diff --git a/.gitignore b/.gitignore
index fae25dce1facaccabf8aa15085cf2491d5959212..89510bf90b989e0c38192af6d2429c779dc2e1bc 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,7 +4,10 @@
 README.txt
 bin/
 build/
+build_debug/
 build_release/
+build-debug/
+build-release/
 lib/
 .idea/
 ./Wolf.user
@@ -30,6 +33,5 @@ src/CMakeFiles/cmake.check_cache
 src/examples/map_apriltag_save.yaml
 
 \.vscode/
-build_release/
 
 wolf.found
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 7b2d492256e0421030771b0a10bc5c7eca00352b..355377d34fc5eace45662a92970c30c837fe3ad7 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,71 +1,161 @@
-image: labrobotica/ceres:1.14
+stages:
+  - license
+  - build_and_test
 
-before_script:
-  - ls
+############ YAML ANCHORS ############
+.preliminaries_template: &preliminaries_definition
+  ## Install ssh-agent if not already installed, it is required by Docker.
+  ## (change apt-get to yum if you use an RPM-based image)
+  - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
+
+  ## Run ssh-agent (inside the build environment)
+  - eval $(ssh-agent -s)
+
+  ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
+  ## We're using tr to fix line endings which makes ed25519 keys work
+  ## without extra base64 encoding.
+  ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
+  - mkdir -p ~/.ssh
+  - chmod 700 ~/.ssh  
+  - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
+  # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
+  - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
+
+  # update apt
   - apt-get update
-  - apt-get install -y build-essential cmake 
 
-# SPDLOG
-#  - apt-get install -y libspdlog-dev
-  - if [ -d spdlog ]; then
-  -   echo "directory exists" 
-  -   if [ "$(ls -A ./spdlog)" ]; then 
-  -     echo "directory not empty" 
-  -     cd spdlog
-  -     git pull
-  -   else 
-  -     echo "directory empty" 
-  -     git clone https://github.com/gabime/spdlog.git
-  -     cd spdlog
-  -   fi
+  # 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 $CI_NEW_BRANCH # temporary branch
+
+  # license headers
+  - export CURRENT_YEAR=$( 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_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
+  -   ./ci_deps/wolf/wolf_scripts/license_manager.sh --add --path=. --license-header=license_header_${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
+  -   ./ci_deps/wolf/wolf_scripts/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
+
+.install_wolf_template: &install_wolf_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
+  - if [ -d wolf ]; then
+  -   echo "directory wolf exists"
+  -   cd wolf
+  -   git checkout devel
+  -   git pull
+  -   git checkout $WOLF_CORE_BRANCH
+  -   git pull
   - else
-  -   echo "directory inexistent" 
-  -   git clone https://github.com/gabime/spdlog.git
-  -   cd spdlog
+  -   git clone -b $WOLF_CORE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
+  -   cd wolf
   - fi
-  - git fetch
-  - git checkout v0.17.0
   - mkdir -pv build
   - cd build
-  - ls
-  - cmake -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fPIC" -DSPDLOG_BUILD_TESTING=OFF ..
+  - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=OFF -DBUILD_TESTS=OFF ..
+  - make -j$(nproc)
   - make install
-  - cd ../..
 
-# YAML
-#  - apt-get install -y libyaml-cpp-dev
-  - if [ -d yaml-cpp ]; then
-  -   echo "directory exists" 
-  -   if [ "$(ls -A ./yaml-cpp)" ]; then 
-  -     echo "directory not empty" 
-  -     cd yaml-cpp
-  -     git pull
-  -   else 
-  -     echo "directory empty" 
-  -     git clone https://github.com/jbeder/yaml-cpp.git
-  -     cd yaml-cpp
-  -   fi
+.install_wolfimu_template: &install_wolfimu_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
+  - if [ -d imu ]; then
+  -   echo "directory imu exists"
+  -   cd imu
+  -   git checkout devel
+  -   git pull
+  -   git checkout $WOLF_IMU_BRANCH
+  -   git pull
   - else
-  -   echo "directory inexistent" 
-  -   git clone https://github.com/jbeder/yaml-cpp.git
-  -   cd yaml-cpp
+  -   git clone -b $WOLF_IMU_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/imu.git
+  -   cd imu
   - fi
   - mkdir -pv build
   - cd build
-  - ls
-  - cmake -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fPIC" -DYAML_CPP_BUILD_TESTS=OFF ..
+  - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF ..
+  - make -j$(nproc)
+  - make install
+
+.build_and_test_template: &build_and_test_definition
+  - cd $CI_PROJECT_DIR
+  - mkdir -pv build
+  - cd build
+  - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
+  - make -j$(nproc)
+  - ctest -j$(nproc)
   - make install
-  - cd ../..
 
-wolf_build_and_test:
-  stage: build
-  except:
-    - master
+############ LICENSE HEADERS ############
+license_headers:
+  stage: license
+  image: labrobotica/wolf_deps:20.04
+  cache:
+    - key: wolf-focal
+      paths:
+      - ci_deps/wolf/
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+  script:
+    - *license_header_definition
+
+############ UBUNTU 18.04 TESTS ############
+build_and_test:bionic:
+  image: labrobotica/wolf_deps:18.04
+  stage: build_and_test
+  cache:
+    - key: wolf-bionic
+      paths:
+      - ci_deps/wolf/
+    - key: imu-bionic
+      paths:
+      - ci_deps/imu/
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+    - *install_wolfimu_definition
+    - ldconfig # update links (shared libraries)
+  script:
+    - *build_and_test_definition
+
+############ UBUNTU 20.04 TESTS ############
+build_and_test:focal:
+  image: labrobotica/wolf_deps:20.04
+  stage: build_and_test
+  cache:
+    - key: wolf-focal
+      paths:
+      - ci_deps/wolf/
+    - key: imu-focal
+      paths:
+      - ci_deps/imu/
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+    - *install_wolfimu_definition
+    - ldconfig # update links (shared libraries)
   script:
-    - mkdir -pv build
-    - cd build
-    - ls # we can check whether the directory was already full
-    - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
-    - make -j$(nproc)
-    - ctest -j$(nproc)
-    - make install
+    - *build_and_test_definition
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c71a9885f3622a706f27d03cc06424378af29c7e..f69b7b25db5a277054148ad8ebd5221db090170d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Pre-requisites about cmake itself
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0005 NEW)
@@ -8,11 +8,12 @@ endif(COMMAND cmake_policy)
 # MAC OSX RPATH
 SET(CMAKE_MACOSX_RPATH 1)
 
-
 # The project name
 PROJECT(bodydynamics)
 set(PLUGIN_NAME wolf${PROJECT_NAME})
 
+MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
+
 SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
 SET(CMAKE_INSTALL_PREFIX /usr/local)
@@ -26,29 +27,34 @@ message(STATUS "Configured to compile in ${CMAKE_BUILD_TYPE} mode.")
 SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall -D_REENTRANT")
 SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT")
 
-#Set compiler according C++11 support
+#Set compiler according C++14 support
 include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-		message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++11 support.")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-elseif(COMPILER_SUPPORTS_CXX0X)
-		message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++0x support.")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
+if(COMPILER_SUPPORTS_CXX14)
+		message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++14 support.")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
 else()
-  message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+  message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
 endif()
 
 if(UNIX)
   # GCC is not strict enough by default, so enable most of the warnings.
-  # set(CMAKE_CXX_FLAGS
-  #   "${CMAKE_CXX_FLAGS} -Werror=all -Werror=extra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
+  set(CMAKE_CXX_FLAGS
+    "${CMAKE_CXX_FLAGS} -Werror=all -Werror=extra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
 endif(UNIX)
 
+IF(NOT BUILD_TESTS)
+  OPTION(BUILD_TESTS "Build Unit tests" ON)
+ENDIF(NOT BUILD_TESTS)
+
+IF(NOT BUILD_DEMOS)
+  OPTION(BUILD_DEMOS "Build demos in demos folder, requires robotpkg-multicontact-api and robotpkg-pinocchio packages" OFF)
+ENDIF(NOT BUILD_DEMOS)
+
+IF(NOT BUILD_DOC)
+  OPTION(BUILD_DOC "Build Documentation" OFF)
+ENDIF(NOT BUILD_DOC)
 
-OPTION(BUILD_TESTS "Build Unit tests" ON)
-OPTION(BUILD_DEMOS "Build demos in demos folder, requires robotpkg-multicontact-api and robotpkg-pinocchio packages" OFF)
 #############
 ## Testing ##
 #############
@@ -61,39 +67,25 @@ if(BUILD_TESTS)
     enable_testing()
 endif()
 
-#+START_SRC --------------------------------------------------------------------------------------------------------------------------------
-#Start WOLF build
-MESSAGE("Starting WOLF CMakeLists ...")
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
-
 #CMAKE modules
-
 SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
 MESSAGE(STATUS ${CMAKE_MODULE_PATH})
 
 # Some wolf compilation options
-
 IF((CMAKE_BUILD_TYPE MATCHES DEBUG) OR (CMAKE_BUILD_TYPE MATCHES debug) OR (CMAKE_BUILD_TYPE MATCHES Debug))
   set(_WOLF_DEBUG true)
 ENDIF()
 
 option(_WOLF_TRACE "Enable wolf tracing macro" ON)
 
-set(BUILD_TESTS true)
-
-# Does this has any other interest
-# but for the examples ?
-# yes, for the tests !
-IF(BUILD_DEMOS OR BUILD_TESTS)
-  string(TOUPPER ${PROJECT_NAME} UPPER_NAME)
-  set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
-ENDIF(BUILD_DEMOS OR BUILD_TESTS)
-
-
-#find dependencies.
+# ============ DEPENDENCIES  ============
 FIND_PACKAGE(wolfcore REQUIRED)
 FIND_PACKAGE(wolfimu REQUIRED)
 
+# ============ CONFIG.H ============ 
+string(TOUPPER ${PROJECT_NAME} UPPER_NAME)
+set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
+
 # Define the directory where will be the configured config.h
 SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/${PROJECT_NAME}/internal)
 
@@ -110,12 +102,11 @@ ENDIF()
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${WOLF_CONFIG_DIR}/config.h")
 include_directories("${PROJECT_BINARY_DIR}/conf")
 
-include_directories("include")
-include_directories(${wolfcore_INCLUDE_DIRS})
+# ============ INCLUDES ============ 
 INCLUDE_DIRECTORIES(${wolfimu_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(BEFORE "include")
 
-#HEADERS
-
+# ============ HEADERS ============ 
 SET(HDRS_MATH
 include/bodydynamics/math/force_torque_delta_tools.h
   )
@@ -136,8 +127,6 @@ include/bodydynamics/feature/feature_force_torque.h
 include/bodydynamics/feature/feature_force_torque_preint.h
 include/bodydynamics/feature/feature_inertial_kinematics.h
   )
-SET(HDRS_LANDMARK
-  )
 SET(HDRS_PROCESSOR
 include/bodydynamics/processor/processor_force_torque_preint.h
 include/bodydynamics/processor/processor_inertial_kinematics.h
@@ -149,22 +138,18 @@ include/bodydynamics/sensor/sensor_inertial_kinematics.h
 include/bodydynamics/sensor/sensor_point_feet_nomove.h
   )
 
-#SOURCES
+# ============ SOURCES ============ 
 SET(SRCS_CAPTURE
 src/capture/capture_force_torque_preint.cpp
 src/capture/capture_inertial_kinematics.cpp
 src/capture/capture_leg_odom.cpp
 src/capture/capture_point_feet_nomove.cpp
 )
-SET(SRCS_FACTOR
-  )
 SET(SRCS_FEATURE
 src/feature/feature_force_torque.cpp
 src/feature/feature_force_torque_preint.cpp
 src/feature/feature_inertial_kinematics.cpp
   )
-SET(SRCS_LANDMARK
-  )
 SET(SRCS_PROCESSOR
 src/processor/processor_force_torque_preint.cpp
 src/processor/processor_inertial_kinematics.cpp
@@ -180,15 +165,11 @@ src/sensor/sensor_point_feet_nomove.cpp
 ADD_LIBRARY(${PLUGIN_NAME}
   SHARED
   ${SRCS_CAPTURE}
-  ${SRCS_FACTOR}
   ${SRCS_FEATURE}
-  ${SRCS_MATH}
   ${SRCS_PROCESSOR}
   ${SRCS_SENSOR}
-  ${SRCS_YAML}
   )
 
-
 # Set compiler options
 # ====================
 if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
@@ -201,80 +182,47 @@ elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
   # using GCC
 endif()
 
+#Link the created libraries
+#===============EXAMPLE=========================
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfimu_LIBRARIES})
 
-
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES})
-# Link the library with the required dependencies
-# TARGET_LINK_LIBRARIES(${PLUGIN_NAME} wolfimu_INCLUDE_DIRS)
-
+# Build demos
 IF(BUILD_DEMOS)
   MESSAGE("Building demos.")
   ADD_SUBDIRECTORY(demos)
 ENDIF(BUILD_DEMOS)
 
 #Build tests
-#===============EXAMPLE=========================
 IF(BUILD_TESTS)
   MESSAGE("Building tests.")
   add_subdirectory(test)
 ENDIF(BUILD_TESTS)
 
 #install library
-
 #=============================================================
 INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
   RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib/iri-algorithms
-  ARCHIVE DESTINATION lib/iri-algorithms)
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib)
 
 install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
 #install headers
-INSTALL(FILES ${HDRS_MATH}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math)
-INSTALL(FILES ${HDRS_UTILS}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/utils)
-INSTALL(FILES ${HDRS_PROBLEM}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/problem)
-INSTALL(FILES ${HDRS_HARDWARE}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/hardware)
-INSTALL(FILES ${HDRS_TRAJECTORY}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/trajectory)
-INSTALL(FILES ${HDRS_MAP}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/map)
-INSTALL(FILES ${HDRS_FRAME}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/frame)
-INSTALL(FILES ${HDRS_STATE_BLOCK}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/state_block)
-INSTALL(FILES ${HDRS_COMMON}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/common)
-INSTALL(FILES ${HDRS_DTASSC}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/association)
 INSTALL(FILES ${HDRS_CAPTURE}
    DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/capture)
 INSTALL(FILES ${HDRS_FACTOR}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/factor)
 INSTALL(FILES ${HDRS_FEATURE}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/feature)
-INSTALL(FILES ${HDRS_SENSOR}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor)
+INSTALL(FILES ${HDRS_MATH}
+  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math)
 INSTALL(FILES ${HDRS_PROCESSOR}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/processor)
-INSTALL(FILES ${HDRS_LANDMARK}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/landmark)
-INSTALL(FILES ${HDRS_WRAPPER}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/ceres_wrapper)
-INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver_suitesparse)
-INSTALL(FILES ${HDRS_SOLVER}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver)
-INSTALL(FILES ${HDRS_YAML}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/yaml)
+INSTALL(FILES ${HDRS_SENSOR}
+  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor)
 
 FILE(WRITE ${PROJECT_NAME}.found "")
 INSTALL(FILES ${PROJECT_NAME}.found
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME})
-
-
 INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
 DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/internal)
 
@@ -282,7 +230,6 @@ INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake" DES
 
 export(PACKAGE ${PLUGIN_NAME})
 
-#-END_SRC --------------------------------------------------------------------------------------------------------------------------------
 FIND_PACKAGE(Doxygen)
 
 FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..281d399f13dfd23087acc56303dd38d68162587c
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,619 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
+or can get the source code.  And you must show them these terms so they
+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+  For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software.  For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+  Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so.  This is fundamentally incompatible with the aim of
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diff --git a/README.md b/README.md
index 7a6bdb0a88395a96d4a97deecf464c691dab1c5d..3a01e8c1efec2103eb85f0868bf27a3f4c49acef 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,4 @@
-WOLF - Windowed Localization Frames | bodydynamics Plugin
-===================================
+WOLF Bodydynamics Plugin
+========================
 
-For installation guide and code documentation, please visit the [documentation website](http://mobile_robotics.pages.iri.upc-csic.es/wolf_projects/wolf_lib/wolf_doc/).
-
-TODO
\ No newline at end of file
+For installation guide and code documentation, please visit the [documentation website](http://www.iri.upc.edu/wolf).
diff --git a/cmake_modules/wolfbodydynamicsConfig.cmake b/cmake_modules/wolfbodydynamicsConfig.cmake
index b7892af3f5a97fde7ce130c0571d340a4929194f..cfb538c1d7d49ef39ea0f6994488f9bc59d27724 100644
--- a/cmake_modules/wolfbodydynamicsConfig.cmake
+++ b/cmake_modules/wolfbodydynamicsConfig.cmake
@@ -12,7 +12,7 @@ ENDIF(wolfbodydynamics_INCLUDE_DIRS)
 FIND_LIBRARY(
     wolfbodydynamics_LIBRARIES
     NAMES libwolfbodydynamics.so
-    PATHS /usr/local/lib/iri-algorithms)
+    PATHS /usr/local/lib)
 IF(wolfbodydynamics_LIBRARIES)
   MESSAGE("Found wolf bodydynamics lib: ${wolfbodydynamics_LIBRARIES}")
 ELSE(wolfbodydynamics_LIBRARIES)
@@ -48,7 +48,7 @@ macro(wolf_report_not_found REASON_MSG)
   # FindPackage() use the camelcase library name, not uppercase.
   if (wolfbodydynamics_FIND_QUIETLY)
     message(STATUS "Failed to find wolf bodydynamics- " ${REASON_MSG} ${ARGN})
-  else (wolfbodydynamics_FIND_REQUIRED)
+  elseif(wolfbodydynamics_FIND_REQUIRED)
     message(FATAL_ERROR "Failed to find wolf bodydynamics - " ${REASON_MSG} ${ARGN})
   else()
     # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
@@ -83,4 +83,9 @@ if(NOT wolf_FOUND)
   list(REVERSE wolfbodydynamics_LIBRARIES)
   list(APPEND wolfbodydynamics_LIBRARIES ${wolfcore_LIBRARIES})
   list(REVERSE wolfbodydynamics_LIBRARIES)
-endif()
\ No newline at end of file
+endif()
+
+# provide both INCLUDE_DIR and INCLUDE_DIRS
+SET(wolfbodydynamics_INCLUDE_DIR ${wolfbodydynamics_INCLUDE_DIRS})
+# provide both LIBRARY and LIBRARIES 
+SET(wolfbodydynamics_LIBRARY ${wolfbodydynamics_LIBRARIES})
\ No newline at end of file
diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
index e070121147a47b1e73fcd72e714ac3afa01e8f42..4c57e21c724478a56852c13e498ee655ac4a84f8 100644
--- a/demos/CMakeLists.txt
+++ b/demos/CMakeLists.txt
@@ -1,81 +1,72 @@
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fext-numeric-literals")  # necessary for files using boost 
 
-FIND_PACKAGE(pinocchio REQUIRED)
-FIND_PACKAGE(multicontact-api REQUIRED)
+FIND_PACKAGE(pinocchio QUIET)
+FIND_PACKAGE(multicontact-api QUIET)
 
-# SYSTEM disables warnings from library headers
-include_directories(
-    SYSTEM ${PINOCCHIO_INCLUDE_DIRS}
-)
-
-add_library(mcapi_utils mcapi_utils.cpp)
-
-# add_executable(mcapi_povcdl_estimation mcapi_povcdl_estimation.cpp)
-# target_link_libraries(mcapi_povcdl_estimation
-#     mcapi_utils
-#     ${wolfcore_LIBRARIES}
-#     ${wolfimu_LIBRARIES}
-#     ${PLUGIN_NAME}
-#     ${multicontact-api_LIBRARIES}
-#     ${pinocchio_LIBRARIES}
-# )
-# target_compile_definitions(mcapi_povcdl_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
-
-
-# add_executable(mcapi_pov_estimation mcapi_pov_estimation.cpp)
-# target_link_libraries(mcapi_pov_estimation
-#     mcapi_utils
-#     ${wolfcore_LIBRARIES}
-#     ${wolfimu_LIBRARIES}
-#     ${PLUGIN_NAME}
-#     ${multicontact-api_LIBRARIES}
-#     ${pinocchio_LIBRARIES}
-# )
-# target_compile_definitions(mcapi_pov_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
-
-add_executable(solo_real_povcdl_estimation solo_real_povcdl_estimation.cpp)
-target_link_libraries(solo_real_povcdl_estimation 
-    mcapi_utils
-    ${wolfcore_LIBRARIES}
-    ${wolfimu_LIBRARIES}
-    ${PLUGIN_NAME}
-    ${pinocchio_LIBRARIES}    
-    /usr/local/lib/libcnpy.so
-    z
-)
-
-add_executable(solo_imu_kine solo_imu_kine.cpp)
-target_link_libraries(solo_imu_kine 
-    mcapi_utils
-    ${wolfcore_LIBRARIES}
-    ${wolfimu_LIBRARIES}
-    ${PLUGIN_NAME}
-    ${pinocchio_LIBRARIES}    
-    /usr/local/lib/libcnpy.so
-    z
-)
-
-add_executable(solo_kine_mocap solo_kine_mocap.cpp)
-target_link_libraries(solo_kine_mocap 
-    mcapi_utils
-    ${wolfcore_LIBRARIES}
-    ${wolfimu_LIBRARIES}
-    ${PLUGIN_NAME}
-    ${pinocchio_LIBRARIES}    
-    /usr/local/lib/libcnpy.so
-    z
-)
-
-add_executable(solo_imu_mocap solo_imu_mocap.cpp)
-target_link_libraries(solo_imu_mocap 
-    ${wolfcore_LIBRARIES}
-    ${wolfimu_LIBRARIES}
-    ${PLUGIN_NAME}
-    ${pinocchio_LIBRARIES}    
-    /usr/local/lib/libcnpy.so
-    z
-)
+if (pinocchio_FOUND)
+	# SYSTEM disables warnings from library headers
+	include_directories(
+	    SYSTEM ${PINOCCHIO_INCLUDE_DIRS}
+	)
+	
+	add_library(mcapi_utils mcapi_utils.cpp)
+	
+	# add_executable(mcapi_povcdl_estimation mcapi_povcdl_estimation.cpp)
+	# target_link_libraries(mcapi_povcdl_estimation
+	#     mcapi_utils
+	#     ${wolfcore_LIBRARIES}
+	#     ${wolfimu_LIBRARIES}
+	#     ${PLUGIN_NAME}
+	#     ${multicontact-api_LIBRARIES}
+	#     ${pinocchio_LIBRARIES}
+	# )
+	# target_compile_definitions(mcapi_povcdl_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
+	
+	
+	# add_executable(mcapi_pov_estimation mcapi_pov_estimation.cpp)
+	# target_link_libraries(mcapi_pov_estimation
+	#     mcapi_utils
+	#     ${wolfcore_LIBRARIES}
+	#     ${wolfimu_LIBRARIES}
+	#     ${PLUGIN_NAME}
+	#     ${multicontact-api_LIBRARIES}
+	#     ${pinocchio_LIBRARIES}
+	# )
+	# target_compile_definitions(mcapi_pov_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
+	
+	add_executable(solo_real_povcdl_estimation solo_real_povcdl_estimation.cpp)
+	target_link_libraries(solo_real_povcdl_estimation 
+	    mcapi_utils
+	    ${wolfcore_LIBRARIES}
+	    ${wolfimu_LIBRARIES}
+	    ${PLUGIN_NAME}
+	    ${pinocchio_LIBRARIES}    
+	    /usr/local/lib/libcnpy.so
+	    z
+	)
+	
+	add_executable(solo_real_pov_estimation solo_real_pov_estimation.cpp)
+	target_link_libraries(solo_real_pov_estimation 
+	    mcapi_utils
+	    ${wolfcore_LIBRARIES}
+	    ${wolfimu_LIBRARIES}
+	    ${PLUGIN_NAME}
+	    ${pinocchio_LIBRARIES}    
+	    /usr/local/lib/libcnpy.so
+	    z
+	)
+	
+	add_executable(solo_mocap_imu solo_mocap_imu.cpp)
+	target_link_libraries(solo_mocap_imu 
+	    ${wolfcore_LIBRARIES}
+	    ${wolfimu_LIBRARIES}
+	    ${PLUGIN_NAME}
+	    ${pinocchio_LIBRARIES}    
+	    /usr/local/lib/libcnpy.so
+	    z
+	)
+endif()
 
 # add_executable(test_cnpy test_cnpy.cpp)
 # target_link_libraries(test_cnpy
diff --git a/demos/eigenmvn.h b/demos/eigenmvn.h
index 669cc0494aa11c4349d608f7c7b0741b33186ac5..ca871ae838a86541b5242d2b2437569650163e53 100644
--- a/demos/eigenmvn.h
+++ b/demos/eigenmvn.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * Multivariate Normal distribution sampling using C++11 and Eigen matrices.
  * 
@@ -132,4 +153,4 @@ namespace Eigen {
       }
   }; // end class EigenMultivariateNormal
 } // end namespace Eigen
-#endif
\ No newline at end of file
+#endif
diff --git a/demos/mcapi_pov_estimation.cpp b/demos/mcapi_pov_estimation.cpp
index 9b88d2d9e3af75337074119d3fd28d9c82de6371..b465845c1c6b6c75d596dff953f0fd287a975768 100644
--- a/demos/mcapi_pov_estimation.cpp
+++ b/demos/mcapi_pov_estimation.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 // #include <random>
 #include <yaml-cpp/yaml.h>
@@ -430,7 +451,7 @@ int main (int argc, char **argv) {
     TimeStamp t0(t_arr[0]);
     VectorComposite x_origin("POV", {p_ob_gtr_v[0], q_ob_gtr_v[0], v_ob_gtr_v[0]});
     VectorComposite std_origin("POV", {std_prior_p*Vector3d::Ones(), std_prior_o*Vector3d::Ones(), std_prior_v*Vector3d::Ones()});
-    FrameBasePtr KF1 = problem->setPriorFactor(x_origin, std_origin, t0, 0.0005);
+    FrameBasePtr KF1 = problem->setPriorFactor(x_origin, std_origin, t0);
     
     proc_imu->setOrigin(KF1);
     proc_legodom->setOrigin(KF1);
@@ -454,7 +475,7 @@ int main (int argc, char **argv) {
     std::vector<Vector3d> v_ob_fbk_v; 
     //////////////////////////////////////////
 
-    unsigned int nb_kf = problem->getTrajectory()->getFrameMap().size();
+    unsigned int nb_kf = problem->getTrajectory()->size();
     for (unsigned int i=0; i < t_arr.size(); i++){
         // TimeStamp ts(t_arr[i]+dt); // works best with tsid trajectories
         TimeStamp ts(t_arr[i]);  // works best with pyb trajectories
@@ -522,9 +543,9 @@ int main (int argc, char **argv) {
         }
 
         // if new KF add 
-        // unsigned int new_kf_nb = problem->getTrajectory()->getFrameMap().size();
+        // unsigned int new_kf_nb = problem->getTrajectory()->size();
         // if (new_kf_nb > nb_kf){
-        //     auto last_kf = problem->getTrajectory()->getFrameMap().rbegin()->second;
+        //     auto last_kf = problem->getTrajectory()->getLastFrame();
         //     nb_kf = new_kf_nb;
         //     // ADD ABSOLUTE FACTOR (GPS LIKE)
         // }
@@ -643,7 +664,8 @@ int main (int argc, char **argv) {
     VectorComposite kf_state;
     CaptureBasePtr cap_imu;
     VectorComposite bi_bias_est;
-    for (auto& elt: problem->getTrajectory()->getFrameMap()){
+    auto frame_map = problem->getTrajectory()->getFrameMap();
+    for (auto& elt : frame_map){
         auto kf = elt.second;
         kf_state = kf->getState();
         cap_imu = kf->getCaptureOf(sen_imu); 
diff --git a/demos/mcapi_povcdl_estimation.cpp b/demos/mcapi_povcdl_estimation.cpp
index 7d5b0948d954c6518f67c516695185054073ebcc..83111ab6ae729acabed35baccfdf4d567cd4b798 100644
--- a/demos/mcapi_povcdl_estimation.cpp
+++ b/demos/mcapi_povcdl_estimation.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 // #include <random>
 #include <yaml-cpp/yaml.h>
@@ -491,7 +512,7 @@ int main (int argc, char **argv) {
     // SETPRIOR RETRO-ENGINEERING
     // We are not using setPrior because of processors initial captures problems so we have to
     // - Manually create the first KF and its pose and velocity priors
-    // - call setOrigin on processors isMotion since the flag prior_is_set is not true when doing installProcessor (later)
+    // - call setOrigin on processors MotionProvider since the flag prior_is_set is not true when doing installProcessor (later)
     TimeStamp t0(t_arr[0]);
     VectorXd x_origin; x_origin.resize(19);
     x_origin << p_ob_gtr_v[0], q_ob_gtr_v[0], v_ob_gtr_v[0], c_traj_arr[0], dc_traj_arr[0], L_traj_arr[0];
@@ -841,7 +862,8 @@ int main (int argc, char **argv) {
     VectorComposite bp_bias_est;
     CaptureBasePtr cap_imu;
     VectorComposite bi_bias_est;
-    for (auto& elt: problem->getTrajectory()->getFrameMap()){
+    for (auto elt : problem->getTrajectory()->getFrameMap())
+    {
         auto kf = elt.second;
         kf_state = kf->getState();
         cap_ikin = kf->getCaptureOf(sen_ikin); 
diff --git a/demos/mcapi_utils.cpp b/demos/mcapi_utils.cpp
index d9de7b04b13d36549484f7ef67b086cd49ab16ff..d893b4669ce2514f3f15b3bf73500f243923e19c 100644
--- a/demos/mcapi_utils.cpp
+++ b/demos/mcapi_utils.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 
 #include "mcapi_utils.h"
diff --git a/demos/mcapi_utils.h b/demos/mcapi_utils.h
index 01b551b1153ef0d88c2f1d88a901d065f40023b8..c62c4026a1dac41733350f2b96fb554285f30715 100644
--- a/demos/mcapi_utils.h
+++ b/demos/mcapi_utils.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <vector>
 #include "Eigen/Dense"
 #include "pinocchio/algorithm/crba.hpp"
@@ -52,4 +73,4 @@ Matrix<double, 6, 1> contact_force_to_wrench(const std::vector<Vector3d>& contac
 Matrix3d compute_Iw(pinocchio::Model& model, 
                     pinocchio::Data& data, 
                     VectorXd& q_static, 
-                    Vector3d& b_p_bc);
\ No newline at end of file
+                    Vector3d& b_p_bc);
diff --git a/demos/solo_imu_kine.cpp b/demos/solo_imu_kine.cpp
index 2c1870e02af803af36326cd4f81280113d59d36a..5ce4f7e334d2bf719897cd62a1d25cd4b100092f 100644
--- a/demos/solo_imu_kine.cpp
+++ b/demos/solo_imu_kine.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 #include <fstream>
 
@@ -282,12 +303,12 @@ int main (int argc, char **argv) {
     // SETPRIOR RETRO-ENGINEERING
     // We are not using setPrior because of processors initial captures problems so we have to
     // - Manually create the first KF and its pose and velocity priors
-    // - call setOrigin on processors isMotion since the flag prior_is_set is not true when doing installProcessor (later)
+    // - call setOrigin on processors MotionProvider since the flag prior_is_set is not true when doing installProcessor (later)
 
     VectorComposite x_origin("POV", {w_p_wm, w_qvec_wm, Vector3d::Zero()});
     VectorComposite std_origin("POV", {std_prior_p*Vector3d::Ones(), std_prior_o*Vector3d::Ones(), std_prior_v*Vector3d::Ones()});
-    // FrameBasePtr KF1 = problem->setPriorFactor(x_origin, std_origin, t0, 0.0005);
-    FrameBasePtr KF1 = problem->setPriorInitialGuess(x_origin, t0, 0.0005);  // if mocap used
+    // FrameBasePtr KF1 = problem->setPriorFactor(x_origin, std_origin, t0);
+    FrameBasePtr KF1 = problem->setPriorInitialGuess(x_origin, t0);  // if mocap used
     
     proc_imu->setOrigin(KF1);
 
@@ -471,11 +492,11 @@ int main (int argc, char **argv) {
         // }
 
         // solve every new KF
-        if (problem->getTrajectory()->getFrameMap().size() > nb_kf ){
+        if (problem->getTrajectory()->size() > nb_kf ){
             std::string report = solver->solve(SolverManager::ReportVerbosity::BRIEF);
             std::cout << ts << "  ";
             std::cout << report << std::endl;
-            nb_kf = problem->getTrajectory()->getFrameMap().size();
+            nb_kf = problem->getTrajectory()->size();
         }
 
         // Store current state estimation
@@ -551,7 +572,7 @@ int main (int argc, char **argv) {
 
 
     // Compute Covariances
-    unsigned int Nkf = problem->getTrajectory()->getFrameMap().size();
+    unsigned int Nkf = problem->getTrajectory()->size();
     double* tkf_carr  = new double[1*Nkf];
     double* Qp_carr  = new double[3*Nkf];
     double* Qo_carr  = new double[3*Nkf];
@@ -562,8 +583,9 @@ int main (int argc, char **argv) {
     double* fac_imu_err_carr = new double[9*Nkf];
     double* fac_pose_err_carr  = new double[6*Nkf];
     int i = 0;
-    for (auto& elt: problem->getTrajectory()->getFrameMap()){
-        std::cout << "Traj " << i << "/" << problem->getTrajectory()->getFrameMap().size() << std::endl;
+    for (auto elt: problem->getTrajectory()->getFrameMap())
+    {
+        std::cout << "Traj " << i << "/" << problem->getTrajectory()->size() << std::endl;
         tkf_carr[i] = elt.first.get();
         auto kf = elt.second;
         VectorComposite kf_state = kf->getState();
diff --git a/demos/solo_imu_mocap.cpp b/demos/solo_imu_mocap.cpp
index e8989d6356d6b85a466c754fce59f22586c2f215..d370ba9f1a1796b6c37ce51ca56d98608cb6cf07 100644
--- a/demos/solo_imu_mocap.cpp
+++ b/demos/solo_imu_mocap.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 #include <fstream>
 
@@ -215,7 +236,7 @@ int main (int argc, char **argv) {
     VectorComposite x_origin("POV", {w_p_wi_init, w_qvec_wm, Vector3d::Zero()});
     VectorComposite std_origin("POV", {std_prior_p*Vector3d::Ones(), std_prior_o*Vector3d::Ones(), std_prior_v*Vector3d::Ones()});
     // FrameBasePtr KF1 = problem->setPriorFactor(x_origin, std_origin, t0, 0.0005);
-    FrameBasePtr KF1 = problem->setPriorInitialGuess(x_origin, t0, time_tolerance_mocap);  // if mocap used
+    FrameBasePtr KF1 = problem->setPriorInitialGuess(x_origin, t0);  // if mocap used
     
     proc_imu->setOrigin(KF1);
 
@@ -300,13 +321,16 @@ int main (int argc, char **argv) {
 
 
         // solve every new KF
-        if (problem->getTrajectory()->getFrameMap().size() > nb_kf ){
+        if (problem->getTrajectory()->size() > nb_kf )
+        {
             std::string report = solver->solve(SolverManager::ReportVerbosity::BRIEF);
             std::cout << ts << "  ";
             std::cout << report << std::endl;
 
             // recover covariances at this point
-            auto kf_last = problem->getTrajectory()->getFrameMap().rbegin()->second;
+            auto kf_last = problem->getTrajectory()->getLastFrame();
+            
+            CaptureBasePtr cap_imu = kf_last->getCaptureOf(sen_imu); 
 
 
             // compute covariances of KF and capture stateblocks
@@ -427,7 +451,7 @@ int main (int argc, char **argv) {
 
 
     // Compute Covariances
-    unsigned int Nkf = problem->getTrajectory()->getFrameMap().size();
+    unsigned int Nkf = problem->getTrajectory()->size();
     double* tkf_carr  = new double[1*Nkf];
     double* Qp_carr  = new double[3*Nkf];
     double* Qo_carr  = new double[3*Nkf];
@@ -445,8 +469,9 @@ int main (int argc, char **argv) {
     double* fac_imu_err_carr = new double[9*Nkf];
     double* fac_pose_err_carr  = new double[6*Nkf];
     int i = 0;
-    for (auto& elt: problem->getTrajectory()->getFrameMap()){
-        std::cout << "Traj " << i << "/" << problem->getTrajectory()->getFrameMap().size() << std::endl;
+    for (auto elt: problem->getTrajectory()->getFrameMap())
+    {
+        std::cout << "Traj " << i << "/" << problem->getTrajectory()->size() << std::endl;
         tkf_carr[i] = elt.first.get();
         auto kf = elt.second;
         VectorComposite kf_state = kf->getState();
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index e83f89ecec2afdcf7a8de772091ce757d1052855..aee06204b9d7dc68151c79f7971f090003205c88 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <iostream>
 #include <fstream>
 // #include <random>
@@ -293,7 +314,7 @@ int main (int argc, char **argv) {
     // SETPRIOR RETRO-ENGINEERING
     // We are not using setPrior because of processors initial captures problems so we have to
     // - Manually create the first KF and its pose and velocity priors
-    // - call setOrigin on processors isMotion since the flag prior_is_set is not true when doing installProcessor (later)
+    // - call setOrigin on processors MotionProvider since the flag prior_is_set is not true when doing installProcessor (later)
 
     MatrixXd P_origin(9,9); P_origin.setIdentity();
     P_origin.block<3,3>(0,0)   = pow(std_prior_p, 2) * Matrix3d::Identity();
@@ -563,12 +584,12 @@ int main (int argc, char **argv) {
 
 
         // add zero vel artificial factor
-        if (problem->getTrajectory()->getFrameMap().size() > nb_kf){
-            auto kf_pair = problem->getTrajectory()->getFrameMap().rbegin();
-            std::cout << "New KF " << kf_pair->first << std::endl;
-            auto kf = kf_pair->second;
+        if (problem->getTrajectory()->size() > nb_kf)
+        {
+            auto kf = problem->getTrajectory()->getLastFrame();
+            std::cout << "New KF " << kf->getTimeStamp() << std::endl;
 
-            // CaptureBasePtr capV0 = CaptureBase::emplace<CaptureBase>(kf, "Vel0", kf_pair->first);
+            // CaptureBasePtr capV0 = CaptureBase::emplace<CaptureBase>(kf, "Vel0", kf->getTimeStamp());
             // FeatureBasePtr featV0 = FeatureBase::emplace<FeatureBase>(capV0, "Vel0", Vector3d::Zero(), 0.00001*Matrix3d::Ones());
             // FactorBasePtr facV0 = FactorBase::emplace<FactorBlockAbsolute>(featV0, featV0, kf->getV(), nullptr, false);
 
@@ -707,7 +728,8 @@ int main (int argc, char **argv) {
     VectorComposite bp_bias_est;
     CaptureBasePtr cap_imu;
     VectorComposite bi_bias_est;
-    for (auto& elt: problem->getTrajectory()->getFrameMap()){
+    for (auto elt: problem->getTrajectory()->getFrameMap())
+    {
         auto kf = elt.second;
         kf_state = kf->getState();
         cap_ikin = kf->getCaptureOf(sen_ikin); 
diff --git a/include/bodydynamics/capture/capture_force_torque_preint.h b/include/bodydynamics/capture/capture_force_torque_preint.h
index de4efd7ed6908309bc06c6d41928e344069b03ba..81db7bf05f90fc9048a907253b477b73f8c748a5 100644
--- a/include/bodydynamics/capture/capture_force_torque_preint.h
+++ b/include/bodydynamics/capture/capture_force_torque_preint.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef CAPTURE_FORCE_TORQUE_PREINT_H
 #define CAPTURE_FORCE_TORQUE_PREINT_H
 
@@ -41,7 +62,9 @@ class CaptureForceTorquePreint : public CaptureMotion
     
         ~CaptureForceTorquePreint() override;
 
-        CaptureBasePtr getIkinCaptureOther(){ return cap_ikin_other_; }
+        CaptureBaseConstPtr getIkinCaptureOther() const { return cap_ikin_other_;}
+        CaptureBasePtr getIkinCaptureOther(){ return cap_ikin_other_;}
+        CaptureBaseConstPtr getGyroCaptureOther() const { return cap_gyro_other_;}
         CaptureBasePtr getGyroCaptureOther(){ return cap_gyro_other_;}
 
     private:
diff --git a/include/bodydynamics/capture/capture_inertial_kinematics.h b/include/bodydynamics/capture/capture_inertial_kinematics.h
index 012a19c6c77dc23e16074cf2e7896ba439d31cf1..70baff8f311f6fc17d19305559c959d62ef079a2 100644
--- a/include/bodydynamics/capture/capture_inertial_kinematics.h
+++ b/include/bodydynamics/capture/capture_inertial_kinematics.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef 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 76a7b2e6876a1e99d9d1a790e943c745f598c432..b1d8652e0f3f9bd8c0dbbb001bc10714fa3cf8b9 100644
--- a/include/bodydynamics/capture/capture_leg_odom.h
+++ b/include/bodydynamics/capture/capture_leg_odom.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file 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 7918be2de2d581854a4aad578ba84262fee72b1f..1e57c0cdd71d3cc2cd85f196a51e16df57dce844 100644
--- a/include/bodydynamics/capture/capture_point_feet_nomove.h
+++ b/include/bodydynamics/capture/capture_point_feet_nomove.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  *
  *  Created on: Oct 23, 2020
diff --git a/include/bodydynamics/factor/factor_force_torque.h b/include/bodydynamics/factor/factor_force_torque.h
index 39ccacc20bc6086214f4963cb1fa1e4572f2da60..958398a325c0e6c77fd5b70a2cabb4497fec746b 100644
--- a/include/bodydynamics/factor/factor_force_torque.h
+++ b/include/bodydynamics/factor/factor_force_torque.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file factor_force_torque.h
  *
@@ -58,7 +79,7 @@ class FactorForceTorque : public FactorAutodiff<FactorForceTorque, 9, 3,3,3, 3,3
             const T* const _qkm,
             T* _res) const;
 
-        void computeJac(const FeatureForceTorquePtr& _feat, 
+        void computeJac(const FeatureForceTorqueConstPtr& _feat, 
                         const double& _mass, 
                         const double& _dt, 
                         const Eigen::VectorXd& _bp, 
@@ -128,25 +149,24 @@ void FactorForceTorque::retrieveMeasurementCovariance(const FeatureForceTorquePt
 }
 
 
-void FactorForceTorque::computeJac(const FeatureForceTorquePtr& _feat, 
+void FactorForceTorque::computeJac(const FeatureForceTorqueConstPtr& _feat, 
                                    const double& _mass, 
                                    const double& _dt,  
                                    const Eigen::VectorXd& _bp, 
                                    Eigen::Matrix<double, 9, 15>& _J_ny_nz) const
 {
     _J_ny_nz.setZero();
-    FeatureForceTorquePtr feat = std::static_pointer_cast<FeatureForceTorque>(_feat);
 
     // Measurements retrieval
-    Eigen::Map<const Eigen::Vector3d>    f1  (feat->getForcesMeas().data());
-    Eigen::Map<const Eigen::Vector3d>    f2  (feat->getForcesMeas().data()    + 3  );
-    Eigen::Map<const Eigen::Vector3d>    tau1(feat->getTorquesMeas().data());
-    Eigen::Map<const Eigen::Vector3d>    tau2(feat->getTorquesMeas().data()   + 3 );
-    Eigen::Map<const Eigen::Vector3d>    pbl1(feat->getKinMeas().data());
-    Eigen::Map<const Eigen::Vector3d>    pbl2(feat->getKinMeas().data()       + 3 );
-    Eigen::Map<const Eigen::Quaterniond> bql1(feat->getKinMeas().data()       + 6);
-    Eigen::Map<const Eigen::Quaterniond> bql2(feat->getKinMeas().data()   + 10);
-    Eigen::Map<const Eigen::Vector3d>    pbc (feat->getPbcMeas().data());
+    Eigen::Map<const Eigen::Vector3d>    f1  (_feat->getForcesMeas().data());
+    Eigen::Map<const Eigen::Vector3d>    f2  (_feat->getForcesMeas().data()    + 3  );
+    Eigen::Map<const Eigen::Vector3d>    tau1(_feat->getTorquesMeas().data());
+    Eigen::Map<const Eigen::Vector3d>    tau2(_feat->getTorquesMeas().data()   + 3 );
+    Eigen::Map<const Eigen::Vector3d>    pbl1(_feat->getKinMeas().data());
+    Eigen::Map<const Eigen::Vector3d>    pbl2(_feat->getKinMeas().data()       + 3 );
+    Eigen::Map<const Eigen::Quaterniond> bql1(_feat->getKinMeas().data()       + 6);
+    Eigen::Map<const Eigen::Quaterniond> bql2(_feat->getKinMeas().data()   + 10);
+    Eigen::Map<const Eigen::Vector3d>    pbc (_feat->getPbcMeas().data());
 
     Eigen::Matrix3d bRl1 = q2R(bql1);
     Eigen::Matrix3d bRl2 = q2R(bql2);
@@ -205,7 +225,7 @@ bool FactorForceTorque::operator () (
             const T* const _qkm,
             T* _res) const   
 {
-    FeatureForceTorquePtr feat = std::static_pointer_cast<FeatureForceTorque>(getFeature());
+    auto feat = std::static_pointer_cast<const FeatureForceTorque>(getFeature());
 
     // State variables instanciation
     Eigen::Map<const Eigen::Matrix<T,3,1> > ck(_ck);
diff --git a/include/bodydynamics/factor/factor_force_torque_preint.h b/include/bodydynamics/factor/factor_force_torque_preint.h
index 05b2e571fa5f59a9f328adcfd53c82d7501662de..841bb63d6f94ffa9dc4ec115e5f4a3c3dd06d20a 100644
--- a/include/bodydynamics/factor/factor_force_torque_preint.h
+++ b/include/bodydynamics/factor/factor_force_torque_preint.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef 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 0352a13bf2b4e5ae27b1c309d1a7b8fdb560c97e..ff824e20b8673da4d6de79afa06e80da6cd2607e 100644
--- a/include/bodydynamics/factor/factor_inertial_kinematics.h
+++ b/include/bodydynamics/factor/factor_inertial_kinematics.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file factor_inertial_kinematics.h
  *
@@ -137,7 +158,7 @@ bool FactorInertialKinematics::operator () (
 
     Map<Matrix<T,9,1> > res(_res);
 
-    FeatureInertialKinematicsPtr feat = std::static_pointer_cast<FeatureInertialKinematics>(getFeature());
+    auto feat = std::static_pointer_cast<const FeatureInertialKinematics>(getFeature());
 
     // Measurements retrieval
     Map<const Vector3d> pBC_m(getMeasurement().data()    );      // B_p_BC
diff --git a/include/bodydynamics/factor/factor_point_feet_nomove.h b/include/bodydynamics/factor/factor_point_feet_nomove.h
index a9897ec348bedce98ba502895253cc068630e530..58e7804f43b3c3e1ffe0de8e85711c3f3d595e06 100644
--- a/include/bodydynamics/factor/factor_point_feet_nomove.h
+++ b/include/bodydynamics/factor/factor_point_feet_nomove.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file factor_point_feet_nomove.h
  *
diff --git a/include/bodydynamics/feature/feature_force_torque.h b/include/bodydynamics/feature/feature_force_torque.h
index 75318166d754bafa5240a618681210fd192378b9..14594821f3171f7628199e4b3b5f76026f4f7f63 100644
--- a/include/bodydynamics/feature/feature_force_torque.h
+++ b/include/bodydynamics/feature/feature_force_torque.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef FEATURE_FORCE_TORQUE_H_
 #define FEATURE_FORCE_TORQUE_H_
 
@@ -29,19 +50,19 @@ class FeatureForceTorque : public FeatureBase
 
         ~FeatureForceTorque() override;
 
-        const double & getDt(){return dt_;}
-        const double & getMass(){return mass_;}
+        const double & getDt() const {return dt_;}
+        const double & getMass() const {return mass_;}
         void setDt(const double & _dt){dt_ = _dt;}
         void setMass(const double & _mass){mass_ = _mass;}
 
-        const Eigen::Vector6d& getForcesMeas(){return forces_meas_;}
-        const Eigen::Vector6d& getTorquesMeas(){return torques_meas_;}
-        const Eigen::Vector3d& getPbcMeas(){return pbc_meas_;}
-        const Eigen::Matrix<double,14,1>& getKinMeas(){return kin_meas_;}
-        const Eigen::Matrix6d& getCovForcesMeas(){return cov_forces_meas_;}
-        const Eigen::Matrix6d& getCovTorquesMeas(){return cov_torques_meas_;}
-        const Eigen::Matrix3d& getCovPbcMeas(){return cov_pbc_meas_;}
-        const Eigen::Matrix<double,14,14>& getCovKinMeas(){return cov_kin_meas_;}
+        const Eigen::Vector6d& getForcesMeas() const {return forces_meas_;}
+        const Eigen::Vector6d& getTorquesMeas() const {return torques_meas_;}
+        const Eigen::Vector3d& getPbcMeas() const {return pbc_meas_;}
+        const Eigen::Matrix<double,14,1>& getKinMeas() const {return kin_meas_;}
+        const Eigen::Matrix6d& getCovForcesMeas() const {return cov_forces_meas_;}
+        const Eigen::Matrix6d& getCovTorquesMeas() const {return cov_torques_meas_;}
+        const Eigen::Matrix3d& getCovPbcMeas() const {return cov_pbc_meas_;}
+        const Eigen::Matrix<double,14,14>& getCovKinMeas() const {return cov_kin_meas_;}
 
         void setForcesMeas(const Eigen::Vector6d& _forces_meas){forces_meas_ = _forces_meas;}
         void setTorquesMeas(const Eigen::Vector6d& _torques_meas){torques_meas_ = _torques_meas;}
diff --git a/include/bodydynamics/feature/feature_force_torque_preint.h b/include/bodydynamics/feature/feature_force_torque_preint.h
index ffdcbd0e5c25b90438ef0204d9f4ec299f705cd4..9a03d2a73e668123b29dd948c7988795ea45f9cf 100644
--- a/include/bodydynamics/feature/feature_force_torque_preint.h
+++ b/include/bodydynamics/feature/feature_force_torque_preint.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef 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 bc281bdb3376e7c06751a26c6b853afbeff68405..98f03fc3e948e1c5feeaf399e3bdf10297a2b1a6 100644
--- a/include/bodydynamics/feature/feature_inertial_kinematics.h
+++ b/include/bodydynamics/feature/feature_inertial_kinematics.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef FEATURE_INERTIAL_KINEMATICS_H_
 #define FEATURE_INERTIAL_KINEMATICS_H_
 
@@ -22,8 +43,8 @@ class FeatureInertialKinematics : public FeatureBase
         ~FeatureInertialKinematics() override = default;
 
 
-        const Eigen::Matrix3d & getBIq(){return BIq_;}
-        const Eigen::Vector3d & getBLcm(){return BLcm_;}
+        const Eigen::Matrix3d & getBIq() const {return BIq_;}
+        const Eigen::Vector3d & getBLcm() const {return BLcm_;}
         void setBIq(const Eigen::Matrix3d & _BIq){BIq_ = _BIq;}
         void setBLcm(const Eigen::Vector3d & _BLcm){BLcm_ = _BLcm;}
 
diff --git a/include/bodydynamics/math/force_torque_delta_tools.h b/include/bodydynamics/math/force_torque_delta_tools.h
index 56bfe16899d21ca3265ed4da4d20de1ec92c1ef0..fdc3d3a8034f5fa4372b0b0796b27b60ce889eb5 100644
--- a/include/bodydynamics/math/force_torque_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_delta_tools.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * imu_tools.h
  *
diff --git a/include/bodydynamics/processor/processor_force_torque_preint.h b/include/bodydynamics/processor/processor_force_torque_preint.h
index cd38fb90ffa4ad84d66519a73bfd0f771787cd08..6cd089107cfebd55fad2a51ff1b6cf5eddb0b036 100644
--- a/include/bodydynamics/processor/processor_force_torque_preint.h
+++ b/include/bodydynamics/processor/processor_force_torque_preint.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef PROCESSOR_FORCE_TORQUE_PREINT_H
 #define PROCESSOR_FORCE_TORQUE_PREINT_H
 
@@ -71,7 +92,7 @@ class ProcessorForceTorquePreint : public ProcessorMotion{
         Eigen::VectorXd deltaZero() const override;
         Eigen::VectorXd correctDelta(const Eigen::VectorXd& delta_preint,
                                              const Eigen::VectorXd& delta_step) const override;
-        VectorXd getCalibration (const CaptureBasePtr _capture = nullptr) const override;
+        VectorXd getCalibration (const CaptureBaseConstPtr _capture = nullptr) const override;
         void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
 
         bool voteForKeyFrame() const override;
@@ -105,13 +126,13 @@ namespace wolf{
 
 inline void ProcessorForceTorquePreint::configure(SensorBasePtr _sensor)
 {
-    sensor_ikin_   = _sensor->getProblem()->getSensor(params_motion_force_torque_preint_->sensor_ikin_name);
-    sensor_angvel_ = _sensor->getProblem()->getSensor(params_motion_force_torque_preint_->sensor_angvel_name);
+    sensor_ikin_   = _sensor->getProblem()->findSensor(params_motion_force_torque_preint_->sensor_ikin_name);
+    sensor_angvel_ = _sensor->getProblem()->findSensor(params_motion_force_torque_preint_->sensor_angvel_name);
 };
 
 inline Eigen::VectorXd ProcessorForceTorquePreint::deltaZero() const
 {
-    return (Eigen::VectorXd(13) << 0,0,0, 0,0,0,  0,0,0,  0,0,0,1 ).finished(); // p, q, v
+    return (Eigen::VectorXd(13) << 0,0,0, 0,0,0,  0,0,0,  0,0,0,1 ).finished(); // com, com vel, ang momentum, orientation
 }
 
 } // namespace wolf
diff --git a/include/bodydynamics/processor/processor_inertial_kinematics.h b/include/bodydynamics/processor/processor_inertial_kinematics.h
index fcdc050cb2aef10c77b0755a81694ecbd852663a..468fd9fa27c9b1983b4723f6938c0651632d8374 100644
--- a/include/bodydynamics/processor/processor_inertial_kinematics.h
+++ b/include/bodydynamics/processor/processor_inertial_kinematics.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef PROCESSOR_INERTIAL_KINEMATICS_H
 #define PROCESSOR_INERTIAL_KINEMATICS_H
 
@@ -51,9 +72,9 @@ class ProcessorInertialKinematics : public ProcessorBase{
         bool createInertialKinematicsFactor(CaptureInertialKinematicsPtr _cap_ikin, CaptureBasePtr _cap_angvel, CaptureBasePtr _cap_ikin_origin);
 
         void processCapture(CaptureBasePtr _incoming) override;
-        void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override;
+        void processKeyFrame(FrameBasePtr _keyframe_ptr) override;
         bool triggerInCapture(CaptureBasePtr) const override;
-        bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) const override;
+        bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr) const override;
         bool storeKeyFrame(FrameBasePtr) override;
         bool storeCapture(CaptureBasePtr) override;
         bool voteForKeyFrame() const override;
@@ -66,8 +87,7 @@ class ProcessorInertialKinematics : public ProcessorBase{
 
 
 
-inline bool ProcessorInertialKinematics::triggerInKeyFrame(FrameBasePtr _keyframe_ptr,
-                                                           const double& _time_tolerance) const
+inline bool ProcessorInertialKinematics::triggerInKeyFrame(FrameBasePtr _keyframe_ptr) const
 {
     return false;
 }
@@ -92,7 +112,7 @@ inline bool ProcessorInertialKinematics::voteForKeyFrame() const
     return false;
 }
 
-inline void ProcessorInertialKinematics::processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance)
+inline void ProcessorInertialKinematics::processKeyFrame(FrameBasePtr _keyframe_ptr)
 {
 }
 
diff --git a/include/bodydynamics/processor/processor_point_feet_nomove.h b/include/bodydynamics/processor/processor_point_feet_nomove.h
index b1be5f547e0721c3783a26b765cf8c66a43b44d3..49c40be86b331397416bc8bf806aac4a4b6f9419 100644
--- a/include/bodydynamics/processor/processor_point_feet_nomove.h
+++ b/include/bodydynamics/processor/processor_point_feet_nomove.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef PROCESSOR_POINT_FEET_NOMOVE_H
 #define PROCESSOR_POINT_FEET_NOMOVE_H
 
@@ -40,9 +61,9 @@ class ProcessorPointFeetNomove : public ProcessorBase{
         bool createPointFeetNomoveFactor(CapturePointFeetNomovePtr _cap_pfnomove, CaptureBasePtr _cap_angvel, CaptureBasePtr _cap_pfnomove_origin);
 
         void processCapture(CaptureBasePtr _incoming) override;
-        void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override;
+        void processKeyFrame(FrameBasePtr _keyframe_ptr) override;
         bool triggerInCapture(CaptureBasePtr) const override;
-        bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) const override;
+        bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr) const override;
         bool storeKeyFrame(FrameBasePtr) override;
         bool storeCapture(CaptureBasePtr) override;
         bool voteForKeyFrame() const override;
@@ -56,8 +77,7 @@ class ProcessorPointFeetNomove : public ProcessorBase{
 
 
 
-inline bool ProcessorPointFeetNomove::triggerInKeyFrame(FrameBasePtr _keyframe_ptr,
-                                                           const double& _time_tolerance) const
+inline bool ProcessorPointFeetNomove::triggerInKeyFrame(FrameBasePtr _keyframe_ptr) const
 {
     return true;
 }
diff --git a/include/bodydynamics/sensor/sensor_force_torque.h b/include/bodydynamics/sensor/sensor_force_torque.h
index 761ba5c99ba408954d6ef056ab5d158f2b01fd50..eea790dd1b52e104b730e9a7bd20a4d0f52a31af 100644
--- a/include/bodydynamics/sensor/sensor_force_torque.h
+++ b/include/bodydynamics/sensor/sensor_force_torque.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef 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 73c1832a3ac5e18dddd00aa4504f7bcaa94d0855..76e74adc98c6934efae76c27c4c0efea6527db3e 100644
--- a/include/bodydynamics/sensor/sensor_inertial_kinematics.h
+++ b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef 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 756668e55d7f5fee49612cc4e6d9bceb1e0f5702..7f58ad65e96d1ca4c249cdd23a4f8e88b03f8060 100644
--- a/include/bodydynamics/sensor/sensor_point_feet_nomove.h
+++ b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef SENSOR_POINT_FEET_NOMOVE_H
 #define SENSOR_POINT_FEET_NOMOVE_H
 
diff --git a/license_header_2022.txt b/license_header_2022.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c987025f9dba3e7af993051b9bdf4b5ff400e0d
--- /dev/null
+++ b/license_header_2022.txt
@@ -0,0 +1,17 @@
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
diff --git a/src/capture/capture_force_torque_preint.cpp b/src/capture/capture_force_torque_preint.cpp
index 2b5f8cc32b26a14579bb8c73c030bfdc94147b60..83e145e4b85a4895a81dce2251fcddd10681460d 100644
--- a/src/capture/capture_force_torque_preint.cpp
+++ b/src/capture/capture_force_torque_preint.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "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 1d5148ac16390e6d66a3fdadb27c2eafc3661ec3..3640f6b966c49cde3ed4fb8f3db94856fbf14bc7 100644
--- a/src/capture/capture_inertial_kinematics.cpp
+++ b/src/capture/capture_inertial_kinematics.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "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 60f34646586543171459595c70a673f9a1ad01ff..69336fa53b1e686d3434bf3a0e821f0315f844c1 100644
--- a/src/capture/capture_leg_odom.cpp
+++ b/src/capture/capture_leg_odom.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file capture_leg_odom.cpp
  *
diff --git a/src/capture/capture_point_feet_nomove.cpp b/src/capture/capture_point_feet_nomove.cpp
index f242a4fff87088da5058addf0e435d7b9ce2a30a..3d4dca45ced860903bfdfabc3f4a86e088b63859 100644
--- a/src/capture/capture_point_feet_nomove.cpp
+++ b/src/capture/capture_point_feet_nomove.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file capture_point_feet_nomove.cpp
  *
diff --git a/src/feature/feature_force_torque.cpp b/src/feature/feature_force_torque.cpp
index 21b7ef66fe16a5f6a173d5c91e5fb58ca2e56641..83c12548fd923e7621b56465ecedbcc12b673500 100644
--- a/src/feature/feature_force_torque.cpp
+++ b/src/feature/feature_force_torque.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "bodydynamics/feature/feature_force_torque.h"
 
 namespace wolf {
@@ -30,4 +51,4 @@ FeatureForceTorque::FeatureForceTorque(
 
 FeatureForceTorque::~FeatureForceTorque(){}
 
-} // namespace wolf
\ No newline at end of file
+} // namespace wolf
diff --git a/src/feature/feature_force_torque_preint.cpp b/src/feature/feature_force_torque_preint.cpp
index 62e73e23ec606f4e57c48ce4d0932f52d41de6e7..1a21081d827843645a62c75508b3ceda10794c71 100644
--- a/src/feature/feature_force_torque_preint.cpp
+++ b/src/feature/feature_force_torque_preint.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "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 e7edac77fde95d543fef6841fcf16a55457ff098..8f80b0ddc96b0029211ed5b66940c1a5af6db117 100644
--- a/src/feature/feature_inertial_kinematics.cpp
+++ b/src/feature/feature_inertial_kinematics.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 
 #include "bodydynamics/feature/feature_inertial_kinematics.h"
diff --git a/src/processor/processor_force_torque_preint.cpp b/src/processor/processor_force_torque_preint.cpp
index 17cb798053d93f941e1e33da26516a00ff486c45..1b84f786077a0f65ee3cc944bf8ebe4f54511499 100644
--- a/src/processor/processor_force_torque_preint.cpp
+++ b/src/processor/processor_force_torque_preint.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 // wolf
 #include "bodydynamics/math/force_torque_delta_tools.h"
 #include "bodydynamics/capture/capture_force_torque_preint.h"
@@ -25,11 +46,7 @@ ProcessorForceTorquePreint::ProcessorForceTorquePreint(ParamsProcessorForceTorqu
         dimc_(_params_motion_force_torque_preint->dimc)
 
 {
-    // Set constant parts of Jacobians
-    jacobian_delta_preint_.setIdentity(12,12);  // delta composition / CURRENT delta
-    jacobian_delta_.setIdentity(12,12);         // delta composition / PREVIOUS delta
-    jacobian_calib_.setZero(12,6);              // delta preint / biases
-    unmeasured_perturbation_cov_ = pow(params_motion_force_torque_preint_->unmeasured_perturbation_std, 2.0) * Eigen::Matrix<double, 12, 12>::Identity();
+    //
 }
 
 ProcessorForceTorquePreint::~ProcessorForceTorquePreint()
@@ -119,14 +136,14 @@ Eigen::VectorXd ProcessorForceTorquePreint::correctDelta (const Eigen::VectorXd&
     return bodydynamics::plus(delta_preint, delta_step);
 }
 
-VectorXd ProcessorForceTorquePreint::getCalibration (const CaptureBasePtr _capture) const
+VectorXd ProcessorForceTorquePreint::getCalibration (const CaptureBaseConstPtr _capture) const
 {
 
     VectorXd bias_vec(6);
 
     if (_capture) // access from capture is quicker
     {
-        CaptureForceTorquePreintPtr cap_ft(std::static_pointer_cast<CaptureForceTorquePreint>(_capture));
+        auto cap_ft(std::static_pointer_cast<const CaptureForceTorquePreint>(_capture));
 
         // get calib part from Ikin capture
         bias_vec.segment<3>(0) = cap_ft->getIkinCaptureOther()->getSensorIntrinsic()->getState();
@@ -194,7 +211,7 @@ void ProcessorForceTorquePreint::computeCurrentDelta(
     bodydynamics::debiasData(_data, _calib, nbc_, dimc_, body, jac_body_bias);
 
     MatrixXd jac_delta_body(12,data_size_-nbc_);
-    bodydynamics::body2delta(body, _dt, std::static_pointer_cast<SensorForceTorque>(getSensor())->getMass(), 
+    bodydynamics::body2delta(body, _dt, std::static_pointer_cast<const SensorForceTorque>(getSensor())->getMass(), 
                              nbc_, dimc_,
                              _delta, jac_delta_body); // Jacobians tested in bodydynamics_tools
 
diff --git a/src/processor/processor_inertial_kinematics.cpp b/src/processor/processor_inertial_kinematics.cpp
index 5d3dfe78dbb520e9e0c9339a3201135ebe88c3b1..360ef7d654952c17a18dce633f53f9177e79e61d 100644
--- a/src/processor/processor_inertial_kinematics.cpp
+++ b/src/processor/processor_inertial_kinematics.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file processor_inertial_kinematics.cpp
  *
@@ -32,11 +53,11 @@ inline void ProcessorInertialKinematics::processCapture(CaptureBasePtr _capture)
     }
 
     // nothing to do if any of the two buffer is empty
-    if(buffer_pack_kf_.empty()){
+    if(buffer_frame_.empty()){
         WOLF_DEBUG("PInertialKinematic: KF pack buffer empty, time ",  _capture->getTimeStamp());
         return;
     }
-    if(buffer_pack_kf_.empty()){
+    if(buffer_frame_.empty()){
         WOLF_DEBUG("PInertialKinematics: Capture buffer empty, time ",  _capture->getTimeStamp());
         return;
     }
@@ -47,22 +68,21 @@ inline void ProcessorInertialKinematics::processCapture(CaptureBasePtr _capture)
     // done AFTER processCapture)
 
     // 1. get corresponding KF
-    FrameBasePtr kf;
-    auto buffer_pack_kf_it = buffer_pack_kf_.getContainer().begin();
+    auto buffer_frame_it = buffer_frame_.getContainer().begin();
     auto buffer_capture_it = buffer_capture_.getContainer().begin();
 
-    auto sensor_angvel = getProblem()->getSensor(params_ikin_->sensor_angvel_name);
-    while ((buffer_pack_kf_it != buffer_pack_kf_.getContainer().end())
+    auto sensor_angvel = getProblem()->findSensor(params_ikin_->sensor_angvel_name);
+    while ((buffer_frame_it != buffer_frame_.getContainer().end())
         && (buffer_capture_it != buffer_capture_.getContainer().end()))
     {
 
-        bool time_ok = buffer_capture_.simpleCheckTimeTolerance(buffer_pack_kf_it->first, buffer_capture_it->first, buffer_pack_kf_it->second->time_tolerance);
+        bool time_ok = checkTimeTolerance(buffer_frame_it->first, buffer_capture_it->first);
         if (time_ok) {
-            CaptureBasePtr cap_angvel = buffer_pack_kf_it->second->key_frame->getCaptureOf(sensor_angvel);
-            auto min_ts = (buffer_pack_kf_it->first < buffer_capture_it->first) ? buffer_pack_kf_it->first : buffer_capture_it->first;
+            CaptureBasePtr cap_angvel = buffer_frame_it->second->getCaptureOf(sensor_angvel);
+            auto min_ts = (buffer_frame_it->first < buffer_capture_it->first) ? buffer_frame_it->first : buffer_capture_it->first;
             if (cap_angvel && cap_angvel->getStateBlock('I')){  // TODO: or only cap_angvel?
                 // cast incoming capture to the InertialKinematics type, add it to the keyframe
-                auto kf = buffer_pack_kf_it->second->key_frame;
+                auto kf = buffer_frame_it->second;
                 auto cap_ikin = std::static_pointer_cast<CaptureInertialKinematics>(buffer_capture_it->second);
                 cap_ikin->link(kf);
                 createInertialKinematicsFactor(cap_ikin,
@@ -71,27 +91,27 @@ inline void ProcessorInertialKinematics::processCapture(CaptureBasePtr _capture)
                 // update pointer to origin capture (the previous one attached to a KF) if we have created a new factor
                 cap_origin_ptr_ = buffer_capture_it->second;
                 buffer_capture_it++;
-                buffer_pack_kf_it++;
+                buffer_frame_it++;
             }
             else {
                 // if time ok but no capture angvel yet, there is not gonna be any in the next KF of the buffer
                 break;
                 buffer_capture_it++;
-                buffer_pack_kf_it++;
+                buffer_frame_it++;
             }
 
             ////////////////
             // remove everything before (Inclusive if equal) this timestamp -> the cap_angvel is yet to come
-            buffer_pack_kf_.removeUpTo(min_ts);
+            buffer_frame_.removeUpTo(min_ts);
             buffer_capture_.removeUpTo(min_ts);
         }
         else {
             // if a time difference between captures and KF pack, we increment the oldest iterator
-            if (buffer_capture_it->first < buffer_pack_kf_it->first){
+            if (buffer_capture_it->first < buffer_frame_it->first){
                 buffer_capture_it++;
             }
             else {
-                buffer_pack_kf_it++;
+                buffer_frame_it++;
             }
         }
     }
@@ -105,7 +125,7 @@ inline bool ProcessorInertialKinematics::createInertialKinematicsFactor(CaptureI
     Eigen::Matrix3d B_I_q = _cap_ikin->getBIq();
     Eigen::Vector3d B_Lc_m = _cap_ikin->getBLcm();
     auto sensor_ikin = std::static_pointer_cast<SensorInertialKinematics>(getSensor());
-    auto sensor_angvel_base = getProblem()->getSensor(params_ikin_->sensor_angvel_name);
+    auto sensor_angvel_base = getProblem()->findSensor(params_ikin_->sensor_angvel_name);
     Eigen::Matrix3d Qp = pow(sensor_ikin->getPbcNoiseStd(), 2) * Eigen::Matrix3d::Identity();
     Eigen::Matrix3d Qv = pow(sensor_ikin->getVbcNoiseStd(), 2) * Eigen::Matrix3d::Identity();
     Eigen::Matrix3d Qw = sensor_angvel_base->getNoiseCov().bottomRightCorner<3,3>();
diff --git a/src/processor/processor_point_feet_nomove.cpp b/src/processor/processor_point_feet_nomove.cpp
index 517231ee027cd0db2e8a530e2df15ff2417a2bae..358ad06be77d987125dcd0341bbd10e62c6fdd78 100644
--- a/src/processor/processor_point_feet_nomove.cpp
+++ b/src/processor/processor_point_feet_nomove.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file processor_point_feet_nomove.cpp
  *
@@ -25,14 +46,14 @@ void ProcessorPointFeetNomove::configure(SensorBasePtr _sensor)
 void ProcessorPointFeetNomove::createFactorIfNecessary(){
     auto sensor_pfnm = std::static_pointer_cast<SensorPointFeetNomove>(getSensor());
 
-    while (buffer_pack_kf_.size() >= 2)
+    while (buffer_frame_.size() >= 2)
     {
-        auto kf1_it = buffer_pack_kf_.getContainer().begin();
+        auto kf1_it = buffer_frame_.getContainer().begin();
         auto kf2_it = std::next(kf1_it);
         TimeStamp t1 = kf1_it->first;
         TimeStamp t2 = kf2_it->first;
-        auto cap1_it = buffer_capture_.selectIterator(t1, kf1_it->second->time_tolerance);
-        auto cap2_it = buffer_capture_.selectIterator(t2, kf1_it->second->time_tolerance);
+        auto cap1_it = buffer_capture_.selectIterator(t1, getTimeTolerance());
+        auto cap2_it = buffer_capture_.selectIterator(t2, getTimeTolerance());
 
         // check that the first 2 KF have corresponding captures in the capture buffer  
         // just quit and assume that you will someday have matching captures
@@ -80,7 +101,7 @@ void ProcessorPointFeetNomove::createFactorIfNecessary(){
                 auto cap2 = std::static_pointer_cast<CapturePointFeetNomove>(cap2_it->second);
                 // link (kind of arbitrarily) factor from KF1 to KF2 with a feature and capture on KF2 to mimic capture motion
                 // however, this capture solely does not contain enough information to recreate the factor
-                cap2->link(kf2_it->second->key_frame);
+                cap2->link(kf2_it->second);
                 auto kin_incontact_t2 = cap2->kin_incontact_;
 
                 for (auto kin_pair1: kin_incontact_from_t1){
@@ -88,13 +109,13 @@ void ProcessorPointFeetNomove::createFactorIfNecessary(){
 
                     Vector6d meas; meas << kin_pair1.second, kin_pair2_it->second;
                     FeatureBasePtr feat = FeatureBase::emplace<FeatureBase>(cap2, "PointFeet", meas, sensor_pfnm->getCovFootNomove());
-                    FactorPointFeetNomovePtr fac = FactorBase::emplace<FactorPointFeetNomove>(feat, feat, kf1_it->second->key_frame, nullptr, true);
+                    FactorPointFeetNomovePtr fac = FactorBase::emplace<FactorPointFeetNomove>(feat, feat, kf1_it->second, nullptr, true);
                 }
             }
 
             // Once the factors are created, remove kf1 and all the captures until ts 2 NOT INCLUDING the one at ts 2 since we need it for the next
             // Note: erase by range does not include the end range iterator
-            buffer_pack_kf_.getContainer().erase(buffer_pack_kf_.getContainer().begin(), kf2_it);  // !! works only if getContainer returns a non const reference
+            buffer_frame_.getContainer().erase(buffer_frame_.getContainer().begin(), kf2_it);  // !! works only if getContainer returns a non const reference
             buffer_capture_.getContainer().erase(buffer_capture_.getContainer().begin(), cap2_it);
         }
     }
@@ -109,11 +130,11 @@ inline void ProcessorPointFeetNomove::processCapture(CaptureBasePtr _capture)
         return;
     }
     // nothing to do if any of the two buffer is empty
-    if(buffer_pack_kf_.empty()){
+    if(buffer_frame_.empty()){
         WOLF_DEBUG("PInertialKinematic: KF pack buffer empty, time ",  _capture->getTimeStamp());
         return;
     }
-    if(buffer_pack_kf_.empty()){
+    if(buffer_frame_.empty()){
         WOLF_DEBUG("PInertialKinematics: Capture buffer empty, time ",  _capture->getTimeStamp());
         return;
     }
@@ -122,7 +143,7 @@ inline void ProcessorPointFeetNomove::processCapture(CaptureBasePtr _capture)
 
 }
 
-inline void ProcessorPointFeetNomove::processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance)
+inline void ProcessorPointFeetNomove::processKeyFrame(FrameBasePtr _keyframe_ptr)
 {
     if (!_keyframe_ptr)
     {
@@ -130,11 +151,11 @@ inline void ProcessorPointFeetNomove::processKeyFrame(FrameBasePtr _keyframe_ptr
         return;
     }
     // nothing to do if any of the two buffer is empty
-    if(buffer_pack_kf_.empty()){
+    if(buffer_frame_.empty()){
         WOLF_DEBUG("ProcessorPointFeetNomove: KF pack buffer empty, time ",  _keyframe_ptr->getTimeStamp());
         return;
     }
-    if(buffer_pack_kf_.empty()){
+    if(buffer_frame_.empty()){
         WOLF_DEBUG("ProcessorPointFeetNomove: Capture buffer empty, time ",  _keyframe_ptr->getTimeStamp());
         return;
     }
diff --git a/src/sensor/sensor_force_torque.cpp b/src/sensor/sensor_force_torque.cpp
index 246a36f230991e2c85b932119686c8ecc6e563c8..76704952b7ce2d5971e1a181cd8a6f1ac797702b 100644
--- a/src/sensor/sensor_force_torque.cpp
+++ b/src/sensor/sensor_force_torque.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "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 86c908418f7d77e21f6ffc8ee3a31b1956822fbb..33369c5f00e3d7a65383e28cb0d65d102bcc4de7 100644
--- a/src/sensor/sensor_inertial_kinematics.cpp
+++ b/src/sensor/sensor_inertial_kinematics.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "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 066b5546c5fb85b945562f260fc45cb35b3cb34e..6e5a48b7c058aa152ad4179404a061e7fe74dedd 100644
--- a/src/sensor/sensor_point_feet_nomove.cpp
+++ b/src/sensor/sensor_point_feet_nomove.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "bodydynamics/sensor/sensor_point_feet_nomove.h"
 
 namespace wolf {
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index e3cae6955696d1c1662956f25a6fa7d8ec13dcc4..60f23c1fe3f823d3c1c848365735928550d24095 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -22,7 +22,7 @@ add_subdirectory(gtest)
 
 
 # Include gtest directory.
-include_directories(${GTEST_INCLUDE_DIRS} ${wolfimu_INCLUDE_DIRS})
+include_directories(${GTEST_INCLUDE_DIRS})
 
 ################# ADD YOUR TESTS BELOW ####################
 #                                                         #
@@ -38,10 +38,10 @@ wolf_add_gtest(gtest_feature_inertial_kinematics gtest_feature_inertial_kinemati
 target_link_libraries(gtest_feature_inertial_kinematics ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_factor_inertial_kinematics gtest_factor_inertial_kinematics.cpp)
-target_link_libraries(gtest_factor_inertial_kinematics ${PLUGIN_NAME} ${wolfimu_LIBRARIES})
+target_link_libraries(gtest_factor_inertial_kinematics ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_factor_force_torque gtest_factor_force_torque.cpp)
-target_link_libraries(gtest_factor_force_torque ${PLUGIN_NAME} ${wolfimu_LIBRARIES})
+target_link_libraries(gtest_factor_force_torque ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_force_torque_delta_tools gtest_force_torque_delta_tools.cpp)
 target_link_libraries(gtest_force_torque_delta_tools ${PLUGIN_NAME})
@@ -49,11 +49,11 @@ target_link_libraries(gtest_force_torque_delta_tools ${PLUGIN_NAME})
 # wolf_add_gtest(gtest_feature_force_torque_preint gtest_feature_force_torque_preint.cpp)
 # target_link_libraries(gtest_feature_force_torque_preint ${PLUGIN_NAME})
 
-wolf_add_gtest(gtest_processor_inertial_kinematics gtest_processor_inertial_kinematics.cpp)
-target_link_libraries(gtest_processor_inertial_kinematics ${PLUGIN_NAME} ${wolfimu_LIBRARIES})
+# wolf_add_gtest(gtest_processor_inertial_kinematics gtest_processor_inertial_kinematics.cpp)
+# target_link_libraries(gtest_processor_inertial_kinematics ${PLUGIN_NAME})
 
-wolf_add_gtest(gtest_processor_force_torque_preint gtest_processor_force_torque_preint.cpp)
-target_link_libraries(gtest_processor_force_torque_preint ${PLUGIN_NAME} ${wolfimu_LIBRARIES})
+# wolf_add_gtest(gtest_processor_force_torque_preint gtest_processor_force_torque_preint.cpp)
+# target_link_libraries(gtest_processor_force_torque_preint ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_processor_point_feet_nomove gtest_processor_point_feet_nomove.cpp)
 target_link_libraries(gtest_processor_point_feet_nomove ${PLUGIN_NAME})
diff --git a/test/gtest_capture_inertial_kinematics.cpp b/test/gtest_capture_inertial_kinematics.cpp
index b3130fa123e7db927988bfe86848dae69e27b4ef..4402ddec609e504f7f5fc63e345eb2eda6778980 100644
--- a/test/gtest_capture_inertial_kinematics.cpp
+++ b/test/gtest_capture_inertial_kinematics.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file gtest_capture_inertial_kinematics.cpp
  *
diff --git a/test/gtest_capture_leg_odom.cpp b/test/gtest_capture_leg_odom.cpp
index f0b8d69b310d8ef5179378eae63b471441b18172..6b19d8db8b85ff86254e84c373cb23a4616a7833 100644
--- a/test/gtest_capture_leg_odom.cpp
+++ b/test/gtest_capture_leg_odom.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file gtest_capture_leg_odom.cpp
  *
diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp
index 12de186211a52c91ccbb85b087311556b9ebf359..16bd8d88a91abebcf2c00cdabb7bd163f44e2046 100644
--- a/test/gtest_factor_force_torque.cpp
+++ b/test/gtest_factor_force_torque.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 /**
  * \file gtest_factor_inertial_kinematics.cpp
@@ -220,7 +241,7 @@ class FactorInertialKinematics_2KF : public testing::Test
         tA_.set(0);
         x_origin_ = VectorComposite("POV", {Vector3d(0,0,0), Quaterniond::Identity().coeffs(), Vector3d(0,0,0)});
         s_origin_ = VectorComposite("POV", {1e-3*Vector3d(1,1,1), 1e-3*Vector3d(1,1,1), 1e-3*Vector3d(1,1,1)});
-        KFA_ = problem_->setPriorFactor(x_origin_, s_origin_, tA_, 0.005);
+        KFA_ = problem_->setPriorFactor(x_origin_, s_origin_, tA_);
 
 
         // ADD THE STATEBLOCKS AND SET THEIR DEFAULT VALUES
diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp
index 8dfb0f528b5389f9703d2244ecac5529b4006f09..45034d63e1e90ab4c86172a8ba81a88317cd6bb4 100644
--- a/test/gtest_factor_inertial_kinematics.cpp
+++ b/test/gtest_factor_inertial_kinematics.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 /**
  * \file gtest_factor_inertial_kinematics.cpp
@@ -97,7 +118,7 @@ class FactorInertialKinematics_1KF : public testing::Test
         x_origin_ = VectorComposite("POV", {Vector3d(0,0,0), Quaterniond::Identity().coeffs(), Vector3d(0,0,0)});
         s_origin_ = VectorComposite("POV", {1e-3*Vector3d(1,1,1), 1e-3*Vector3d(1,1,1), 1e-3*Vector3d(1,1,1)});
         t_.set(0.0);
-        KF0_ = problem_->setPriorFactor(x_origin_, s_origin_, t_, 0.005);
+        KF0_ = problem_->setPriorFactor(x_origin_, s_origin_, t_);
 
         ParamsSensorInertialKinematicsPtr intr_ik = std::make_shared<ParamsSensorInertialKinematics>();
         SIK_ = std::make_shared<SensorInertialKinematics>(Eigen::VectorXd(0), intr_ik);
diff --git a/test/gtest_feature_inertial_kinematics.cpp b/test/gtest_feature_inertial_kinematics.cpp
index cd3098b377e38686206aed0338b5b28c74f92296..41d39701af5ac0ed184a8324ac88ba2faf51c6c1 100644
--- a/test/gtest_feature_inertial_kinematics.cpp
+++ b/test/gtest_feature_inertial_kinematics.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file gtest_feature_inertial_kinematics.cpp
  *
diff --git a/test/gtest_force_torque_delta_tools.cpp b/test/gtest_force_torque_delta_tools.cpp
index 7c54c3dc912ae48db208b128107ef822e09f4bbe..e27553d54600d3538c6b87671ecfa276ace51182 100644
--- a/test/gtest_force_torque_delta_tools.cpp
+++ b/test/gtest_force_torque_delta_tools.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * 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 4c8d6ebedc692c824ba17bfa41c6a852e1831415..3465ea6187358cffe667af6a2dd326d279e31e47 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/test/gtest_processor_force_torque_preint.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 /**
  * \file gtest_factor_force_torque_preint.cpp
@@ -201,7 +222,7 @@ public:
         // SETPRIOR RETRO-ENGINEERING
         // We are not using setPrior because of processors initial captures problems so we have to
         // - Manually set problem prior
-        // - call setOrigin on processors isMotion
+        // - call setOrigin on processors MotionProvider
         setOriginState();
         MatrixXd P_origin_ = pow(1e-3, 2) * MatrixXd::Identity(18,18);
         KF1_ = problem_->emplaceFrame( t0_, x_origin_);
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index aa61bcf6cd7c7aefef635738028cf6d5030afa3b..bee3fb3c6127bdd35969b3d8bc3eb5d2659bd286 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/test/gtest_processor_inertial_kinematics.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 /**
  * \file gtest_factor_inertial_kinematics.cpp
@@ -102,7 +123,7 @@ class FactorInertialKinematics_2KF : public testing::Test
         VectorXd std_vec = pow(1e-3, 2)*VectorXd::Ones(18); 
         VectorComposite prior(x_origin_,  "POVCDL", {3,4,3,3,3,3});
         VectorComposite prior_std(std_vec, "POVCDL", {3,3,3,3,3,3});
-        problem_->setPriorFactor(prior, prior_std, t_, 0.001);
+        problem_->setPriorFactor(prior, prior_std, t_);
         KF0_ = problem_->getTrajectory()->getLastFrame();
 
         // Set origin of processor Imu
diff --git a/test/gtest_processor_point_feet_nomove.cpp b/test/gtest_processor_point_feet_nomove.cpp
index 46eac65e5d406bea477078112ebfd5e202488240..2a246f3a1292c1b96a74ffeecb7c1ec65bc66471 100644
--- a/test/gtest_processor_point_feet_nomove.cpp
+++ b/test/gtest_processor_point_feet_nomove.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 /**
  * \file gtest_processor_point_feet_nomove.cpp
@@ -86,7 +107,7 @@ class PointFeetCaptures : public testing::Test
         VectorXd std_vec = pow(1e-3, 2)*VectorXd::Ones(6); 
         VectorComposite prior(x_origin_,   "PO", {3,4});
         VectorComposite prior_std(std_vec, "PO", {3,3});
-        problem_->setPriorFactor(prior, prior_std, 0.0, 0.001);
+        problem_->setPriorFactor(prior, prior_std, 0.0);
         KF0_ = problem_->getTrajectory()->getLastFrame();
 
         // Simulate captures with 4 point feet
@@ -137,10 +158,10 @@ TEST_F(PointFeetCaptures, process_all_capture_first)
 
     // factor creation due to keyFrameCallback
     FrameBasePtr KF1 = problem_->emplaceFrame(2.0, x_origin_);
-    proc_pfnm_base_->keyFrameCallback(KF1, 0.001);
+    proc_pfnm_base_->keyFrameCallback(KF1);
 
     FrameBasePtr KF2 = problem_->emplaceFrame(3.0, x_origin_);
-    proc_pfnm_base_->keyFrameCallback(KF2, 0.001);
+    proc_pfnm_base_->keyFrameCallback(KF2);
 
     problem_->print(4,1,1,1);
 }
@@ -150,10 +171,10 @@ TEST_F(PointFeetCaptures, process_all_capture_last)
 {
     // First, get the key frames from the keyFrameCallback
     FrameBasePtr KF1 = problem_->emplaceFrame(2.0, x_origin_);
-    proc_pfnm_base_->keyFrameCallback(KF1, 0.001);
+    proc_pfnm_base_->keyFrameCallback(KF1);
 
     FrameBasePtr KF2 = problem_->emplaceFrame(3.0, x_origin_);
-    proc_pfnm_base_->keyFrameCallback(KF2, 0.001);
+    proc_pfnm_base_->keyFrameCallback(KF2);
 
     // Then process the captures
     CPF0_->process();
diff --git a/test/gtest_sensor_force_torque.cpp b/test/gtest_sensor_force_torque.cpp
index 2aceeb1bab69020ae1ff064003a19191fbf52d22..470b78a2f10e92f44e604b5c267de4497e882000 100644
--- a/test/gtest_sensor_force_torque.cpp
+++ b/test/gtest_sensor_force_torque.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file gtest_sensor_force_torque.cpp
  *
diff --git a/test/gtest_sensor_inertial_kinematics.cpp b/test/gtest_sensor_inertial_kinematics.cpp
index acad94ea11e65492f18610307eab9a2f7805e083..dc981d726049df6bb6145fe8d9ae3c6708a4499a 100644
--- a/test/gtest_sensor_inertial_kinematics.cpp
+++ b/test/gtest_sensor_inertial_kinematics.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of 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
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file gtest_sensor_inertial_kinematics.cpp
  *