diff --git a/include/bodydynamics/factor/factor_angular_momentum.h b/include/bodydynamics/factor/factor_angular_momentum.h
index 6598a69a6874f2f570091dbe6c89216c64398a58..41f8face63fb0df03d7eb05af2c181bc8e649fcd 100644
--- a/include/bodydynamics/factor/factor_angular_momentum.h
+++ b/include/bodydynamics/factor/factor_angular_momentum.h
@@ -17,29 +17,8 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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_ANGULAR_MOMENTUM_H
-#define FACTOR_ANGULAR_MOMENTUM_H
+
+#pragma once
 
 #include "bodydynamics/math/force_torque_inertial_delta_tools.h"
 #include <core/feature/feature_motion.h>
@@ -198,6 +177,4 @@ inline bool FactorAngularMomentum::operator()(const T* const _L,
     return true;
 }
 
-}  // namespace wolf
-
-#endif  // FACTOR_ANGULAR_MOMENTUM_H
+}  // namespace wolf
\ No newline at end of file
diff --git a/include/bodydynamics/factor/factor_force_torque_inertial.h b/include/bodydynamics/factor/factor_force_torque_inertial.h
index 51e00c6b44da903f4ff419a18762d4a5532090cd..ca535d44a382e6030bcec45a362b14c9aef896fe 100644
--- a/include/bodydynamics/factor/factor_force_torque_inertial.h
+++ b/include/bodydynamics/factor/factor_force_torque_inertial.h
@@ -17,29 +17,8 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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_INERTIAL_H
-#define FACTOR_FORCE_TORQUE_INERTIAL_H
+
+#pragma once
 
 #include "bodydynamics/math/force_torque_inertial_delta_tools.h"
 #include <core/feature/feature_motion.h>
@@ -247,6 +226,4 @@ inline bool FactorForceTorqueInertial::operator()(const T* const _p1,
     return true;
 }
 
-}  // namespace wolf
-
-#endif  // FACTOR_FORCE_TORQUE_INERTIAL_H
+}  // namespace wolf
\ No newline at end of file
diff --git a/include/bodydynamics/factor/factor_force_torque_inertial_dynamics.h b/include/bodydynamics/factor/factor_force_torque_inertial_dynamics.h
index 0aee92fbd563e59cc9170135c2f91c4a5c08bc2b..84393d05b79ff6718213f1e31440634c165ae60d 100644
--- a/include/bodydynamics/factor/factor_force_torque_inertial_dynamics.h
+++ b/include/bodydynamics/factor/factor_force_torque_inertial_dynamics.h
@@ -17,29 +17,8 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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_INERTIAL_DYNAMICS_H
-#define FACTOR_FORCE_TORQUE_INERTIAL_DYNAMICS_H
+
+#pragma once
 
 #include "bodydynamics/math/force_torque_inertial_delta_tools.h"
 #include <core/feature/feature_motion.h>
@@ -299,6 +278,4 @@ inline bool FactorForceTorqueInertialDynamics::operator()(const T* const _p1,
     return true;
 }
 
-}  // namespace wolf
-
-#endif  // FACTOR_FORCE_TORQUE_INERTIAL_H
+}  // namespace wolf
\ No newline at end of file
diff --git a/include/bodydynamics/math/force_torque_inertial_delta_tools.h b/include/bodydynamics/math/force_torque_inertial_delta_tools.h
index 808dc58bd44e66daefe3d62ae002b5bc1d63be19..2c6543ed7868a7d5e4325b3b0a09c5ff809b3870 100644
--- a/include/bodydynamics/math/force_torque_inertial_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_inertial_delta_tools.h
@@ -17,36 +17,8 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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--------
-/*
- * force_torque_inertial_delta_tools.h
- *
- *  Created on: Aug 8, 2021
- *      Author: jsola
- */
 
-#ifndef MATH_FORCE_TORQUE_INERTIAL_DELTA_TOOLS_H_
-#define MATH_FORCE_TORQUE_INERTIAL_DELTA_TOOLS_H_
+#pragma once
 
 #include <core/common/wolf.h>
 #include <core/math/rotations.h>
@@ -1586,6 +1558,4 @@ void data2delta(const MatrixBase<D1>&       _data,
 
 }  // namespace fti
 }  // namespace bodydynamics
-}  // namespace wolf
-
-#endif /* MATH_FORCE_TORQUE_INERTIAL_DELTA_TOOLS_H_ */
+}  // namespace wolf
\ No newline at end of file
diff --git a/include/bodydynamics/processor/processor_force_torque_inertial.h b/include/bodydynamics/processor/processor_force_torque_inertial.h
index dbcd5a37ca855f6e929deb4a1bbf1a602abb7b9e..b51b61bb0f27f8730adde658e27321949cc919ce 100644
--- a/include/bodydynamics/processor/processor_force_torque_inertial.h
+++ b/include/bodydynamics/processor/processor_force_torque_inertial.h
@@ -17,36 +17,8 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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--------
-/*
- * processor_force_torque_inertial.h
- *
- *  Created on: Aug 19, 2021
- *      Author: jsola
- */
 
-#ifndef PROCESSOR_PROCESSOR_FORCE_TORQUE_INERTIAL_H_
-#define PROCESSOR_PROCESSOR_FORCE_TORQUE_INERTIAL_H_
+#pragma once
 
 #include "bodydynamics/math/force_torque_inertial_delta_tools.h"
 #include "bodydynamics/sensor/sensor_force_torque_inertial.h"
@@ -256,6 +228,4 @@ inline Eigen::VectorXd ProcessorForceTorqueInertial::deltaZero() const
     return bodydynamics::fti::identity();
 }
 
-} /* namespace wolf */
-
-#endif /* PROCESSOR_PROCESSOR_FORCE_TORQUE_INERTIAL_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/bodydynamics/processor/processor_force_torque_inertial_dynamics.h b/include/bodydynamics/processor/processor_force_torque_inertial_dynamics.h
index a05634b3c59b16ee9ead3cbd865524bf695b74ba..79705e2a91c1ac0fc3409254bb76a5e6e01b26c7 100644
--- a/include/bodydynamics/processor/processor_force_torque_inertial_dynamics.h
+++ b/include/bodydynamics/processor/processor_force_torque_inertial_dynamics.h
@@ -17,36 +17,8 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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--------
-/*
- * processor_force_torque_inertial_dynamics.h
- *
- *  Created on: Aug 19, 2021
- *      Author: jsola
- */
 
-#ifndef PROCESSOR_PROCESSOR_FORCE_TORQUE_INERTIAL_DYNAMICS_H_
-#define PROCESSOR_PROCESSOR_FORCE_TORQUE_INERTIAL_DYNAMICS_H_
+#pragma once
 
 #include "bodydynamics/math/force_torque_inertial_delta_tools.h"
 #include "bodydynamics/sensor/sensor_force_torque_inertial.h"
@@ -278,6 +250,4 @@ inline Eigen::VectorXd ProcessorForceTorqueInertialDynamics::deltaZero() const
     return bodydynamics::fti::identity();
 }
 
-} /* namespace wolf */
-
-#endif /* PROCESSOR_PROCESSOR_FORCE_TORQUE_INERTIAL_DYNAMICS_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/bodydynamics/sensor/sensor_force_torque_inertial.h b/include/bodydynamics/sensor/sensor_force_torque_inertial.h
index 8647c689542232b78b71884bd7cd8b186d66ecd8..538350e1b1c36dcba0495acbd29f592ca70ffb37 100644
--- a/include/bodydynamics/sensor/sensor_force_torque_inertial.h
+++ b/include/bodydynamics/sensor/sensor_force_torque_inertial.h
@@ -17,29 +17,8 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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_INERTIAL_H
-#define SENSOR_FORCE_TORQUE_INERTIAL_H
+
+#pragma once
 
 // wolf includes
 #include "core/sensor/sensor_base.h"
@@ -217,6 +196,4 @@ inline Vector7d SensorForceTorqueInertial::getModel() const
     return model;
 }
 
-}  // namespace wolf
-
-#endif  // SENSOR_FORCE_TORQUE_H
+}  // namespace wolf
\ No newline at end of file
diff --git a/src/capture/capture_force_torque_inertial.cpp b/src/capture/capture_force_torque_inertial.cpp
index 2de45dc1799bca62b4bf3d0bf187192d75874d8f..6f16925fee574f9686dcd6eb635708709bdaa3e9 100644
--- a/src/capture/capture_force_torque_inertial.cpp
+++ b/src/capture/capture_force_torque_inertial.cpp
@@ -17,27 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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_force_torque_inertial.h"
 
 #include <core/state_block/state_block_derived.h>
diff --git a/src/processor/processor_force_torque.cpp b/src/processor/processor_force_torque.cpp
index dbfdc376dfcbb7caf8cf50697ae05ad248ac72e7..fc4b2fd2202185c270652d03af48cd92b0a44ad8 100644
--- a/src/processor/processor_force_torque.cpp
+++ b/src/processor/processor_force_torque.cpp
@@ -17,27 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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.h"
diff --git a/src/processor/processor_force_torque_inertial.cpp b/src/processor/processor_force_torque_inertial.cpp
index 8a7b38ec92fc3ce11e6ee6576d2ae6ee9a4fb52b..79021ea01e05b02d1464f73907c9be6adae40dab 100644
--- a/src/processor/processor_force_torque_inertial.cpp
+++ b/src/processor/processor_force_torque_inertial.cpp
@@ -17,33 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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--------
-/*
- * processor_force_torque_inertial.cpp
- *
- *  Created on: Aug 19, 2021
- *      Author: jsola
- */
 
 // bodydynamics
 #include "bodydynamics/processor/processor_force_torque_inertial.h"
diff --git a/src/processor/processor_force_torque_inertial_dynamics.cpp b/src/processor/processor_force_torque_inertial_dynamics.cpp
index d1f6031af987cc8b3e95fd58b3afca027aa03827..fd31b798000f86563c63d3c3d1b194043a759b10 100644
--- a/src/processor/processor_force_torque_inertial_dynamics.cpp
+++ b/src/processor/processor_force_torque_inertial_dynamics.cpp
@@ -17,33 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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--------
-/*
- * processor_force_torque_inertial_dynamics.cpp
- *
- *  Created on: Aug 1, 2022
- *      Author: asanjuan
- */
 
 // bodydynamics
 #include "bodydynamics/processor/processor_force_torque_inertial_dynamics.h"
diff --git a/src/sensor/sensor_force_torque_inertial.cpp b/src/sensor/sensor_force_torque_inertial.cpp
index 81654e8f57f618f4b5b29697415cb3c1edf6b607..43c884df7f65aaf22ca98777900612d2c3cc8355 100644
--- a/src/sensor/sensor_force_torque_inertial.cpp
+++ b/src/sensor/sensor_force_torque_inertial.cpp
@@ -17,27 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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_inertial.h"
 
diff --git a/test/gtest_factor_force_torque_inertial.cpp b/test/gtest_factor_force_torque_inertial.cpp
index 0bab1dbdf7b1a331b5d7790a4d6a22d98279d226..3efd241279209863ec5d8123cfbb71f2a63d6e0c 100644
--- a/test/gtest_factor_force_torque_inertial.cpp
+++ b/test/gtest_factor_force_torque_inertial.cpp
@@ -17,27 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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/factor/factor_force_torque_inertial.h"
 #include "bodydynamics/processor/processor_force_torque_inertial.h"
diff --git a/test/gtest_factor_force_torque_inertial_dynamics.cpp b/test/gtest_factor_force_torque_inertial_dynamics.cpp
index 2828d18bdf6885aa3b3bae1b1a0e62272b638d79..0c90577a733483f9a36caa96103b1b8f0d3e8acd 100644
--- a/test/gtest_factor_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_factor_force_torque_inertial_dynamics.cpp
@@ -17,27 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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/factor/factor_force_torque_inertial_dynamics.h"
 #include "bodydynamics/processor/processor_force_torque_inertial_dynamics.h"
diff --git a/test/gtest_force_torque_delta_tools.cpp b/test/gtest_force_torque_delta_tools.cpp
index e0443ea609b8e99ac941bd5a8fd90dedf56fdcf7..95228e3ef94f9922ac9cd4e3e19a742db3ec8e63 100644
--- a/test/gtest_force_torque_delta_tools.cpp
+++ b/test/gtest_force_torque_delta_tools.cpp
@@ -17,12 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-/*
- * gtest_force_torque_delta_tools.cpp
- *
- *  Created on: Feb 17, 2020
- *      Author: mfourmy
- */
 
 #include "bodydynamics/math/force_torque_delta_tools.h"
 #include <core/utils/utils_gtest.h>
diff --git a/test/gtest_force_torque_inertial_delta_tools.cpp b/test/gtest_force_torque_inertial_delta_tools.cpp
index 9abe512bee9aaa865e7d154a0ba9a8b32b87989b..13a008780660adde66fe24f06c62b30ac8fa2dfb 100644
--- a/test/gtest_force_torque_inertial_delta_tools.cpp
+++ b/test/gtest_force_torque_inertial_delta_tools.cpp
@@ -17,33 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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_inertial_tools.cpp
- *
- *  Created on: Aug 8, 2021
- *      Author: jsola
- */
 
 #include "bodydynamics/math/force_torque_inertial_delta_tools.h"
 #include <core/utils/utils_gtest.h>
diff --git a/test/gtest_processor_force_torque_inertial.cpp b/test/gtest_processor_force_torque_inertial.cpp
index 10213700aa5510adc19086ed00f33eaa48ada787..050a8a21e3e2bc9f26a4123a03642c0b2d4b9a2a 100644
--- a/test/gtest_processor_force_torque_inertial.cpp
+++ b/test/gtest_processor_force_torque_inertial.cpp
@@ -17,33 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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_processor_force_torque_inertial.cpp
- *
- *  Created on: Aug 19, 2021
- *      Author: jsola
- */
 
 #include "bodydynamics/processor/processor_force_torque_inertial.h"
 
diff --git a/test/gtest_processor_force_torque_inertial_dynamics.cpp b/test/gtest_processor_force_torque_inertial_dynamics.cpp
index 94077421cb97fdf8f51826dc9dfb68ec43aa9175..79ca28d851bdb843b1ec6ef9646d69a975ddebd8 100644
--- a/test/gtest_processor_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_processor_force_torque_inertial_dynamics.cpp
@@ -17,27 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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/factor/factor_force_torque_inertial_dynamics.h"
 #include "bodydynamics/processor/processor_force_torque_inertial_dynamics.h"
diff --git a/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp b/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp
index ea27c298cc9dd493e8356a501a8232be3a0b4d18..ca22130dbb8b7d2cb700f1870f66c29918844e1c 100644
--- a/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp
@@ -17,27 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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/factor/factor_force_torque_inertial_dynamics.h"
 #include "bodydynamics/factor/factor_angular_momentum.h"
diff --git a/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp b/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
index d914c5ff5197676deeb649fdd52f0023ed96081a..d648d910bc4f07d6eabc088d0f775fb5dba00778 100644
--- a/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
@@ -17,27 +17,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 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/factor/factor_force_torque_inertial_dynamics.h"
 #include "bodydynamics/factor/factor_angular_momentum.h"