diff --git a/demos/mcapi_utils.cpp b/demos/mcapi_utils.cpp
index f49f5ca2c5413e1e6b248d3201f8125892298718..dd8408910066c07bcf773d75eb047569eccdf20a 100644
--- a/demos/mcapi_utils.cpp
+++ b/demos/mcapi_utils.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "mcapi_utils.h"
 
diff --git a/demos/mcapi_utils.h b/demos/mcapi_utils.h
index 020e567fda0507e81fd8bffc5ba20cf716232349..1603ca037bf6a1579fe1ac6943b0dd90681a3634 100644
--- a/demos/mcapi_utils.h
+++ b/demos/mcapi_utils.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include <vector>
 #include "Eigen/Dense"
diff --git a/demos/solo_imu_kine.cpp b/demos/solo_imu_kine.cpp
index 50a96016d6206bcd08ccc97910d99cad510fcd58..3ee078215204eaafe476de9729d6a5a7c6107e72 100644
--- a/demos/solo_imu_kine.cpp
+++ b/demos/solo_imu_kine.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include <iostream>
 #include <fstream>
diff --git a/demos/solo_imu_kine_mocap.cpp b/demos/solo_imu_kine_mocap.cpp
index 0d5f960f4ff052400315b912db745c5b3f5f313e..6e060cd2f73acdaece2095092b08a441c37e8048 100644
--- a/demos/solo_imu_kine_mocap.cpp
+++ b/demos/solo_imu_kine_mocap.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include <iostream>
 #include <fstream>
diff --git a/demos/solo_imu_mocap.cpp b/demos/solo_imu_mocap.cpp
index 5e9df0e85adeb535342a395572f8f8bdeb0664b5..91a24cac068ba55b2f220d38f137ae24ccd5a366 100644
--- a/demos/solo_imu_mocap.cpp
+++ b/demos/solo_imu_mocap.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include <iostream>
 #include <fstream>
diff --git a/demos/solo_kine_mocap.cpp b/demos/solo_kine_mocap.cpp
index 7f6a22b026ba59096a2431c4952afffb2ed1b446..ebdc8b04b0436df7298bfe1633cc34abb797471c 100644
--- a/demos/solo_kine_mocap.cpp
+++ b/demos/solo_kine_mocap.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include <iostream>
 #include <fstream>
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index 85a41284c016e0d89a2f48ab114749d0ac5c8709..a57451b9a4016ec66b0f863a58580217b35a2b26 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include <iostream>
 #include <fstream>
diff --git a/include/bodydynamics/capture/capture_force_torque.h b/include/bodydynamics/capture/capture_force_torque.h
index 3c6fc7478c0341874c7a6ada78eaeb36818f60a1..14f22fe7b5e04686d3999b65c5bbde45d70e42d2 100644
--- a/include/bodydynamics/capture/capture_force_torque.h
+++ b/include/bodydynamics/capture/capture_force_torque.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -81,4 +80,4 @@ class CaptureForceTorque : public CaptureMotion
     CaptureBasePtr cap_gyro_other_;
 };
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/capture/capture_force_torque_inertial.h b/include/bodydynamics/capture/capture_force_torque_inertial.h
index d2e34d69553c0d8229bf76068ea7ed04b6c33ff3..38c6e81becc2945a39916de233ba2348d125a4f0 100644
--- a/include/bodydynamics/capture/capture_force_torque_inertial.h
+++ b/include/bodydynamics/capture/capture_force_torque_inertial.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/capture/capture_inertial_kinematics.h b/include/bodydynamics/capture/capture_inertial_kinematics.h
index 4f264d8ed77112d94e2250264a2e8929a8fd78f2..2a765b7592ca30692bf081580a367968c9d8ee34 100644
--- a/include/bodydynamics/capture/capture_inertial_kinematics.h
+++ b/include/bodydynamics/capture/capture_inertial_kinematics.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -65,4 +64,4 @@ class CaptureInertialKinematics : public CaptureBase
     Eigen::Matrix3d B_I_q_;
     Eigen::Vector3d B_Lc_m_;
 };
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/capture/capture_leg_odom.h b/include/bodydynamics/capture/capture_leg_odom.h
index 47efaaae54ec6101475c5e4de25a7f2bbef6e2ea..8ae53bc5a4375cc8e7867108ced64a528ac64355 100644
--- a/include/bodydynamics/capture/capture_leg_odom.h
+++ b/include/bodydynamics/capture/capture_leg_odom.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -58,4 +57,4 @@ class CaptureLegOdom : public CaptureMotion
 //     return
 // }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/capture/capture_point_feet_nomove.h b/include/bodydynamics/capture/capture_point_feet_nomove.h
index 1c8f05bac91e8c34beff2d5717486f0eca9a083e..98adfc3d930e255b0aa41142d61054ca4fbf8214 100644
--- a/include/bodydynamics/capture/capture_point_feet_nomove.h
+++ b/include/bodydynamics/capture/capture_point_feet_nomove.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -40,4 +39,4 @@ class CapturePointFeetNomove : public CaptureBase
     std::unordered_map<int, Eigen::Vector7d> kin_incontact_;
 };
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/common/bodydynamics.h b/include/bodydynamics/common/bodydynamics.h
index 706f0def1bc54f4f5eaa596b9e17c6b6d658f7a7..09075eb0fba452ee7481dd2a024a8a7f245a9054 100644
--- a/include/bodydynamics/common/bodydynamics.h
+++ b/include/bodydynamics/common/bodydynamics.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/factor/factor_angular_momentum.h b/include/bodydynamics/factor/factor_angular_momentum.h
index 41f8face63fb0df03d7eb05af2c181bc8e649fcd..7936d701a731fef60953fdbe1de8239c993a70bf 100644
--- a/include/bodydynamics/factor/factor_angular_momentum.h
+++ b/include/bodydynamics/factor/factor_angular_momentum.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -177,4 +176,4 @@ inline bool FactorAngularMomentum::operator()(const T* const _L,
     return true;
 }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/factor/factor_force_torque.h b/include/bodydynamics/factor/factor_force_torque.h
index 5cf41ea7a12b5636f55a3f3a560159690988a18f..39cf5288680f86cc3e8d53fa03b4ee6e97c696b7 100644
--- a/include/bodydynamics/factor/factor_force_torque.h
+++ b/include/bodydynamics/factor/factor_force_torque.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/factor/factor_force_torque_inertial.h b/include/bodydynamics/factor/factor_force_torque_inertial.h
index ca535d44a382e6030bcec45a362b14c9aef896fe..c438ff624d1282d636bccbfd1c1a81cc0944b744 100644
--- a/include/bodydynamics/factor/factor_force_torque_inertial.h
+++ b/include/bodydynamics/factor/factor_force_torque_inertial.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -226,4 +225,4 @@ inline bool FactorForceTorqueInertial::operator()(const T* const _p1,
     return true;
 }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/factor/factor_force_torque_inertial_dynamics.h b/include/bodydynamics/factor/factor_force_torque_inertial_dynamics.h
index 84393d05b79ff6718213f1e31440634c165ae60d..27e0effaa95f59918d91aa46e177427088e71e98 100644
--- a/include/bodydynamics/factor/factor_force_torque_inertial_dynamics.h
+++ b/include/bodydynamics/factor/factor_force_torque_inertial_dynamics.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -278,4 +277,4 @@ inline bool FactorForceTorqueInertialDynamics::operator()(const T* const _p1,
     return true;
 }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/factor/factor_inertial_kinematics.h b/include/bodydynamics/factor/factor_inertial_kinematics.h
index 1dbbc8b9a8a4adac14bf204c5d1c193b0177a7dc..05cd477ad3639fdf0fe32bba40aa4e3ef9325565 100644
--- a/include/bodydynamics/factor/factor_inertial_kinematics.h
+++ b/include/bodydynamics/factor/factor_inertial_kinematics.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -168,4 +167,4 @@ bool FactorInertialKinematics::operator()(const T* const _pb,
     return true;
 }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/factor/factor_point_feet_altitude.h b/include/bodydynamics/factor/factor_point_feet_altitude.h
index 14680259def0e358122e115dd9edd1a81dad34c4..ce2a7603c0726e5b5ded7c6177a749f6d4e2dd8c 100644
--- a/include/bodydynamics/factor/factor_point_feet_altitude.h
+++ b/include/bodydynamics/factor/factor_point_feet_altitude.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -119,4 +118,4 @@ bool FactorPointFeetAltitude::operator()(const T* const _pb, const T* const _qb,
     return true;
 }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/factor/factor_point_feet_nomove.h b/include/bodydynamics/factor/factor_point_feet_nomove.h
index 1a11be184c5e64cfde2fb209d56ea1810fa0af41..cc158c208862ba34233012f190a72338cafb4485 100644
--- a/include/bodydynamics/factor/factor_point_feet_nomove.h
+++ b/include/bodydynamics/factor/factor_point_feet_nomove.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -172,4 +171,4 @@ bool FactorPointFeetNomove::operator()(const T* const _pb,
     return true;
 }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/factor/factor_point_feet_zero_velocity.h b/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
index 5d27415052729be7e7aa1d5a56cb5898aaa0c9b2..4a59ebdcee3ec3e328efe92c8462d3ef99cf24b5 100644
--- a/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
+++ b/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -102,4 +101,4 @@ bool FactorPointFeetNomove::operator()(const T* const _vb, const T* const _qb, c
     return true;
 }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/feature/feature_force_torque.h b/include/bodydynamics/feature/feature_force_torque.h
index 7038805164b0e89c1d3e5ce48af462cdc5de6dd8..40a59654f6d365b9fb2e0bb04e5d1941d4a52e73 100644
--- a/include/bodydynamics/feature/feature_force_torque.h
+++ b/include/bodydynamics/feature/feature_force_torque.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/feature/feature_inertial_kinematics.h b/include/bodydynamics/feature/feature_inertial_kinematics.h
index b6ccdb2a5c9c89dfecbe2f94f75fa3a0c90f9ffb..59f11648e0c5525f9160143a222775e2e5438648 100644
--- a/include/bodydynamics/feature/feature_inertial_kinematics.h
+++ b/include/bodydynamics/feature/feature_inertial_kinematics.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -82,4 +81,4 @@ void recomputeIKinCov(const Eigen::Matrix3d& Qp,
                       const Eigen::Vector3d& w_unb,
                       const Eigen::Matrix3d& Iq);
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/math/force_torque_delta_tools.h b/include/bodydynamics/math/force_torque_delta_tools.h
index 1cc21b33f5df18852201731168fa5cf4b514d39c..d54858c6d46204884c5cebc9df34c621ae723204 100644
--- a/include/bodydynamics/math/force_torque_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_delta_tools.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -827,4 +826,4 @@ inline void debiasData(const MatrixBase<D1>& _data,
 }
 
 }  // namespace bodydynamics
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/math/force_torque_inertial_delta_tools.h b/include/bodydynamics/math/force_torque_inertial_delta_tools.h
index 2c6543ed7868a7d5e4325b3b0a09c5ff809b3870..d8928500065b08fd08730398c70b0157e00a34a5 100644
--- a/include/bodydynamics/math/force_torque_inertial_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_inertial_delta_tools.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -1558,4 +1557,4 @@ void data2delta(const MatrixBase<D1>&       _data,
 
 }  // namespace fti
 }  // namespace bodydynamics
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/processor/processor_force_torque.h b/include/bodydynamics/processor/processor_force_torque.h
index 502f5c08cf3d83ed41bfebaf9a3d215e3963df64..4ab3b130ffcdd2e1eb29c3702c990ffe71a950e0 100644
--- a/include/bodydynamics/processor/processor_force_torque.h
+++ b/include/bodydynamics/processor/processor_force_torque.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/include/bodydynamics/processor/processor_force_torque_inertial.h b/include/bodydynamics/processor/processor_force_torque_inertial.h
index b51b61bb0f27f8730adde658e27321949cc919ce..88ac3fe0e6e809664c83a4494857f333c2d099fa 100644
--- a/include/bodydynamics/processor/processor_force_torque_inertial.h
+++ b/include/bodydynamics/processor/processor_force_torque_inertial.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -228,4 +227,4 @@ inline Eigen::VectorXd ProcessorForceTorqueInertial::deltaZero() const
     return bodydynamics::fti::identity();
 }
 
-} /* namespace wolf */
\ No newline at end of file
+} /* namespace wolf */
diff --git a/include/bodydynamics/processor/processor_force_torque_inertial_dynamics.h b/include/bodydynamics/processor/processor_force_torque_inertial_dynamics.h
index 79705e2a91c1ac0fc3409254bb76a5e6e01b26c7..1a9ad9e4f0d8c4c2be0f6535bcebedbe277acad4 100644
--- a/include/bodydynamics/processor/processor_force_torque_inertial_dynamics.h
+++ b/include/bodydynamics/processor/processor_force_torque_inertial_dynamics.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -250,4 +249,4 @@ inline Eigen::VectorXd ProcessorForceTorqueInertialDynamics::deltaZero() const
     return bodydynamics::fti::identity();
 }
 
-} /* namespace wolf */
\ No newline at end of file
+} /* namespace wolf */
diff --git a/include/bodydynamics/processor/processor_inertial_kinematics.h b/include/bodydynamics/processor/processor_inertial_kinematics.h
index 4f8a5869872e571d80fe1f02da9c6fb1a9a60e0d..4979c8f3d11c0c5c8416c5a31c2c3058a87ae55b 100644
--- a/include/bodydynamics/processor/processor_inertial_kinematics.h
+++ b/include/bodydynamics/processor/processor_inertial_kinematics.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -125,4 +124,4 @@ Eigen::Matrix9d computeIKinCov(const Eigen::Matrix3d& Qp,
                                const Eigen::Vector3d& w_unb,
                                const Eigen::Matrix3d& Iq);
 
-} /* namespace wolf */
\ No newline at end of file
+} /* namespace wolf */
diff --git a/include/bodydynamics/processor/processor_point_feet_nomove.h b/include/bodydynamics/processor/processor_point_feet_nomove.h
index 68981066dfcfb042ef7f1a305d5e1abbb718a105..31fe7fca892108f8182c05d34914f9d57e00acf0 100644
--- a/include/bodydynamics/processor/processor_point_feet_nomove.h
+++ b/include/bodydynamics/processor/processor_point_feet_nomove.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -106,4 +105,4 @@ inline bool ProcessorPointFeetNomove::storeCapture(CaptureBasePtr)
     return true;
 }
 
-} /* namespace wolf */
\ No newline at end of file
+} /* namespace wolf */
diff --git a/include/bodydynamics/sensor/sensor_force_torque.h b/include/bodydynamics/sensor/sensor_force_torque.h
index 7f3ed699f56fb385d1207326a8b838dba986fd75..a9b81bc91aa58e401c67f892f6d78ac699223dc7 100644
--- a/include/bodydynamics/sensor/sensor_force_torque.h
+++ b/include/bodydynamics/sensor/sensor_force_torque.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -62,4 +61,4 @@ inline double SensorForceTorque::getTorqueNoiseStd() const
     return std_tau_;
 }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/sensor/sensor_force_torque_inertial.h b/include/bodydynamics/sensor/sensor_force_torque_inertial.h
index 538350e1b1c36dcba0495acbd29f592ca70ffb37..0e35e913d30eabc21309a27122720558c47b3070 100644
--- a/include/bodydynamics/sensor/sensor_force_torque_inertial.h
+++ b/include/bodydynamics/sensor/sensor_force_torque_inertial.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -196,4 +195,4 @@ inline Vector7d SensorForceTorqueInertial::getModel() const
     return model;
 }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/sensor/sensor_inertial_kinematics.h b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
index a833464a3a9cb50831aed9e78d14d019df44b9c2..99c332e07de378d2aebc21b9b88336dd4b38a6ac 100644
--- a/include/bodydynamics/sensor/sensor_inertial_kinematics.h
+++ b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -55,4 +54,4 @@ inline double SensorInertialKinematics::getVbcNoiseStd() const
     return std_vbc_;
 }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/sensor/sensor_point_feet_nomove.h b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
index d5015ed7b18ce42819306b0691dbc7ddabdea963..3a4f518e0687a4c2b311dab12a31be38ee3838a2 100644
--- a/include/bodydynamics/sensor/sensor_point_feet_nomove.h
+++ b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
@@ -88,4 +87,4 @@ inline double SensorPointFeetNomove::getFootRadius() const
     return foot_radius_;
 }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/bodydynamics/utils/load_bodydynamics.h b/include/bodydynamics/utils/load_bodydynamics.h
index fce4dd47c7e780c11043f32f4d2ddfbdd87d0d8f..4041745e3f25ea3b9f30680f810ec07e4a9868b5 100644
--- a/include/bodydynamics/utils/load_bodydynamics.h
+++ b/include/bodydynamics/utils/load_bodydynamics.h
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #pragma once
 
diff --git a/license_header_2025.txt b/license_header_2025.txt
index e2eb895d85054ea62dfe1f6cb2b48f6420b0b554..1ebad91c1c5ee722c99fe2d2f57ef845a3cdb62e 100644
--- a/license_header_2025.txt
+++ b/license_header_2025.txt
@@ -6,14 +6,13 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
\ No newline at end of file
diff --git a/src/capture/capture_force_torque.cpp b/src/capture/capture_force_torque.cpp
index a9acf70cc603212ccdf185419065d079695a2e0d..e49424d521b9633bdd86ba0b1932eef2e6ee4879 100644
--- a/src/capture/capture_force_torque.cpp
+++ b/src/capture/capture_force_torque.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/capture/capture_inertial_kinematics.h"
 #include "bodydynamics/capture/capture_force_torque.h"
diff --git a/src/capture/capture_force_torque_inertial.cpp b/src/capture/capture_force_torque_inertial.cpp
index 6f16925fee574f9686dcd6eb635708709bdaa3e9..1377cdaf34f7a1279e855f603c25f2970fef0f38 100644
--- a/src/capture/capture_force_torque_inertial.cpp
+++ b/src/capture/capture_force_torque_inertial.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "bodydynamics/capture/capture_force_torque_inertial.h"
 
 #include <core/state_block/state_block_derived.h>
diff --git a/src/capture/capture_inertial_kinematics.cpp b/src/capture/capture_inertial_kinematics.cpp
index be19670fa070520b448b52b3160fe91a09d21860..de53bd405e4b90912159e1696b570dd93b84d42e 100644
--- a/src/capture/capture_inertial_kinematics.cpp
+++ b/src/capture/capture_inertial_kinematics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "core/capture/capture_base.h"
 #include "bodydynamics/capture/capture_inertial_kinematics.h"
diff --git a/src/capture/capture_leg_odom.cpp b/src/capture/capture_leg_odom.cpp
index 1b9d1bdc9a241f8176711b1eab8a6d73320fafa8..1a2d01183ee936ad61a89c22a8867548c8a35f62 100644
--- a/src/capture/capture_leg_odom.cpp
+++ b/src/capture/capture_leg_odom.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "core/math/rotations.h"
 #include "core/capture/capture_base.h"
diff --git a/src/capture/capture_point_feet_nomove.cpp b/src/capture/capture_point_feet_nomove.cpp
index 04c224d9f55f730ac002716a8f331186ff147fea..4a47cf524b022889558b46ac7ff43d44380655ad 100644
--- a/src/capture/capture_point_feet_nomove.cpp
+++ b/src/capture/capture_point_feet_nomove.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "core/capture/capture_base.h"
 #include "bodydynamics/capture/capture_point_feet_nomove.h"
diff --git a/src/feature/feature_force_torque.cpp b/src/feature/feature_force_torque.cpp
index 72d284dd1fb8dba34e6ed73d8488437f815cf9e3..50ab197f1e55b2b9f9258f1c2d1fc352947f359b 100644
--- a/src/feature/feature_force_torque.cpp
+++ b/src/feature/feature_force_torque.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/feature/feature_force_torque.h"
 namespace wolf
diff --git a/src/feature/feature_inertial_kinematics.cpp b/src/feature/feature_inertial_kinematics.cpp
index 4a589aba754897ed640d70dd3ce2b2aa3c402cef..162d73bc278d7ca0d451f760c1fb1ce2a4d14bb7 100644
--- a/src/feature/feature_inertial_kinematics.cpp
+++ b/src/feature/feature_inertial_kinematics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/feature/feature_inertial_kinematics.h"
 #include "Eigen/Dense"
diff --git a/src/processor/processor_force_torque.cpp b/src/processor/processor_force_torque.cpp
index fc4b2fd2202185c270652d03af48cd92b0a44ad8..87cf1bdd8e74e527011d54fd4242aa437d070eef 100644
--- a/src/processor/processor_force_torque.cpp
+++ b/src/processor/processor_force_torque.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 // 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 79021ea01e05b02d1464f73907c9be6adae40dab..a76cc981307181318036ff673188812c26816a32 100644
--- a/src/processor/processor_force_torque_inertial.cpp
+++ b/src/processor/processor_force_torque_inertial.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 // 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 fd31b798000f86563c63d3c3d1b194043a759b10..6bc415f86db792328f939f05bc325221c8f9e173 100644
--- a/src/processor/processor_force_torque_inertial_dynamics.cpp
+++ b/src/processor/processor_force_torque_inertial_dynamics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 // bodydynamics
 #include "bodydynamics/processor/processor_force_torque_inertial_dynamics.h"
diff --git a/src/processor/processor_inertial_kinematics.cpp b/src/processor/processor_inertial_kinematics.cpp
index f07fd227d7872283923a34c39d68cf64fe22fcee..569140a8530849172a3944e838a86ce50480f9d7 100644
--- a/src/processor/processor_inertial_kinematics.cpp
+++ b/src/processor/processor_inertial_kinematics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/processor/processor_inertial_kinematics.h"
 
diff --git a/src/processor/processor_point_feet_nomove.cpp b/src/processor/processor_point_feet_nomove.cpp
index 6b49ef8c2df75bb55f37be86f0f03ddecc7e11e0..e11fe867b1f843f4fea0be9645862da273ac5705 100644
--- a/src/processor/processor_point_feet_nomove.cpp
+++ b/src/processor/processor_point_feet_nomove.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/processor/processor_point_feet_nomove.h"
 
diff --git a/src/sensor/sensor_force_torque.cpp b/src/sensor/sensor_force_torque.cpp
index 217bdb9fb32475f05ad29e6983509a14038843e7..24a998c0dff489db2369f49a1eb1751dfd7ba779 100644
--- a/src/sensor/sensor_force_torque.cpp
+++ b/src/sensor/sensor_force_torque.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/sensor/sensor_force_torque.h"
 
diff --git a/src/sensor/sensor_force_torque_inertial.cpp b/src/sensor/sensor_force_torque_inertial.cpp
index 43c884df7f65aaf22ca98777900612d2c3cc8355..147c8273fc3887daee62b521fde4ac716d707f93 100644
--- a/src/sensor/sensor_force_torque_inertial.cpp
+++ b/src/sensor/sensor_force_torque_inertial.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/sensor/sensor_force_torque_inertial.h"
 
diff --git a/src/sensor/sensor_inertial_kinematics.cpp b/src/sensor/sensor_inertial_kinematics.cpp
index 1fdc081f89c4684c01f5ed95e139a9ea6afabf65..1998a652d829214cef732c727318cab3487cd9ec 100644
--- a/src/sensor/sensor_inertial_kinematics.cpp
+++ b/src/sensor/sensor_inertial_kinematics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/sensor/sensor_inertial_kinematics.h"
 
diff --git a/src/sensor/sensor_point_feet_nomove.cpp b/src/sensor/sensor_point_feet_nomove.cpp
index 0f76dd2969248f03536c665f7e5a755c2ee1b72a..d06b5d1e6c7224e43ae6ed465278a99e307f99c6 100644
--- a/src/sensor/sensor_point_feet_nomove.cpp
+++ b/src/sensor/sensor_point_feet_nomove.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/sensor/sensor_point_feet_nomove.h"
 
diff --git a/src/utils/load_bodydynamics.cpp b/src/utils/load_bodydynamics.cpp
index b56928a552846387b52d79b14e6d5b4d73b7f192..ec6c265b75eb6deaf3c68579ba51cf2e4f94e906 100644
--- a/src/utils/load_bodydynamics.cpp
+++ b/src/utils/load_bodydynamics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/utils/load_bodydynamics.h"
 
diff --git a/test/gtest_capture_inertial_kinematics.cpp b/test/gtest_capture_inertial_kinematics.cpp
index 50201d45f510a71e9a99c7ded4917bc248b99eb1..1b9a83a04d6395edaa6f0e7d43ef52adb41a9451 100644
--- a/test/gtest_capture_inertial_kinematics.cpp
+++ b/test/gtest_capture_inertial_kinematics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/capture/capture_inertial_kinematics.h"
 #include "bodydynamics/sensor/sensor_inertial_kinematics.h"
diff --git a/test/gtest_capture_leg_odom.cpp b/test/gtest_capture_leg_odom.cpp
index 232a451df25f68b6ab66ac1e4666b1584f41de3d..9a33337f38d2f992908e2352f314d54e8d16db8f 100644
--- a/test/gtest_capture_leg_odom.cpp
+++ b/test/gtest_capture_leg_odom.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/capture/capture_leg_odom.h"
 
diff --git a/test/gtest_factor_force_torque_inertial.cpp b/test/gtest_factor_force_torque_inertial.cpp
index 3efd241279209863ec5d8123cfbb71f2a63d6e0c..40d8ba73453865dc6462a00d403b30e89171b92e 100644
--- a/test/gtest_factor_force_torque_inertial.cpp
+++ b/test/gtest_factor_force_torque_inertial.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #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 0c90577a733483f9a36caa96103b1b8f0d3e8acd..a9299d2ec66696941d7e2045b79d6c032acc0937 100644
--- a/test/gtest_factor_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_factor_force_torque_inertial_dynamics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/factor/factor_force_torque_inertial_dynamics.h"
 #include "bodydynamics/processor/processor_force_torque_inertial_dynamics.h"
diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp
index 837213ce42bf8a8b99dcd2f07403f6772ca970b5..aae675f12e70be624de3274b70d0ac1d834f7122 100644
--- a/test/gtest_factor_inertial_kinematics.cpp
+++ b/test/gtest_factor_inertial_kinematics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 /*
 Organisation: For each test, the problem, sensors, factors (if possible) are instanciated in a base class inheriting
diff --git a/test/gtest_feature_inertial_kinematics.cpp b/test/gtest_feature_inertial_kinematics.cpp
index 1fb074376794e6834596a30015b8dec3eeddd9c5..9e998e7a31b2176a0ff8037b108c29d520a5f154 100644
--- a/test/gtest_feature_inertial_kinematics.cpp
+++ b/test/gtest_feature_inertial_kinematics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/feature/feature_inertial_kinematics.h"
 
diff --git a/test/gtest_force_torque_delta_tools.cpp b/test/gtest_force_torque_delta_tools.cpp
index 95228e3ef94f9922ac9cd4e3e19a742db3ec8e63..7e8f4f45c099ddf6d02ea677d105cd640a6e5601 100644
--- a/test/gtest_force_torque_delta_tools.cpp
+++ b/test/gtest_force_torque_delta_tools.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #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 13a008780660adde66fe24f06c62b30ac8fa2dfb..ab36aec43ec314b186dcb1082ce261a0184f0754 100644
--- a/test/gtest_force_torque_inertial_delta_tools.cpp
+++ b/test/gtest_force_torque_inertial_delta_tools.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/math/force_torque_inertial_delta_tools.h"
 #include <core/utils/utils_gtest.h>
diff --git a/test/gtest_load_bodydynamics.cpp b/test/gtest_load_bodydynamics.cpp
index 13f80481245454f92ba4a00d29d561f9ef78bfb1..d813fbef557f93ae092105d82620bce321e01f57 100644
--- a/test/gtest_load_bodydynamics.cpp
+++ b/test/gtest_load_bodydynamics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include <gtest/gtest.h>
 #include "bodydynamics/utils/load_bodydynamics.h"
diff --git a/test/gtest_no_load_bodydynamics.cpp b/test/gtest_no_load_bodydynamics.cpp
index 943e2fa5b90cef9aaa8b8342252dffd9914a553a..16c21828442d80a6d314f40c761b78e8df982ec8 100644
--- a/test/gtest_no_load_bodydynamics.cpp
+++ b/test/gtest_no_load_bodydynamics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include <gtest/gtest.h>
 #include <core/utils/load_core.h>
diff --git a/test/gtest_processor_force_torque.cpp b/test/gtest_processor_force_torque.cpp
index 02d657cda5f4f4cba320a69e3158f4bc0edab04e..fa2bed4245ce7500056732979b5e4b7e7b367a2b 100644
--- a/test/gtest_processor_force_torque.cpp
+++ b/test/gtest_processor_force_torque.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 // debug
 #include <iostream>
diff --git a/test/gtest_processor_force_torque_inertial.cpp b/test/gtest_processor_force_torque_inertial.cpp
index 050a8a21e3e2bc9f26a4123a03642c0b2d4b9a2a..2cac6820f6897e87099ab926fd7ad656b289774f 100644
--- a/test/gtest_processor_force_torque_inertial.cpp
+++ b/test/gtest_processor_force_torque_inertial.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #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 79ca28d851bdb843b1ec6ef9646d69a975ddebd8..fa6c445e7ec4e0b6aa5291e01fac29fadcd8bb65 100644
--- a/test/gtest_processor_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_processor_force_torque_inertial_dynamics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/factor/factor_force_torque_inertial_dynamics.h"
 #include "bodydynamics/processor/processor_force_torque_inertial_dynamics.h"
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index eec1797ea038545aa986245c97ff9096e0f35bc0..b9011f58a219ccc1e760bc513ce2c7a1139ecf93 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/test/gtest_processor_inertial_kinematics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 // debug
 #include <iostream>
diff --git a/test/gtest_processor_point_feet_nomove.cpp b/test/gtest_processor_point_feet_nomove.cpp
index 91241f2d3cb43af49545c7cca241912dcbf317b4..6b51f874a0c45ccffe2dd033529c4ad4d73465fa 100644
--- a/test/gtest_processor_point_feet_nomove.cpp
+++ b/test/gtest_processor_point_feet_nomove.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 // debug
 #include <iostream>
diff --git a/test/gtest_schema.cpp b/test/gtest_schema.cpp
index f2cb2a04129dd5cc0d398bc2fa8ac87338d1de5b..1b8a2f65b791c924f2f45fadce72dd2ecae56239 100644
--- a/test/gtest_schema.cpp
+++ b/test/gtest_schema.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/common/bodydynamics.h"
 #include "core/utils/utils_gtest.h"
diff --git a/test/gtest_sensor_force_torque.cpp b/test/gtest_sensor_force_torque.cpp
index 0ab3f162f75fab29a271a44fde1bdca1949c28a7..bd74991422bd27865233dffbeab711d395e58488 100644
--- a/test/gtest_sensor_force_torque.cpp
+++ b/test/gtest_sensor_force_torque.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/sensor/sensor_force_torque.h"
 
diff --git a/test/gtest_sensor_inertial_kinematics.cpp b/test/gtest_sensor_inertial_kinematics.cpp
index 831baa53650aad411b147c2cfebb2516f50db926..33e0481438d6301d90ded17bdcba6549239a0541 100644
--- a/test/gtest_sensor_inertial_kinematics.cpp
+++ b/test/gtest_sensor_inertial_kinematics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/sensor/sensor_inertial_kinematics.h"
 
diff --git a/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp b/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp
index ca22130dbb8b7d2cb700f1870f66c29918844e1c..e048441cfc860eadc5ee844e6bd46e5e6e3dfffa 100644
--- a/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #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 d648d910bc4f07d6eabc088d0f775fb5dba00778..e29459270dc12ea95b3997d4fc6f6c38b901e8db 100644
--- a/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
@@ -6,17 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/wolf
 // WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 #include "bodydynamics/factor/factor_force_torque_inertial_dynamics.h"
 #include "bodydynamics/factor/factor_angular_momentum.h"