Compare revisions

Joan Vallvé Navarro · Joan Vallvé Navarro · Joan Vallvé Navarro · Joan Vallvé Navarro · cont-integration · Joan Vallvé Navarro
--- a/.gitignore
+++ b/.gitignore
@@ -2,6 +2,8 @@
 bin/
 build*/
 lib/
+doc/
+cmake_modules/
 .settings/language.settings.xml
 .project
 .cproject

--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -50,14 +50,17 @@ stages:
  - 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 --exclude=ci_deps
+  -   ./license_manager.sh --add --path=${CI_PROJECT_DIR} --config-path=. --exclude=ci_deps
  - else
-      # update license headers of all files
+      # remove license headers of all files
+  -   ./license_manager.sh --remove --path=${CI_PROJECT_DIR} --config-path=. --exclude=ci_deps
+      # update license header
  -   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 --exclude=ci_deps
+  -   sed -i "s/${PREV_YEAR}/${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
+      # add new license headers to all files
+  -   ./license_manager.sh --add --path=${CI_PROJECT_DIR} --config-path=. --exclude=ci_deps
  - fi
  - cd ..


--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,14 +39,6 @@ IF(NOT BUILD_DEMOS)
  OPTION(BUILD_DEMOS "Build demos" ON)
 ENDIF(NOT BUILD_DEMOS)

-if(BUILD_TESTS)
-    # Enables testing for this directory and below.
-    # Note that ctest expects to find a test file in the build directory root.
-    # Therefore, this command should be in the source directory root.
-    #include(CTest) # according to http://public.kitware.com/pipermail/cmake/2012-June/050853.html
-    enable_testing()
-endif()
-
 # ============ DEPENDENCIES ============ 
 FIND_PACKAGE(Eigen3 3.3 REQUIRED CONFIG)
 FIND_PACKAGE(falkolib QUIET)
@@ -104,6 +96,7 @@ SET(HDRS
    SET(HDRS ${HDRS}
      include/${PROJECT_NAME}/corner_falko_2d.h
      include/${PROJECT_NAME}/loop_closure_falko.h
+      include/${PROJECT_NAME}/scene_falko_base.h
      include/${PROJECT_NAME}/scene_falko.h
      include/${PROJECT_NAME}/match_loop_closure_scene.h)
  ENDIF(falkolib_FOUND)
@@ -171,7 +164,7 @@ ENDIF(BUILD_DEMOS)
 #Build tests
 IF(BUILD_TESTS)
  MESSAGE("Building tests.")
-  set(_LASER_SCAN_UTILS_ROOT_DIR ${CMAKE_SOURCE_DIR})
+  enable_testing()
  add_subdirectory(test)
 ENDIF(BUILD_TESTS)


--- a/examples/polyline_demo.cpp
+++ b/examples/polyline_demo.cpp
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,14 +17,6 @@
 //
 // 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
- *
- *  Created on: Jul 5, 2016
- *      \author: jvallve
- */

 //LaserScanUtils includes
 #include "laser_scan_utils/line_finder_iterative.h"

--- a/include/laser_scan_utils/corner_falko_2d.h
+++ b/include/laser_scan_utils/corner_falko_2d.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,17 +17,8 @@
 //
 // 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
- *
- *  Created on: Jan 26, 2021
- *      \author: spujol
- */

-#ifndef CORNER_FALKO_2D_H_
-#define CORNER_FALKO_2D_H_
+#pragma once

 #include <fstream>
 #include <iostream>
@@ -136,5 +127,3 @@ public:
 };

 } /* namespace laserscanutils */
-
-#endif /* LANDMARK_POLYLINE_2d_H_ */
--- a/include/laser_scan_utils/corner_finder.h
+++ b/include/laser_scan_utils/corner_finder.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,10 +17,8 @@
 //
 // 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_
+
+#pragma once

 //laserscanutils
 #include "laser_scan_utils.h"
@@ -120,4 +118,3 @@ class CornerFinder
 };

 }    //namespace
-#endif
--- a/include/laser_scan_utils/corner_finder_inscribed_angle.h
+++ b/include/laser_scan_utils/corner_finder_inscribed_angle.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,10 +17,8 @@
 //
 // 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_
+
+#pragma once

 //laserscanutils
 #include "corner_finder.h"
@@ -104,4 +102,3 @@ class CornerFinderInscribedAngle : public CornerFinder
        void print() const override;
 };
 }//namespace
-#endif
--- a/include/laser_scan_utils/corner_point.h
+++ b/include/laser_scan_utils/corner_point.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,10 +17,8 @@
 //
 // 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_
+
+#pragma once

 //laserscanutils
 #include "laser_scan_utils.h"
@@ -92,4 +90,3 @@ class CornerPoint
        void print() const;    
 };
 }//namespace
-#endif
--- a/include/laser_scan_utils/grid_2d.h
+++ b/include/laser_scan_utils/grid_2d.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,11 +17,8 @@
 //
 // 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

+#pragma once

 //laserscanutils
 #include "laser_scan_utils.h"
@@ -280,5 +277,3 @@ class Grid2D
 };

 }//end of namespace
-
-#endif
--- a/include/laser_scan_utils/grid_cluster.h
+++ b/include/laser_scan_utils/grid_cluster.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,10 +17,8 @@
 //
 // 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_
+
+#pragma once

 //laserscanutils
 #include "laser_scan_utils.h"
@@ -62,4 +60,3 @@ class GridCluster : public PointSet
        void print() const override;    
 };
 }//namespace
-#endif
--- a/include/laser_scan_utils/icp.h
+++ b/include/laser_scan_utils/icp.h
--- a/include/laser_scan_utils/laser_scan.h
+++ b/include/laser_scan_utils/laser_scan.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,10 +17,8 @@
 //
 // 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_
+
+#pragma once

 //laserscanutils
 #include "laser_scan_utils.h"
@@ -195,5 +193,3 @@ class LaserScan
 };

 }        //namespace
-#endif
-
--- a/include/laser_scan_utils/laser_scan_utils.h
+++ b/include/laser_scan_utils/laser_scan_utils.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,11 +17,8 @@
 //
 // 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_
+#pragma once

 //includes from Eigen lib
 #include <Eigen/Dense>
@@ -60,4 +57,3 @@ namespace Eigen
    typedef Quaternion<laserscanutils::ScalarT> Quaternions;               ///< Quaternion of real scalar_t type
    typedef AngleAxis<laserscanutils::ScalarT> AngleAxiss;                 ///< Angle-Axis of real scalar_t type
 }
-#endif
--- a/include/laser_scan_utils/laser_scan_with_params.h
+++ b/include/laser_scan_utils/laser_scan_with_params.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,10 +17,8 @@
 //
 // 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_
+
+#pragma once

 //laserscanutils
 #include "laser_scan.h"
@@ -58,5 +56,3 @@ class LaserScanWithParams : public LaserScan
 };

 }        //namespace
-#endif
-
--- a/include/laser_scan_utils/line_finder.h
+++ b/include/laser_scan_utils/line_finder.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,10 +17,8 @@
 //
 // 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_
+
+#pragma once

 //laserscanutils
 #include "laser_scan_utils.h"
@@ -120,4 +118,3 @@ class LineFinder
        virtual void print() const;
 };
 }//namespace
-#endif
--- a/include/laser_scan_utils/line_finder_hough.h
+++ b/include/laser_scan_utils/line_finder_hough.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,10 +17,8 @@
 //
 // 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_
+
+#pragma once

 //laserscanutils
 #include "line_finder.h"
@@ -111,4 +109,3 @@ class LineFinderHough : public LineFinder
        void print() const override;
 };
 }//namespace
-#endif
--- a/include/laser_scan_utils/line_finder_iterative.h
+++ b/include/laser_scan_utils/line_finder_iterative.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,10 +17,8 @@
 //
 // 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_
+
+#pragma once

 //laserscanutils
 #include "line_finder.h"
@@ -195,4 +193,3 @@ class LineFinderIterative : public LineFinder
 };

 } //namespace
-#endif
--- a/include/laser_scan_utils/line_finder_jump_fit.h
+++ b/include/laser_scan_utils/line_finder_jump_fit.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,10 +17,8 @@
 //
 // 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_
+
+#pragma once

 //laserscanutils
 #include "line_finder.h"
@@ -106,4 +104,3 @@ class LineFinderJumpFit : public LineFinder
        void print() const override;
 };
 }//namespace
-#endif
--- a/include/laser_scan_utils/line_segment.h
+++ b/include/laser_scan_utils/line_segment.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,10 +17,8 @@
 //
 // 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_
+
+#pragma once

 //laserscanutils
 #include "laser_scan_utils.h"
@@ -107,4 +105,3 @@ class LineSegment
        void print() const;    
 };
 }//namespace
-#endif
--- a/include/laser_scan_utils/loop_closure_base.h
+++ b/include/laser_scan_utils/loop_closure_base.h
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// LaserScanUtils - Copyright (C) 2020-2025 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Vallvé Navarro (jvallve@iri.upc.edu), 
+// Andreu Corominas Murtra (acorominas@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
+// This file is part of gnss_utils
+// gnss_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.
+// (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
@@ -17,17 +17,8 @@
 //
 // 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
- *
- *  Created on: Feb 9, 2021
- *      \author: spujol
- */

-#ifndef LOOP_CLOSURE_BASE_2D_H_
-#define LOOP_CLOSURE_BASE_2D_H_
+#pragma once

 #include <fstream>
 #include <iostream>
@@ -40,50 +31,50 @@
 #include "match_loop_closure_scene.h"
 #include "scene_base.h"

-namespace laserscanutils {
-
-/** \brief A 2base class for loop closure using falko library
- */
-class LoopClosureBase2d
+namespace laserscanutils
 {
-  private:
-  public:
-    /** \brief Constructor
-     **/
-    LoopClosureBase2d(){};
+    class LoopClosureBase2d;
+    typedef std::shared_ptr<LoopClosureBase2d> LoopClosureBase2dPtr;
+
+    /** \brief A 2base class for loop closure using falko library
+     */
+    class LoopClosureBase2d
+    {
+    public:
+        /** \brief Constructor
+         **/
+        LoopClosureBase2d(){};

-    /** \brief Destructor
-     **/
-    virtual ~LoopClosureBase2d(){};
+        /** \brief Destructor
+         **/
+        virtual ~LoopClosureBase2d(){};

-    /** \brief update the scene struct with keypoints and descriptors
-     **/
-    virtual sceneBasePtr extractScene(const LaserScan &scan, const LaserScanParams &scanParams) = 0;
+        /** \brief update the scene struct with keypoints and descriptors
+         **/
+        virtual sceneBasePtr extractScene(const LaserScan &scan, const LaserScanParams &scanParams) = 0;

-    /** \brief Create and update a matchLoopClosure struct with the info that is
-     *produced when matching two given scenes
-     **/
-    virtual MatchLoopClosureScenePtr matchScene(sceneBasePtr _scene1, sceneBasePtr _scene2) = 0;
+        /** \brief Create and update a matchLoopClosure struct with the info that is
+         *produced when matching two given scenes
+         **/
+        virtual MatchLoopClosureScenePtr matchScene(sceneBasePtr _scene1, sceneBasePtr _scene2) = 0;

-    /** \brief It matches a target scene against a list of references scenes in order to find loop
-     * closures
-     **/
-    virtual std::map<double, MatchLoopClosureScenePtr> findLoopClosure(std::list<std::shared_ptr<SceneBase>> _l_scenes,
-                                                                       const sceneBasePtr                    _new_scene)
-    {
-        std::map<double, MatchLoopClosureScenePtr> matchings;
-        for (auto ref_scene : _l_scenes)
+        /** \brief It matches a target scene against a list of references scenes in order to find loop
+         * closures
+         **/
+        virtual std::map<double, MatchLoopClosureScenePtr> findLoopClosure(std::list<std::shared_ptr<SceneBase>> _l_scenes,
+                                                                           const sceneBasePtr _new_scene)
+        {
+            std::map<double, MatchLoopClosureScenePtr> matchings;
+            for (auto ref_scene : _l_scenes)
            {
                auto match = matchScene(ref_scene, _new_scene);
-                
-                while (matchings.find(match->score)!=matchings.end())
-                    match->score+=0.001;
+
+                while (matchings.find(match->score) != matchings.end())
+                    match->score += 0.001;

                matchings.emplace(match->score, match);
            }
-        return matchings;
-    }
-};
+            return matchings;
+        }
+    };
 } /* namespace laserscanutils */
-
-#endif /* LOOP_CLOSURE_BASE_2D_H_ */
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