diff --git a/.clang-format b/.clang-format
new file mode 100644
index 0000000000000000000000000000000000000000..ce68455e0b7d5627f4dc699af3cea8a929ae550e
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,115 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+#IndentAccessModifiers: false
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: true
+AlignEscapedNewlines: Right
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: false
+BinPackParameters: false
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterClass: true
+  AfterControlStatement: Always
+  AfterEnum: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterObjCDeclaration: true
+  AfterStruct: true
+  AfterUnion: true
+  AfterExternBlock: false
+  BeforeCatch: true
+  BeforeElse: true
+  IndentBraces: false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit: 119
+# CommentPragmas: "^ IWYU pragma: ^\\.+"
+CommentPragmas:  '^\\.+'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: true
+DisableFormat: false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks: Preserve
+# IncludeCategories:
+#   - Regex: '^<pinocchio/fwd\.hpp>'
+#     Priority: 1
+#   - Regex: '^<ext/.*\.h>'
+#     Priority: 3
+#   - Regex: '^<.*\.h>'
+#     Priority: 2
+#   - Regex: "^<.*"
+#     Priority: 3
+#   - Regex: ".*"
+#     Priority: 4
+IncludeIsMainRegex: "([-_](test|unittest))?$"
+IndentCaseLabels: true
+IndentPPDirectives: None
+IndentWidth: 4
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ""
+MacroBlockEnd: ""
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+ReflowComments: true
+SortIncludes: false
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Auto
+TabWidth: 4
+UseTab: Never
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 3468036dc2bf2e6dfd5425483aa01491f38f0c3c..7880d5e2c6df8c4b194182a98735a4f0f1e76e31 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -40,47 +40,50 @@ stages:
   # create 'ci_deps' folder (if not exists)
   - mkdir -pv ci_deps
 
-.license_header_template: &license_header_definition
-  - cd $CI_PROJECT_DIR
-
-  # configure git
-  - export CI_NEW_BRANCH=ci_processing$RANDOM
-  - echo creating new temporary branch... $CI_NEW_BRANCH
-  - git config --global user.email "${CI_EMAIL}"
-  - git config --global user.name "${CI_USERNAME}"
-  - git checkout -b $CI_NEW_BRANCH # temporary branch
-
-  # download license script
-  - if [ -f /ci_deps/license_manager.sh ]; then
-  -   echo "File license_manager.sh already exists."
-  - else
-  -   echo "Downloading file license_manager.sh..."
-  -   wget -P /ci_deps  https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf/-/raw/devel/wolf_scripts/license_manager.sh
-  - fi
-
-  # license headers
-  - export CURRENT_YEAR=$( date +'%Y' )
-  - echo "current year:" ${CURRENT_YEAR}
-  - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
-      # add license headers to new files
-  -   echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
-  -   source /ci_deps/license_manager.sh --add --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
-  - 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
-  -   source /ci_deps/license_manager.sh --update --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
-  - fi
-
-  # push changes (if any)
-  - if git commit -a -m "[skip ci] license headers added or modified" ; then
-  -   git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
-  -   git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
-  - else
-  -   echo "No changes, nothing to commit!"
-  - fi
+# .license_header_template: &license_header_definition
+#   - cd $CI_PROJECT_DIR
+
+#   # configure git
+#   - export CI_NEW_BRANCH=ci_processing$RANDOM
+#   - echo creating new temporary branch... $CI_NEW_BRANCH
+#   - git config --global user.email "${CI_EMAIL}"
+#   - git config --global user.name "${CI_USERNAME}"
+#   - git checkout -b $CI_NEW_BRANCH # temporary branch
+
+#   # download license script
+#   - if [ -f /ci_deps/license_manager.sh ]; then
+#   -   echo "File license_manager.sh already exists."
+#   - else
+#   -   echo "Downloading file license_manager.sh..."
+#   -   wget -P /ci_deps  https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf/-/raw/$WOLF_CORE_BRANCH/wolf_scripts/license_manager.sh
+#   - fi
+
+#   # license headers
+#   - export CURRENT_YEAR=$( date +'%Y' )
+#   - echo "current year:" ${CURRENT_YEAR}
+#   - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
+#       # add license headers to new files
+#   -   echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
+#   -   source /ci_deps/license_manager.sh --add --path=. --config-path=. --exclude=ci_deps
+#   - else
+#       # remove license headers of all files
+#   -   source /ci_deps/license_manager.sh --remove --path=. --config-path=. --exclude=ci_deps
+#       # update license header
+#   -   export PREV_YEAR=$(( 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_${CURRENT_YEAR}.txt
+#       # add new license headers to all files
+#   -   source /ci_deps/license_manager.sh --add --path=. --config-path=. --exclude=ci_deps
+#   - fi
+
+#   # push changes (if any)
+#   - if git commit -a -m "[skip ci] license headers added or modified" ; then
+#   -   git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
+#   -   git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
+#   - else
+#   -   echo "No changes, nothing to commit!"
+#   - fi
 
 .install_yamlschemacpp_template: &install_yamlschemacpp_definition
   - cd ${CI_PROJECT_DIR}/ci_deps
@@ -154,7 +157,8 @@ license_headers:
   before_script:
     - *preliminaries_definition
   script:
-    - *license_header_definition
+    # - *license_header_definition
+    - !reference [.license_header_script]
 
 ############ UBUNTU 18.04 TESTS ############
 build_and_test:bionic:
diff --git a/demos/eigenmvn.h b/demos/eigenmvn.h
index 2758ed04b875d5a34423c843da44da0d6e90af4f..ad491f7c5b03a35c8e73ef3533dca46805de52bf 100644
--- a/demos/eigenmvn.h
+++ b/demos/eigenmvn.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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--------
 /**
  * Multivariate Normal distribution sampling using C++11 and Eigen matrices.
  * 
diff --git a/demos/mcapi_utils.cpp b/demos/mcapi_utils.cpp
index 06d11625a600bb38252c0b878cc20377994df94b..f43a6cdecf7865d04063ae9267f87be7033352c2 100644
--- a/demos/mcapi_utils.cpp
+++ b/demos/mcapi_utils.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,9 +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--------
-
 
 #include "mcapi_utils.h"
 
diff --git a/demos/mcapi_utils.h b/demos/mcapi_utils.h
index 474f2179733a8c9739c9354307fd42f1756012cc..634b0434bff70ea81b8ae2e926c93bffc1319d33 100644
--- a/demos/mcapi_utils.h
+++ b/demos/mcapi_utils.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 <vector>
 #include "Eigen/Dense"
 #include "pinocchio/algorithm/crba.hpp"
diff --git a/demos/solo_imu_kine.cpp b/demos/solo_imu_kine.cpp
index 944c9e4a13d399f41655ed8e468a30b483d98a28..e3dd1a8566cefd3f88440534e50ac91e585fd4ec 100644
--- a/demos/solo_imu_kine.cpp
+++ b/demos/solo_imu_kine.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 <iostream>
 #include <fstream>
 
diff --git a/demos/solo_imu_kine_mocap.cpp b/demos/solo_imu_kine_mocap.cpp
index 0470b439effa21897190c1b3aa003bb186bc0530..ccee00850f99d59dea3086f1997d59fbd55da712 100644
--- a/demos/solo_imu_kine_mocap.cpp
+++ b/demos/solo_imu_kine_mocap.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 <iostream>
 #include <fstream>
 
diff --git a/demos/solo_imu_mocap.cpp b/demos/solo_imu_mocap.cpp
index 5de5db9ab69b344026c9ac6042a661ac72248906..a8f3934463c9e49ec4e292993f86832998afcc2f 100644
--- a/demos/solo_imu_mocap.cpp
+++ b/demos/solo_imu_mocap.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 <iostream>
 #include <fstream>
 
diff --git a/demos/solo_kine_mocap.cpp b/demos/solo_kine_mocap.cpp
index 612cf127c5841873a0e9b5e5bcbcf86a7e4ca4de..40d4aa208af3f04d9aa48cda6c5f609659ae6fa2 100644
--- a/demos/solo_kine_mocap.cpp
+++ b/demos/solo_kine_mocap.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 <iostream>
 #include <fstream>
 
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index 5243ee6baf874c786dcf675ac081079b73127e40..08d0d967330d7cf51588d139393712551b641889 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 <iostream>
 #include <fstream>
 // #include <random>
diff --git a/include/bodydynamics/capture/capture_force_torque_preint.h b/include/bodydynamics/capture/capture_force_torque_preint.h
index 70555912a2ec1852733e9f89814bff38ac34fc0a..a2331fd65607e4d089a696b87b284ad6f03cc583 100644
--- a/include/bodydynamics/capture/capture_force_torque_preint.h
+++ b/include/bodydynamics/capture/capture_force_torque_preint.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 CAPTURE_FORCE_TORQUE_PREINT_H
 #define CAPTURE_FORCE_TORQUE_PREINT_H
 
diff --git a/include/bodydynamics/capture/capture_inertial_kinematics.h b/include/bodydynamics/capture/capture_inertial_kinematics.h
index d4c963db8835b386e638d8bed95c029b7ffb0354..72c8b0e58807f85a3d6588b476a0c7260cdb5444 100644
--- a/include/bodydynamics/capture/capture_inertial_kinematics.h
+++ b/include/bodydynamics/capture/capture_inertial_kinematics.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 CAPTURE_INERTIAL_KINEMATICS_H
 #define CAPTURE_INERTIAL_KINEMATICS_H
 
diff --git a/include/bodydynamics/capture/capture_leg_odom.h b/include/bodydynamics/capture/capture_leg_odom.h
index 204c5427c9a1118c17619265b590f40e0d57dec9..54f6bfaec0f2226f4dd1f86721d24b0376555b70 100644
--- a/include/bodydynamics/capture/capture_leg_odom.h
+++ b/include/bodydynamics/capture/capture_leg_odom.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 gtest_capture_leg_odom.h
  *
diff --git a/include/bodydynamics/capture/capture_point_feet_nomove.h b/include/bodydynamics/capture/capture_point_feet_nomove.h
index 17539f8b81e788b99fc54066eda835956af07790..1223076c798a3acb4d3e6d7ae9dc2325a142e98a 100644
--- a/include/bodydynamics/capture/capture_point_feet_nomove.h
+++ b/include/bodydynamics/capture/capture_point_feet_nomove.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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--------
 /**
  *
  *  Created on: Oct 23, 2020
diff --git a/include/bodydynamics/common/bodydynamics.h b/include/bodydynamics/common/bodydynamics.h
index e0722b928c4bd4229ad5da8f1e65e065726602b8..9faa3bce477b6bb1923141a9ae7ba6115ed508b5 100644
--- a/include/bodydynamics/common/bodydynamics.h
+++ b/include/bodydynamics/common/bodydynamics.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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--------
+
 #pragma once
 
 // Enable project-specific definitions and macros
diff --git a/include/bodydynamics/factor/factor_force_torque.h b/include/bodydynamics/factor/factor_force_torque.h
index 37e8e3f8f57095aa906c02c9f03ae04920f02d2e..12af1ce4fff3cef1c30c028403e8173330aeee28 100644
--- a/include/bodydynamics/factor/factor_force_torque.h
+++ b/include/bodydynamics/factor/factor_force_torque.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 factor_force_torque.h
  *
diff --git a/include/bodydynamics/factor/factor_force_torque_preint.h b/include/bodydynamics/factor/factor_force_torque_preint.h
index bc226bf9a91c6c471ae1d00f18ca3246dbf0bf2e..7b2f18aad2afdee5f2deb15c9e726c0108a96ecd 100644
--- a/include/bodydynamics/factor/factor_force_torque_preint.h
+++ b/include/bodydynamics/factor/factor_force_torque_preint.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 FACTOR_FORCE_TORQUE_PREINT_THETA_H_
 #define FACTOR_FORCE_TORQUE_PREINT_THETA_H_
 
diff --git a/include/bodydynamics/factor/factor_inertial_kinematics.h b/include/bodydynamics/factor/factor_inertial_kinematics.h
index fea2e0a897aa2255ca099213b07056cb52fce196..81c2a76522cd710810bd91f1c53be3617fcd2933 100644
--- a/include/bodydynamics/factor/factor_inertial_kinematics.h
+++ b/include/bodydynamics/factor/factor_inertial_kinematics.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 factor_inertial_kinematics.h
  *
diff --git a/include/bodydynamics/factor/factor_point_feet_altitude.h b/include/bodydynamics/factor/factor_point_feet_altitude.h
index 3e6980c85838f50f28b35412dcdf2d2de37b6e03..1f9faf168e46c25c975963d34ec3defedffcf460 100644
--- a/include/bodydynamics/factor/factor_point_feet_altitude.h
+++ b/include/bodydynamics/factor/factor_point_feet_altitude.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 factor_point_feet_altitude.h
  *
diff --git a/include/bodydynamics/factor/factor_point_feet_nomove.h b/include/bodydynamics/factor/factor_point_feet_nomove.h
index aec1f498e2c5ece6f5d1b33e0eeb1ebe2e700d29..3c5448326316773cf28f5e11990c96926bd93963 100644
--- a/include/bodydynamics/factor/factor_point_feet_nomove.h
+++ b/include/bodydynamics/factor/factor_point_feet_nomove.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 factor_point_feet_nomove.h
  *
diff --git a/include/bodydynamics/factor/factor_point_feet_zero_velocity.h b/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
index 00b40efc27f8aa07457498dfcdf696c3754b2797..92c5c93a48d785ebd4fe82871e9a2977a59e819c 100644
--- a/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
+++ b/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 factor_point_feet_nomove.h
  *
diff --git a/include/bodydynamics/feature/feature_force_torque.h b/include/bodydynamics/feature/feature_force_torque.h
index e37917e4067ca3cc1213663df72d7100aecf0236..90bb950cb8aecc8ab95c70361c4e703de869ce3c 100644
--- a/include/bodydynamics/feature/feature_force_torque.h
+++ b/include/bodydynamics/feature/feature_force_torque.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 FEATURE_FORCE_TORQUE_H_
 #define FEATURE_FORCE_TORQUE_H_
 
diff --git a/include/bodydynamics/feature/feature_force_torque_preint.h b/include/bodydynamics/feature/feature_force_torque_preint.h
index ed2a4d9b309696f6d45b9513897d49863e587223..6d9115cd9ab7eefdd62480a945788310499cba4a 100644
--- a/include/bodydynamics/feature/feature_force_torque_preint.h
+++ b/include/bodydynamics/feature/feature_force_torque_preint.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 FEATURE_FORCE_TORQUE_PREINT_H_
 #define FEATURE_FORCE_TORQUE_PREINT_H_
 
diff --git a/include/bodydynamics/feature/feature_inertial_kinematics.h b/include/bodydynamics/feature/feature_inertial_kinematics.h
index fc4cffd864622113f3b9e526c70e056d36a30da2..2d33c378cb1897525fc2d7aea145cbd9e8046761 100644
--- a/include/bodydynamics/feature/feature_inertial_kinematics.h
+++ b/include/bodydynamics/feature/feature_inertial_kinematics.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 FEATURE_INERTIAL_KINEMATICS_H_
 #define FEATURE_INERTIAL_KINEMATICS_H_
 
diff --git a/include/bodydynamics/math/force_torque_delta_tools.h b/include/bodydynamics/math/force_torque_delta_tools.h
index 1c31a2f7ab5fd33b81a32535b090b2a60394b273..02589cdca3900677800b7f2784a4604575eecf65 100644
--- a/include/bodydynamics/math/force_torque_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_delta_tools.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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--------
 /*
  * imu_tools.h
  *
diff --git a/include/bodydynamics/processor/processor_force_torque_preint.h b/include/bodydynamics/processor/processor_force_torque_preint.h
index 9a1b11b57eeeaa8c1b313db8ad908a4e80986460..ada1e6799f4f3373f3770878b72ee62c1971c4fd 100644
--- a/include/bodydynamics/processor/processor_force_torque_preint.h
+++ b/include/bodydynamics/processor/processor_force_torque_preint.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 PROCESSOR_FORCE_TORQUE_PREINT_H
 #define PROCESSOR_FORCE_TORQUE_PREINT_H
 
diff --git a/include/bodydynamics/processor/processor_inertial_kinematics.h b/include/bodydynamics/processor/processor_inertial_kinematics.h
index d07d1e03f3112c42395cdb3082a6cae7ed1a163d..317742c9bced89e104e2aa2f78dd91bfdf551a99 100644
--- a/include/bodydynamics/processor/processor_inertial_kinematics.h
+++ b/include/bodydynamics/processor/processor_inertial_kinematics.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 PROCESSOR_INERTIAL_KINEMATICS_H
 #define PROCESSOR_INERTIAL_KINEMATICS_H
 
diff --git a/include/bodydynamics/processor/processor_point_feet_nomove.h b/include/bodydynamics/processor/processor_point_feet_nomove.h
index f60b402e6a4f80b2ec2a037fc54d85eb6762c3cc..9f89b1267a5e2540d79997489c8ebb6231bd21ce 100644
--- a/include/bodydynamics/processor/processor_point_feet_nomove.h
+++ b/include/bodydynamics/processor/processor_point_feet_nomove.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 PROCESSOR_POINT_FEET_NOMOVE_H
 #define PROCESSOR_POINT_FEET_NOMOVE_H
 
diff --git a/include/bodydynamics/sensor/sensor_force_torque.h b/include/bodydynamics/sensor/sensor_force_torque.h
index 96dad1a1fc286311538fb0112d718fd539cbad36..c8239dcdeb21eca8ec5807568f8389de772b5d30 100644
--- a/include/bodydynamics/sensor/sensor_force_torque.h
+++ b/include/bodydynamics/sensor/sensor_force_torque.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 SENSOR_FORCE_TORQUE_H
 #define SENSOR_FORCE_TORQUE_H
 
diff --git a/include/bodydynamics/sensor/sensor_inertial_kinematics.h b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
index 6c0c62d7a8221fa314e06a40603022c28d40ba84..9cea8ab657487eba6a55d32f1c1f9b22700cb127 100644
--- a/include/bodydynamics/sensor/sensor_inertial_kinematics.h
+++ b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 SENSOR_INERTIAL_KINEMATICS_H
 #define SENSOR_INERTIAL_KINEMATICS_H
 
diff --git a/include/bodydynamics/sensor/sensor_point_feet_nomove.h b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
index 88d8e6f3ade82b4dd71ed4446b41e5c3b181082f..dc7f8c89d8f8c3b09f9cc424ab1cf28e24e9b9c6 100644
--- a/include/bodydynamics/sensor/sensor_point_feet_nomove.h
+++ b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 SENSOR_POINT_FEET_NOMOVE_H
 #define SENSOR_POINT_FEET_NOMOVE_H
 
diff --git a/license_header_2023.txt b/license_header_2023.txt
index 2ddae24c37e894a9a46e58afd6db8ebf8ff14b92..529e05aa1469fbcfd40d938a07ea2d488cb4ca40 100644
--- a/license_header_2023.txt
+++ b/license_header_2023.txt
@@ -1,8 +1,10 @@
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
diff --git a/src/capture/capture_force_torque_preint.cpp b/src/capture/capture_force_torque_preint.cpp
index 88172f4990967ab9db1daecd66a5609d21474305..06b59e28f80657e34a557fa66cab4bf933cf0d1a 100644
--- a/src/capture/capture_force_torque_preint.cpp
+++ b/src/capture/capture_force_torque_preint.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 "bodydynamics/capture/capture_inertial_kinematics.h"
 #include "bodydynamics/capture/capture_force_torque_preint.h"
 #include "bodydynamics/sensor/sensor_force_torque.h"
diff --git a/src/capture/capture_inertial_kinematics.cpp b/src/capture/capture_inertial_kinematics.cpp
index a69164f2348ce575fdc1c8cca387b8f0552db324..8121547cb223eea64bda74870e6cef78db21b96a 100644
--- a/src/capture/capture_inertial_kinematics.cpp
+++ b/src/capture/capture_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 "core/capture/capture_base.h"
 #include "bodydynamics/capture/capture_inertial_kinematics.h"
 #include "bodydynamics/sensor/sensor_inertial_kinematics.h"
diff --git a/src/capture/capture_leg_odom.cpp b/src/capture/capture_leg_odom.cpp
index 6e7ef296b1d7ae2728f6021de937a8df517cebf9..04b6e878874b3e05e6d525c03b4fcb8325848fe6 100644
--- a/src/capture/capture_leg_odom.cpp
+++ b/src/capture/capture_leg_odom.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 capture_leg_odom.cpp
  *
diff --git a/src/capture/capture_point_feet_nomove.cpp b/src/capture/capture_point_feet_nomove.cpp
index cc274f4ad0a31a703fe0afeb45d59956edd6c803..ea6d4b6dddea5da8013b07f5329d504036c5480b 100644
--- a/src/capture/capture_point_feet_nomove.cpp
+++ b/src/capture/capture_point_feet_nomove.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 capture_point_feet_nomove.cpp
  *
diff --git a/src/feature/feature_force_torque.cpp b/src/feature/feature_force_torque.cpp
index f38f36680619674945c10c1acbcbc452096e1b46..41cd9d08c80ee82eee91c4aa12406616fe06a8d4 100644
--- a/src/feature/feature_force_torque.cpp
+++ b/src/feature/feature_force_torque.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 "bodydynamics/feature/feature_force_torque.h"
 
 namespace wolf {
diff --git a/src/feature/feature_force_torque_preint.cpp b/src/feature/feature_force_torque_preint.cpp
index 9c5382c786bf6ccdba06f2410c459668ba4bb9ab..3abefeefac6a2200234bc48f8ad9973e58a8db54 100644
--- a/src/feature/feature_force_torque_preint.cpp
+++ b/src/feature/feature_force_torque_preint.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 "bodydynamics/feature/feature_force_torque_preint.h"
 namespace wolf {
 
diff --git a/src/feature/feature_inertial_kinematics.cpp b/src/feature/feature_inertial_kinematics.cpp
index f66bfec18aac5963fa9471ac039d0c0d0666bfe9..e50b4a4c0588a3aa8dbeba90f8551eb0365ef7e3 100644
--- a/src/feature/feature_inertial_kinematics.cpp
+++ b/src/feature/feature_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,9 +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--------
-
 
 #include "bodydynamics/feature/feature_inertial_kinematics.h"
 #include "Eigen/Dense"
diff --git a/src/processor/processor_force_torque_preint.cpp b/src/processor/processor_force_torque_preint.cpp
index 2f13226dc000a6db6f216cfbe6ab3029dab59e38..e52af8684c02c38ded633c36739703009dc1651e 100644
--- a/src/processor/processor_force_torque_preint.cpp
+++ b/src/processor/processor_force_torque_preint.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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--------
+
 // wolf
 #include "bodydynamics/math/force_torque_delta_tools.h"
 #include "bodydynamics/capture/capture_force_torque_preint.h"
diff --git a/src/processor/processor_inertial_kinematics.cpp b/src/processor/processor_inertial_kinematics.cpp
index 06763067754f94df3acb1fee6ab717e5329d89ed..7802d0b77472b4c3809166dcd6f6545778093a1d 100644
--- a/src/processor/processor_inertial_kinematics.cpp
+++ b/src/processor/processor_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 processor_inertial_kinematics.cpp
  *
diff --git a/src/processor/processor_point_feet_nomove.cpp b/src/processor/processor_point_feet_nomove.cpp
index 57ae3aca4aa995fc3d5d8acd6af754d4960891a8..363329ea4962fb23ba4d34c7ebb8dbfc6dbf4e14 100644
--- a/src/processor/processor_point_feet_nomove.cpp
+++ b/src/processor/processor_point_feet_nomove.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 processor_point_feet_nomove.cpp
  *
diff --git a/src/sensor/sensor_force_torque.cpp b/src/sensor/sensor_force_torque.cpp
index 76e03a32868e6f43947e2a490118f53cc0bad35c..77cf60a93ec82af6e56e0e95b29c6ae604a09036 100644
--- a/src/sensor/sensor_force_torque.cpp
+++ b/src/sensor/sensor_force_torque.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 "bodydynamics/sensor/sensor_force_torque.h"
 
 #include "core/state_block/state_block.h"
diff --git a/src/sensor/sensor_inertial_kinematics.cpp b/src/sensor/sensor_inertial_kinematics.cpp
index d7c93ea158f6587b6c6f7685b7dc3c7516f98933..b7dd3f59d07c07d7e4a56214404f454afd0b1167 100644
--- a/src/sensor/sensor_inertial_kinematics.cpp
+++ b/src/sensor/sensor_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 "bodydynamics/sensor/sensor_inertial_kinematics.h"
 
 #include "core/state_block/state_block.h"
diff --git a/src/sensor/sensor_point_feet_nomove.cpp b/src/sensor/sensor_point_feet_nomove.cpp
index 7be882092f8ee609e892ed640b508577fe6ed04c..4152bfc87b92c3d0dbdd6d8fe77e7a28e5474257 100644
--- a/src/sensor/sensor_point_feet_nomove.cpp
+++ b/src/sensor/sensor_point_feet_nomove.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +17,7 @@
 //
 // 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 "bodydynamics/sensor/sensor_point_feet_nomove.h"
 
 namespace wolf {
diff --git a/test/gtest_capture_inertial_kinematics.cpp b/test/gtest_capture_inertial_kinematics.cpp
index e5c30fadd0885a267f8f19c30e74acf7d087d142..1875a5b80e20516be0b1bb9bd6f2437c57d89b2a 100644
--- a/test/gtest_capture_inertial_kinematics.cpp
+++ b/test/gtest_capture_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 gtest_capture_inertial_kinematics.cpp
  *
diff --git a/test/gtest_capture_leg_odom.cpp b/test/gtest_capture_leg_odom.cpp
index 490ef0c6f7c44d21401f6f63a32596e52a6a0091..ac3feac7071010ee741881d1e8df946a98438a67 100644
--- a/test/gtest_capture_leg_odom.cpp
+++ b/test/gtest_capture_leg_odom.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 gtest_capture_leg_odom.cpp
  *
diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp
index 43a82e1b1c05a5adeffc8acc5574db3e87def9ae..7b4f2412aba12e8ba44f4910ba4ff34579dcba94 100644
--- a/test/gtest_factor_force_torque.cpp
+++ b/test/gtest_factor_force_torque.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 gtest_factor_inertial_kinematics.cpp
diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp
index 98fbd3c3a4c17be1499f1109d21eb63bf2c367bc..3f3a4c26d576ab5985009a5d250c71bb91415fc9 100644
--- a/test/gtest_factor_inertial_kinematics.cpp
+++ b/test/gtest_factor_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 gtest_factor_inertial_kinematics.cpp
diff --git a/test/gtest_feature_inertial_kinematics.cpp b/test/gtest_feature_inertial_kinematics.cpp
index 981e81617466619e1be4c6817e8cd41a15905fbc..7c2d214ccebcec043e157597ae84285a25fdd42c 100644
--- a/test/gtest_feature_inertial_kinematics.cpp
+++ b/test/gtest_feature_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 gtest_feature_inertial_kinematics.cpp
  *
diff --git a/test/gtest_force_torque_delta_tools.cpp b/test/gtest_force_torque_delta_tools.cpp
index c8064c7a16c5d3f98606893d3dc1b5296a98f5ce..cef2d675b047f193c1c8c6e5fb93add1288c128f 100644
--- a/test/gtest_force_torque_delta_tools.cpp
+++ b/test/gtest_force_torque_delta_tools.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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--------
 /*
  * gtest_force_torque_delta_tools.cpp
  *
diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp
index 7b4dfea5224b1530846a545bf63b0ac45c6a02c6..0f41953666862deb475bf7986c5327332e4f9237 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/test/gtest_processor_force_torque_preint.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 gtest_factor_force_torque_preint.cpp
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index 1e3d31fb3c34fa73062e48954a3c4ddecd2f9864..0978ee38256bd8f76f478acc3dd9f69fbeb7781f 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/test/gtest_processor_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 gtest_factor_inertial_kinematics.cpp
diff --git a/test/gtest_processor_point_feet_nomove.cpp b/test/gtest_processor_point_feet_nomove.cpp
index 2a9c36f2b0138cc16523eedccb8a748f8de1fd31..381e0deed7acf8f6e3e940707b368dd0cb61e9cc 100644
--- a/test/gtest_processor_point_feet_nomove.cpp
+++ b/test/gtest_processor_point_feet_nomove.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 gtest_processor_point_feet_nomove.cpp
diff --git a/test/gtest_sensor_force_torque.cpp b/test/gtest_sensor_force_torque.cpp
index f69f04ed53c70df92200486cef20ac724cc7ff48..1f61b42da49729f73b555980e17d42c20dc6fd90 100644
--- a/test/gtest_sensor_force_torque.cpp
+++ b/test/gtest_sensor_force_torque.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 gtest_sensor_force_torque.cpp
  *
diff --git a/test/gtest_sensor_inertial_kinematics.cpp b/test/gtest_sensor_inertial_kinematics.cpp
index 05bad8882184bdcb4359a9b0387ad42bdf4f7e79..c54c825b35916b3db57721d62c252681a864dd3f 100644
--- a/test/gtest_sensor_inertial_kinematics.cpp
+++ b/test/gtest_sensor_inertial_kinematics.cpp
@@ -1,10 +1,10 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF 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
@@ -17,8 +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 gtest_sensor_inertial_kinematics.cpp
  *