From 555beaca95e8d9753e7a43ba8dbd24953edb8857 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 6 Feb 2025 16:29:31 +0100
Subject: [PATCH] fix headers and added pragma once

---
 .../factor/factor_angular_momentum.h          | 29 ++--------------
 .../factor/factor_force_torque_inertial.h     | 29 ++--------------
 .../factor_force_torque_inertial_dynamics.h   | 29 ++--------------
 .../math/force_torque_inertial_delta_tools.h  | 34 ++-----------------
 .../processor_force_torque_inertial.h         | 34 ++-----------------
 ...processor_force_torque_inertial_dynamics.h | 34 ++-----------------
 .../sensor/sensor_force_torque_inertial.h     | 29 ++--------------
 src/capture/capture_force_torque_inertial.cpp | 21 ------------
 src/processor/processor_force_torque.cpp      | 21 ------------
 .../processor_force_torque_inertial.cpp       | 27 ---------------
 ...ocessor_force_torque_inertial_dynamics.cpp | 27 ---------------
 src/sensor/sensor_force_torque_inertial.cpp   | 21 ------------
 test/gtest_factor_force_torque_inertial.cpp   | 21 ------------
 ..._factor_force_torque_inertial_dynamics.cpp | 21 ------------
 test/gtest_force_torque_delta_tools.cpp       |  6 ----
 ...test_force_torque_inertial_delta_tools.cpp | 27 ---------------
 .../gtest_processor_force_torque_inertial.cpp | 27 ---------------
 ...ocessor_force_torque_inertial_dynamics.cpp | 21 ------------
 ...problem_force_torque_inertial_dynamics.cpp | 21 ------------
 ...problem_force_torque_inertial_dynamics.cpp | 21 ------------
 20 files changed, 18 insertions(+), 482 deletions(-)

diff --git a/include/bodydynamics/factor/factor_angular_momentum.h b/include/bodydynamics/factor/factor_angular_momentum.h
index 6598a69..41f8fac 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 51e00c6..ca535d4 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 0aee92f..84393d0 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 808dc58..2c6543e 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 dbcd5a3..b51b61b 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 a05634b..79705e2 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 8647c68..538350e 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 2de45dc..6f16925 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 dbfdc37..fc4b2fd 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 8a7b38e..79021ea 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 d1f6031..fd31b79 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 81654e8..43c884d 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 0bab1db..3efd241 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 2828d18..0c90577 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 e0443ea..95228e3 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 9abe512..13a0087 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 1021370..050a8a2 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 9407742..79ca28d 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 ea27c29..ca22130 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 d914c5f..d648d91 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"
-- 
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