--- a/test/gtest/utils_gtest.h
+++ b/test/gtest/utils_gtest.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file utils_gtest.h
  * \brief Some utils for gtest
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 7dd3b9ceea4ff0b3c7ea1c6f8db3286b273f7b66..c87832d857ffa159295de48a2f73f1bcb561c457 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "gtest/utils_gtest.h"
 
 TEST(TestTest, DummyTestExample)
diff --git a/test/gtest_loop_closure_falko.cpp b/test/gtest_loop_closure_falko.cpp
index a51c576b810e67c8f2bbdc80f10d86f6258ad1fa..b16863fa19f2b0bdf55b2643b40089c5262520da 100644
--- a/test/gtest_loop_closure_falko.cpp
+++ b/test/gtest_loop_closure_falko.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of laser_scan_utils
+// laser_scan_utils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "loop_closure_base.h"
 #include "loop_closure_falko.h"
 #include "data/scan_data.h"