diff --git a/demos/eigenmvn.h b/demos/eigenmvn.h
index 4de9be54f1b7a06a0328745f892d0db4bf8f8295..ca871ae838a86541b5242d2b2437569650163e53 100644
--- a/demos/eigenmvn.h
+++ b/demos/eigenmvn.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -153,4 +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 c85c22064ffd6b13a93228122cb013c633277aa8..9fdc2feebbea2a407bd5268d0be86388804e5de3 100644
--- a/demos/mcapi_pov_estimation.cpp
+++ b/demos/mcapi_pov_estimation.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/mcapi_povcdl_estimation.cpp b/demos/mcapi_povcdl_estimation.cpp
index d48c67e50dfe816816e028f556d044e313ea2972..82bf7d64e2c9779a17a590fc7b9a6cf2b58cded1 100644
--- a/demos/mcapi_povcdl_estimation.cpp
+++ b/demos/mcapi_povcdl_estimation.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/mcapi_utils.cpp b/demos/mcapi_utils.cpp
index 552e847dbc590b318757cfbea9e527036b519611..d893b4669ce2514f3f15b3bf73500f243923e19c 100644
--- a/demos/mcapi_utils.cpp
+++ b/demos/mcapi_utils.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/mcapi_utils.h b/demos/mcapi_utils.h
index 44c69fa457887275f705a1e9504d51a73c025be9..c62c4026a1dac41733350f2b96fb554285f30715 100644
--- a/demos/mcapi_utils.h
+++ b/demos/mcapi_utils.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -73,4 +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_mocap_imu.cpp b/demos/solo_mocap_imu.cpp
index 82a0734156de7d8a32f33a0bc16073dfdb77c007..19f8dfaa700dbcb7876dfd2f3587bb996d68ab1b 100644
--- a/demos/solo_mocap_imu.cpp
+++ b/demos/solo_mocap_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solo_real_pov_estimation.cpp b/demos/solo_real_pov_estimation.cpp
index 9845fc57afb2826d541f1aedf9b9650e69a36f84..fbae4d51a0f97f30aa05c5329ca754986ce72cb2 100644
--- a/demos/solo_real_pov_estimation.cpp
+++ b/demos/solo_real_pov_estimation.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index ffdcd3f6ad5699566f86dc62acd02daec53aa592..0e4e6a4a6ce958563c3b4e84dfe3f31feb42f464 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/capture/capture_force_torque_preint.h b/include/bodydynamics/capture/capture_force_torque_preint.h
index 82183e546063fd73fd2869d8416b5b107bfe57b1..12f4eb58c9e2a8b8d89e7923bea393e93bae48a5 100644
--- a/include/bodydynamics/capture/capture_force_torque_preint.h
+++ b/include/bodydynamics/capture/capture_force_torque_preint.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/capture/capture_inertial_kinematics.h b/include/bodydynamics/capture/capture_inertial_kinematics.h
index 2db51fab472fb317142d8444684e25f12849694b..70baff8f311f6fc17d19305559c959d62ef079a2 100644
--- a/include/bodydynamics/capture/capture_inertial_kinematics.h
+++ b/include/bodydynamics/capture/capture_inertial_kinematics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/capture/capture_leg_odom.h b/include/bodydynamics/capture/capture_leg_odom.h
index 336fb856a2e261ff7a47738fdbb0de05911e9967..b1d8652e0f3f9bd8c0dbbb001bc10714fa3cf8b9 100644
--- a/include/bodydynamics/capture/capture_leg_odom.h
+++ b/include/bodydynamics/capture/capture_leg_odom.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/capture/capture_point_feet_nomove.h b/include/bodydynamics/capture/capture_point_feet_nomove.h
index 64a3f7008e1d23c89ea5d408099dc77b0447343d..1e57c0cdd71d3cc2cd85f196a51e16df57dce844 100644
--- a/include/bodydynamics/capture/capture_point_feet_nomove.h
+++ b/include/bodydynamics/capture/capture_point_feet_nomove.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/factor/factor_force_torque.h b/include/bodydynamics/factor/factor_force_torque.h
index cc80ee1dd51d8fa80379dad5ae0e0558e1ddbca9..85d74de654cfd2976eae06ab640086fec74870aa 100644
--- a/include/bodydynamics/factor/factor_force_torque.h
+++ b/include/bodydynamics/factor/factor_force_torque.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/factor/factor_force_torque_preint.h b/include/bodydynamics/factor/factor_force_torque_preint.h
index 6d9e6ce95fc6fe74cf9d9e724fc481c80ade777a..841bb63d6f94ffa9dc4ec115e5f4a3c3dd06d20a 100644
--- a/include/bodydynamics/factor/factor_force_torque_preint.h
+++ b/include/bodydynamics/factor/factor_force_torque_preint.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/factor/factor_inertial_kinematics.h b/include/bodydynamics/factor/factor_inertial_kinematics.h
index f568f98d26a516d78102d79f515b271b497c4ae5..c0b36d22bdd65b63b575e6d80863ea2eea978405 100644
--- a/include/bodydynamics/factor/factor_inertial_kinematics.h
+++ b/include/bodydynamics/factor/factor_inertial_kinematics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/factor/factor_point_feet_nomove.h b/include/bodydynamics/factor/factor_point_feet_nomove.h
index 7cc0c2ade684ade0c8ae1f68fb77d31f82481291..58e7804f43b3c3e1ffe0de8e85711c3f3d595e06 100644
--- a/include/bodydynamics/factor/factor_point_feet_nomove.h
+++ b/include/bodydynamics/factor/factor_point_feet_nomove.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/feature/feature_force_torque.h b/include/bodydynamics/feature/feature_force_torque.h
index a2788bbed38f7179bc22b0c46c581386f4ff4c31..bbe2fda19d7fcdbde4e88aa564efc3547a6293ef 100644
--- a/include/bodydynamics/feature/feature_force_torque.h
+++ b/include/bodydynamics/feature/feature_force_torque.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/feature/feature_force_torque_preint.h b/include/bodydynamics/feature/feature_force_torque_preint.h
index 01e8162f08821ebb84a7e2dad1390dfe3f3a97fb..9a03d2a73e668123b29dd948c7988795ea45f9cf 100644
--- a/include/bodydynamics/feature/feature_force_torque_preint.h
+++ b/include/bodydynamics/feature/feature_force_torque_preint.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/feature/feature_inertial_kinematics.h b/include/bodydynamics/feature/feature_inertial_kinematics.h
index 684116c018503cebbbc941fb420b1ebed6e429bc..bb9588ffbc24e78162bedddc5df7a914f7d55c63 100644
--- a/include/bodydynamics/feature/feature_inertial_kinematics.h
+++ b/include/bodydynamics/feature/feature_inertial_kinematics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/math/force_torque_delta_tools.h b/include/bodydynamics/math/force_torque_delta_tools.h
index a982beec81d0a69d1ee2f92d7f4b9be2f9e245ed..fdc3d3a8034f5fa4372b0b0796b27b60ce889eb5 100644
--- a/include/bodydynamics/math/force_torque_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_delta_tools.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/processor/processor_force_torque_preint.h b/include/bodydynamics/processor/processor_force_torque_preint.h
index 1c6133e282734c512b0260fd21781353669a6b0b..b081dbdb1e0dca7f010b48d28db8ac3aa02b6ddb 100644
--- a/include/bodydynamics/processor/processor_force_torque_preint.h
+++ b/include/bodydynamics/processor/processor_force_torque_preint.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/processor/processor_inertial_kinematics.h b/include/bodydynamics/processor/processor_inertial_kinematics.h
index 3bedaa8c540ea9da34ee28cabaff10969c5812ea..468fd9fa27c9b1983b4723f6938c0651632d8374 100644
--- a/include/bodydynamics/processor/processor_inertial_kinematics.h
+++ b/include/bodydynamics/processor/processor_inertial_kinematics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/processor/processor_point_feet_nomove.h b/include/bodydynamics/processor/processor_point_feet_nomove.h
index f9265c5ae653edd9f2814f7bae987c57a8830715..49c40be86b331397416bc8bf806aac4a4b6f9419 100644
--- a/include/bodydynamics/processor/processor_point_feet_nomove.h
+++ b/include/bodydynamics/processor/processor_point_feet_nomove.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/sensor/sensor_force_torque.h b/include/bodydynamics/sensor/sensor_force_torque.h
index d2e616c10a28605121b74264f42ac212237aa008..eea790dd1b52e104b730e9a7bd20a4d0f52a31af 100644
--- a/include/bodydynamics/sensor/sensor_force_torque.h
+++ b/include/bodydynamics/sensor/sensor_force_torque.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/sensor/sensor_inertial_kinematics.h b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
index 8b5b85736e9b8cf18a33b04e6b31be5db9f231c7..76e74adc98c6934efae76c27c4c0efea6527db3e 100644
--- a/include/bodydynamics/sensor/sensor_inertial_kinematics.h
+++ b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/sensor/sensor_point_feet_nomove.h b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
index 752fadd41f9e83e8705d9285d0bdb83221054ebc..7f58ad65e96d1ca4c249cdd23a4f8e88b03f8060 100644
--- a/include/bodydynamics/sensor/sensor_point_feet_nomove.h
+++ b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/license_header_2021.txt b/license_header_2022.txt
similarity index 89%
rename from license_header_2021.txt
rename to license_header_2022.txt
index c75a6f243b37109b77d60e16b7caebfc19215aea..0c987025f9dba3e7af993051b9bdf4b5ff400e0d 100644
--- a/license_header_2021.txt
+++ b/license_header_2022.txt
@@ -1,4 +1,4 @@
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_force_torque_preint.cpp b/src/capture/capture_force_torque_preint.cpp
index cdf5b1c3de7b5af2a5da8c33737e197e1d929804..83e145e4b85a4895a81dce2251fcddd10681460d 100644
--- a/src/capture/capture_force_torque_preint.cpp
+++ b/src/capture/capture_force_torque_preint.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_inertial_kinematics.cpp b/src/capture/capture_inertial_kinematics.cpp
index 6aa0f9d1a01ad98597f52d12fe22ce0f22ba4bd2..3640f6b966c49cde3ed4fb8f3db94856fbf14bc7 100644
--- a/src/capture/capture_inertial_kinematics.cpp
+++ b/src/capture/capture_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_leg_odom.cpp b/src/capture/capture_leg_odom.cpp
index e55c6f212534440168f68750759341d15d874559..69336fa53b1e686d3434bf3a0e821f0315f844c1 100644
--- a/src/capture/capture_leg_odom.cpp
+++ b/src/capture/capture_leg_odom.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_point_feet_nomove.cpp b/src/capture/capture_point_feet_nomove.cpp
index 9c7cc03b6f97bc62ab4ef10559be6c2c0c98ccb0..3d4dca45ced860903bfdfabc3f4a86e088b63859 100644
--- a/src/capture/capture_point_feet_nomove.cpp
+++ b/src/capture/capture_point_feet_nomove.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_force_torque.cpp b/src/feature/feature_force_torque.cpp
index 0ec5d85c2ae88793c593d6c9134706d31df7316c..83c12548fd923e7621b56465ecedbcc12b673500 100644
--- a/src/feature/feature_force_torque.cpp
+++ b/src/feature/feature_force_torque.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -51,4 +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 800aeb72b5d75685752339fb6e00168a0d4e668a..1a21081d827843645a62c75508b3ceda10794c71 100644
--- a/src/feature/feature_force_torque_preint.cpp
+++ b/src/feature/feature_force_torque_preint.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_inertial_kinematics.cpp b/src/feature/feature_inertial_kinematics.cpp
index 56f872988e8ab80877256bad33d309be7b16d7ad..8f80b0ddc96b0029211ed5b66940c1a5af6db117 100644
--- a/src/feature/feature_inertial_kinematics.cpp
+++ b/src/feature/feature_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_force_torque_preint.cpp b/src/processor/processor_force_torque_preint.cpp
index e24f86d5ef48a1957c291acac94dcad3766bfb9e..e9d848f21aee638737bd12621d602a37ecd6903b 100644
--- a/src/processor/processor_force_torque_preint.cpp
+++ b/src/processor/processor_force_torque_preint.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_inertial_kinematics.cpp b/src/processor/processor_inertial_kinematics.cpp
index 28305970d7877cb8239e9009e1db3eb5356df4b8..d9dc8630d7dbd048bd8be48e3cb919b52a4c0014 100644
--- a/src/processor/processor_inertial_kinematics.cpp
+++ b/src/processor/processor_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_point_feet_nomove.cpp b/src/processor/processor_point_feet_nomove.cpp
index 036fee9c13114c7f0188ace02904d3ce2564ffbb..358ad06be77d987125dcd0341bbd10e62c6fdd78 100644
--- a/src/processor/processor_point_feet_nomove.cpp
+++ b/src/processor/processor_point_feet_nomove.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_force_torque.cpp b/src/sensor/sensor_force_torque.cpp
index ca60f3f2e9f1df4550021be9153b39d9afec2f20..76704952b7ce2d5971e1a181cd8a6f1ac797702b 100644
--- a/src/sensor/sensor_force_torque.cpp
+++ b/src/sensor/sensor_force_torque.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_inertial_kinematics.cpp b/src/sensor/sensor_inertial_kinematics.cpp
index a3c1b013c68ef956915d008bec45dc6b067d7625..33369c5f00e3d7a65383e28cb0d65d102bcc4de7 100644
--- a/src/sensor/sensor_inertial_kinematics.cpp
+++ b/src/sensor/sensor_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_point_feet_nomove.cpp b/src/sensor/sensor_point_feet_nomove.cpp
index aecbe304d8e0437665c0f98e6a80aab6158c194c..6e5a48b7c058aa152ad4179404a061e7fe74dedd 100644
--- a/src/sensor/sensor_point_feet_nomove.cpp
+++ b/src/sensor/sensor_point_feet_nomove.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_capture_inertial_kinematics.cpp b/test/gtest_capture_inertial_kinematics.cpp
index cd09a7194e2b442c604bf7c8811e41f3afb9dade..4402ddec609e504f7f5fc63e345eb2eda6778980 100644
--- a/test/gtest_capture_inertial_kinematics.cpp
+++ b/test/gtest_capture_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_capture_leg_odom.cpp b/test/gtest_capture_leg_odom.cpp
index 1c633fde178ba664f17729f4f63ded2c3033ea4e..6b19d8db8b85ff86254e84c373cb23a4616a7833 100644
--- a/test/gtest_capture_leg_odom.cpp
+++ b/test/gtest_capture_leg_odom.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp
index 5a62fc046caa8bc778e505312485314a9dcae3a9..16bd8d88a91abebcf2c00cdabb7bd163f44e2046 100644
--- a/test/gtest_factor_force_torque.cpp
+++ b/test/gtest_factor_force_torque.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp
index 00d43d2a4f2c9280beb6b986f9ba392cdfb29f9d..45034d63e1e90ab4c86172a8ba81a88317cd6bb4 100644
--- a/test/gtest_factor_inertial_kinematics.cpp
+++ b/test/gtest_factor_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_feature_inertial_kinematics.cpp b/test/gtest_feature_inertial_kinematics.cpp
index 702f49b4f9a99c977dffb69496eeebfe39149fd0..41d39701af5ac0ed184a8324ac88ba2faf51c6c1 100644
--- a/test/gtest_feature_inertial_kinematics.cpp
+++ b/test/gtest_feature_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_force_torque_delta_tools.cpp b/test/gtest_force_torque_delta_tools.cpp
index e2cd668babc2479f430f60760332867d539b7c7d..e27553d54600d3538c6b87671ecfa276ace51182 100644
--- a/test/gtest_force_torque_delta_tools.cpp
+++ b/test/gtest_force_torque_delta_tools.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp
index 87b212e0f6bfc631d79f914c984b9676daaffbf8..3465ea6187358cffe667af6a2dd326d279e31e47 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/test/gtest_processor_force_torque_preint.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index ded4ae7a52d7201e9aeaa77204d3c881f9d58954..bee3fb3c6127bdd35969b3d8bc3eb5d2659bd286 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/test/gtest_processor_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_point_feet_nomove.cpp b/test/gtest_processor_point_feet_nomove.cpp
index e501a8ae9b7523e06b6cd527e41505c8fa969413..2a246f3a1292c1b96a74ffeecb7c1ec65bc66471 100644
--- a/test/gtest_processor_point_feet_nomove.cpp
+++ b/test/gtest_processor_point_feet_nomove.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_sensor_force_torque.cpp b/test/gtest_sensor_force_torque.cpp
index 27da69a3ad1a4b75892ec7f86d85ceab777a0971..470b78a2f10e92f44e604b5c267de4497e882000 100644
--- a/test/gtest_sensor_force_torque.cpp
+++ b/test/gtest_sensor_force_torque.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_sensor_inertial_kinematics.cpp b/test/gtest_sensor_inertial_kinematics.cpp
index b72b1089a1b6d04dc432078dfb2482eaaea0bf7b..dc981d726049df6bb6145fe8d9ae3c6708a4499a 100644
--- a/test/gtest_sensor_inertial_kinematics.cpp
+++ b/test/gtest_sensor_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //