From a31985db711b8ab9efb99040a63281a2f2e3ed6f Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 10 Feb 2025 15:09:46 +0100
Subject: [PATCH] [skip ci] license headers update according LICENSE (not LGPL,
 GPL)

---
 demos/mcapi_utils.cpp                             | 13 ++++++-------
 demos/mcapi_utils.h                               | 13 ++++++-------
 demos/solo_imu_kine.cpp                           | 13 ++++++-------
 demos/solo_imu_kine_mocap.cpp                     | 13 ++++++-------
 demos/solo_imu_mocap.cpp                          | 13 ++++++-------
 demos/solo_kine_mocap.cpp                         | 13 ++++++-------
 demos/solo_real_povcdl_estimation.cpp             | 13 ++++++-------
 .../bodydynamics/capture/capture_force_torque.h   | 15 +++++++--------
 .../capture/capture_force_torque_inertial.h       | 13 ++++++-------
 .../capture/capture_inertial_kinematics.h         | 15 +++++++--------
 include/bodydynamics/capture/capture_leg_odom.h   | 15 +++++++--------
 .../capture/capture_point_feet_nomove.h           | 15 +++++++--------
 include/bodydynamics/common/bodydynamics.h        | 13 ++++++-------
 .../bodydynamics/factor/factor_angular_momentum.h | 15 +++++++--------
 include/bodydynamics/factor/factor_force_torque.h | 13 ++++++-------
 .../factor/factor_force_torque_inertial.h         | 15 +++++++--------
 .../factor_force_torque_inertial_dynamics.h       | 15 +++++++--------
 .../factor/factor_inertial_kinematics.h           | 15 +++++++--------
 .../factor/factor_point_feet_altitude.h           | 15 +++++++--------
 .../factor/factor_point_feet_nomove.h             | 15 +++++++--------
 .../factor/factor_point_feet_zero_velocity.h      | 15 +++++++--------
 .../bodydynamics/feature/feature_force_torque.h   | 13 ++++++-------
 .../feature/feature_inertial_kinematics.h         | 15 +++++++--------
 .../bodydynamics/math/force_torque_delta_tools.h  | 15 +++++++--------
 .../math/force_torque_inertial_delta_tools.h      | 15 +++++++--------
 .../processor/processor_force_torque.h            | 13 ++++++-------
 .../processor/processor_force_torque_inertial.h   | 15 +++++++--------
 .../processor_force_torque_inertial_dynamics.h    | 15 +++++++--------
 .../processor/processor_inertial_kinematics.h     | 15 +++++++--------
 .../processor/processor_point_feet_nomove.h       | 15 +++++++--------
 include/bodydynamics/sensor/sensor_force_torque.h | 15 +++++++--------
 .../sensor/sensor_force_torque_inertial.h         | 15 +++++++--------
 .../sensor/sensor_inertial_kinematics.h           | 15 +++++++--------
 .../sensor/sensor_point_feet_nomove.h             | 15 +++++++--------
 include/bodydynamics/utils/load_bodydynamics.h    | 13 ++++++-------
 license_header_2025.txt                           | 13 ++++++-------
 src/capture/capture_force_torque.cpp              | 13 ++++++-------
 src/capture/capture_force_torque_inertial.cpp     | 13 ++++++-------
 src/capture/capture_inertial_kinematics.cpp       | 13 ++++++-------
 src/capture/capture_leg_odom.cpp                  | 13 ++++++-------
 src/capture/capture_point_feet_nomove.cpp         | 13 ++++++-------
 src/feature/feature_force_torque.cpp              | 13 ++++++-------
 src/feature/feature_inertial_kinematics.cpp       | 13 ++++++-------
 src/processor/processor_force_torque.cpp          | 13 ++++++-------
 src/processor/processor_force_torque_inertial.cpp | 13 ++++++-------
 .../processor_force_torque_inertial_dynamics.cpp  | 13 ++++++-------
 src/processor/processor_inertial_kinematics.cpp   | 13 ++++++-------
 src/processor/processor_point_feet_nomove.cpp     | 13 ++++++-------
 src/sensor/sensor_force_torque.cpp                | 13 ++++++-------
 src/sensor/sensor_force_torque_inertial.cpp       | 13 ++++++-------
 src/sensor/sensor_inertial_kinematics.cpp         | 13 ++++++-------
 src/sensor/sensor_point_feet_nomove.cpp           | 13 ++++++-------
 src/utils/load_bodydynamics.cpp                   | 13 ++++++-------
 test/gtest_capture_inertial_kinematics.cpp        | 13 ++++++-------
 test/gtest_capture_leg_odom.cpp                   | 13 ++++++-------
 test/gtest_factor_force_torque_inertial.cpp       | 13 ++++++-------
 ...test_factor_force_torque_inertial_dynamics.cpp | 13 ++++++-------
 test/gtest_factor_inertial_kinematics.cpp         | 13 ++++++-------
 test/gtest_feature_inertial_kinematics.cpp        | 13 ++++++-------
 test/gtest_force_torque_delta_tools.cpp           | 13 ++++++-------
 test/gtest_force_torque_inertial_delta_tools.cpp  | 13 ++++++-------
 test/gtest_load_bodydynamics.cpp                  | 13 ++++++-------
 test/gtest_no_load_bodydynamics.cpp               | 13 ++++++-------
 test/gtest_processor_force_torque.cpp             | 13 ++++++-------
 test/gtest_processor_force_torque_inertial.cpp    | 13 ++++++-------
 ...t_processor_force_torque_inertial_dynamics.cpp | 13 ++++++-------
 test/gtest_processor_inertial_kinematics.cpp      | 13 ++++++-------
 test/gtest_processor_point_feet_nomove.cpp        | 13 ++++++-------
 test/gtest_schema.cpp                             | 13 ++++++-------
 test/gtest_sensor_force_torque.cpp                | 13 ++++++-------
 test/gtest_sensor_inertial_kinematics.cpp         | 13 ++++++-------
 ...ion_problem_force_torque_inertial_dynamics.cpp | 13 ++++++-------
 ...lve_problem_force_torque_inertial_dynamics.cpp | 13 ++++++-------
 73 files changed, 460 insertions(+), 533 deletions(-)

diff --git a/demos/mcapi_utils.cpp b/demos/mcapi_utils.cpp
index f49f5ca..dd84089 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 020e567..1603ca0 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 50a9601..3ee0782 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 0d5f960..6e060cd 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 5e9df0e..91a24ca 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 7f6a22b..ebdc8b0 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 85a4128..a57451b 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 3c6fc74..14f22fe 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 d2e34d6..38c6e81 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 4f264d8..2a765b7 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 47efaaa..8ae53bc 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 1c8f05b..98adfc3 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 706f0de..09075eb 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 41f8fac..7936d70 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 5cf41ea..39cf528 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 ca535d4..c438ff6 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 84393d0..27e0eff 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 1dbbc8b..05cd477 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 1468025..ce2a760 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 1a11be1..cc158c2 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 5d27415..4a59ebd 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 7038805..40a5965 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 b6ccdb2..59f1164 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 1cc21b3..d54858c 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 2c6543e..d892850 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 502f5c0..4ab3b13 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 b51b61b..88ac3fe 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 79705e2..1a9ad9e 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 4f8a586..4979c8f 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 6898106..31fe7fc 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 7f3ed69..a9b81bc 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 538350e..0e35e91 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 a833464..99c332e 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 d5015ed..3a4f518 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 fce4dd4..4041745 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 e2eb895..1ebad91 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 a9acf70..e49424d 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 6f16925..1377cda 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 be19670..de53bd4 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 1b9d1bd..1a2d011 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 04c224d..4a47cf5 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 72d284d..50ab197 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 4a589ab..162d73b 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 fc4b2fd..87cf1bd 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 79021ea..a76cc98 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 fd31b79..6bc415f 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 f07fd22..569140a 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 6b49ef8..e11fe86 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 217bdb9..24a998c 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 43c884d..147c827 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 1fdc081..1998a65 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 0f76dd2..d06b5d1 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 b56928a..ec6c265 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 50201d4..1b9a83a 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 232a451..9a33337 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 3efd241..40d8ba7 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 0c90577..a9299d2 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 837213c..aae675f 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 1fb0743..9e998e7 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 95228e3..7e8f4f4 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 13a0087..ab36aec 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 13f8048..d813fbe 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 943e2fa..16c2182 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 02d657c..fa2bed4 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 050a8a2..2cac682 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 79ca28d..fa6c445 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 eec1797..b9011f5 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 91241f2..6b51f87 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 f2cb2a0..1b8a2f6 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 0ab3f16..bd74991 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 831baa5..33e0481 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 ca22130..e048441 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 d648d91..e294592 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"
-- 
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