From f0d135fa9e8f2a85157d10b2019637b3d68e4ec4 Mon Sep 17 00:00:00 2001
From: cont-integration <CI@iri.upc.edu>
Date: Wed, 1 Mar 2023 14:22:38 +0100
Subject: [PATCH] [skip ci] license headers added or modified

---
 demos/eigenmvn.h                                               | 2 +-
 demos/mcapi_utils.cpp                                          | 2 +-
 demos/mcapi_utils.h                                            | 2 +-
 demos/solo_imu_kine.cpp                                        | 2 +-
 demos/solo_imu_kine_mocap.cpp                                  | 2 +-
 demos/solo_imu_mocap.cpp                                       | 2 +-
 demos/solo_kine_mocap.cpp                                      | 2 +-
 demos/solo_real_povcdl_estimation.cpp                          | 2 +-
 include/bodydynamics/capture/capture_force_torque_preint.h     | 2 +-
 include/bodydynamics/capture/capture_inertial_kinematics.h     | 2 +-
 include/bodydynamics/capture/capture_leg_odom.h                | 2 +-
 include/bodydynamics/capture/capture_point_feet_nomove.h       | 2 +-
 include/bodydynamics/factor/factor_force_torque.h              | 2 +-
 include/bodydynamics/factor/factor_force_torque_preint.h       | 2 +-
 include/bodydynamics/factor/factor_inertial_kinematics.h       | 2 +-
 include/bodydynamics/factor/factor_point_feet_altitude.h       | 2 +-
 include/bodydynamics/factor/factor_point_feet_nomove.h         | 2 +-
 include/bodydynamics/factor/factor_point_feet_zero_velocity.h  | 2 +-
 include/bodydynamics/feature/feature_force_torque.h            | 2 +-
 include/bodydynamics/feature/feature_force_torque_preint.h     | 2 +-
 include/bodydynamics/feature/feature_inertial_kinematics.h     | 2 +-
 include/bodydynamics/math/force_torque_delta_tools.h           | 2 +-
 include/bodydynamics/processor/processor_force_torque_preint.h | 2 +-
 include/bodydynamics/processor/processor_inertial_kinematics.h | 2 +-
 include/bodydynamics/processor/processor_point_feet_nomove.h   | 2 +-
 include/bodydynamics/sensor/sensor_force_torque.h              | 2 +-
 include/bodydynamics/sensor/sensor_inertial_kinematics.h       | 2 +-
 include/bodydynamics/sensor/sensor_point_feet_nomove.h         | 2 +-
 license_header_2022.txt => license_header_2023.txt             | 2 +-
 src/capture/capture_force_torque_preint.cpp                    | 2 +-
 src/capture/capture_inertial_kinematics.cpp                    | 2 +-
 src/capture/capture_leg_odom.cpp                               | 2 +-
 src/capture/capture_point_feet_nomove.cpp                      | 2 +-
 src/feature/feature_force_torque.cpp                           | 2 +-
 src/feature/feature_force_torque_preint.cpp                    | 2 +-
 src/feature/feature_inertial_kinematics.cpp                    | 2 +-
 src/processor/processor_force_torque_preint.cpp                | 2 +-
 src/processor/processor_inertial_kinematics.cpp                | 2 +-
 src/processor/processor_point_feet_nomove.cpp                  | 2 +-
 src/sensor/sensor_force_torque.cpp                             | 2 +-
 src/sensor/sensor_inertial_kinematics.cpp                      | 2 +-
 src/sensor/sensor_point_feet_nomove.cpp                        | 2 +-
 test/gtest_capture_inertial_kinematics.cpp                     | 2 +-
 test/gtest_capture_leg_odom.cpp                                | 2 +-
 test/gtest_factor_force_torque.cpp                             | 2 +-
 test/gtest_factor_inertial_kinematics.cpp                      | 2 +-
 test/gtest_feature_inertial_kinematics.cpp                     | 2 +-
 test/gtest_force_torque_delta_tools.cpp                        | 2 +-
 test/gtest_processor_force_torque_preint.cpp                   | 2 +-
 test/gtest_processor_inertial_kinematics.cpp                   | 2 +-
 test/gtest_processor_point_feet_nomove.cpp                     | 2 +-
 test/gtest_sensor_force_torque.cpp                             | 2 +-
 test/gtest_sensor_inertial_kinematics.cpp                      | 2 +-
 53 files changed, 53 insertions(+), 53 deletions(-)
 rename license_header_2022.txt => license_header_2023.txt (88%)

diff --git a/demos/eigenmvn.h b/demos/eigenmvn.h
index ca871ae..2758ed0 100644
--- a/demos/eigenmvn.h
+++ b/demos/eigenmvn.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/mcapi_utils.cpp b/demos/mcapi_utils.cpp
index d893b46..06d1162 100644
--- a/demos/mcapi_utils.cpp
+++ b/demos/mcapi_utils.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/mcapi_utils.h b/demos/mcapi_utils.h
index c62c402..474f217 100644
--- a/demos/mcapi_utils.h
+++ b/demos/mcapi_utils.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solo_imu_kine.cpp b/demos/solo_imu_kine.cpp
index a9f5203..d1fa022 100644
--- a/demos/solo_imu_kine.cpp
+++ b/demos/solo_imu_kine.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solo_imu_kine_mocap.cpp b/demos/solo_imu_kine_mocap.cpp
index 82d2df1..5322aaf 100644
--- a/demos/solo_imu_kine_mocap.cpp
+++ b/demos/solo_imu_kine_mocap.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solo_imu_mocap.cpp b/demos/solo_imu_mocap.cpp
index 1ffabd4..1f89d69 100644
--- a/demos/solo_imu_mocap.cpp
+++ b/demos/solo_imu_mocap.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solo_kine_mocap.cpp b/demos/solo_kine_mocap.cpp
index 8f39275..2454cac 100644
--- a/demos/solo_kine_mocap.cpp
+++ b/demos/solo_kine_mocap.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index 9953db4..902e995 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/capture/capture_force_torque_preint.h b/include/bodydynamics/capture/capture_force_torque_preint.h
index a5f6718..7055591 100644
--- a/include/bodydynamics/capture/capture_force_torque_preint.h
+++ b/include/bodydynamics/capture/capture_force_torque_preint.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/capture/capture_inertial_kinematics.h b/include/bodydynamics/capture/capture_inertial_kinematics.h
index 70baff8..d4c963d 100644
--- a/include/bodydynamics/capture/capture_inertial_kinematics.h
+++ b/include/bodydynamics/capture/capture_inertial_kinematics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/capture/capture_leg_odom.h b/include/bodydynamics/capture/capture_leg_odom.h
index b1d8652..204c542 100644
--- a/include/bodydynamics/capture/capture_leg_odom.h
+++ b/include/bodydynamics/capture/capture_leg_odom.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/capture/capture_point_feet_nomove.h b/include/bodydynamics/capture/capture_point_feet_nomove.h
index ffad3a2..17539f8 100644
--- a/include/bodydynamics/capture/capture_point_feet_nomove.h
+++ b/include/bodydynamics/capture/capture_point_feet_nomove.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/factor/factor_force_torque.h b/include/bodydynamics/factor/factor_force_torque.h
index 958398a..37e8e3f 100644
--- a/include/bodydynamics/factor/factor_force_torque.h
+++ b/include/bodydynamics/factor/factor_force_torque.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/factor/factor_force_torque_preint.h b/include/bodydynamics/factor/factor_force_torque_preint.h
index 841bb63..bc226bf 100644
--- a/include/bodydynamics/factor/factor_force_torque_preint.h
+++ b/include/bodydynamics/factor/factor_force_torque_preint.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/factor/factor_inertial_kinematics.h b/include/bodydynamics/factor/factor_inertial_kinematics.h
index ff824e2..fea2e0a 100644
--- a/include/bodydynamics/factor/factor_inertial_kinematics.h
+++ b/include/bodydynamics/factor/factor_inertial_kinematics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/factor/factor_point_feet_altitude.h b/include/bodydynamics/factor/factor_point_feet_altitude.h
index 235244a..3e6980c 100644
--- a/include/bodydynamics/factor/factor_point_feet_altitude.h
+++ b/include/bodydynamics/factor/factor_point_feet_altitude.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/factor/factor_point_feet_nomove.h b/include/bodydynamics/factor/factor_point_feet_nomove.h
index 9e17e16..aec1f49 100644
--- a/include/bodydynamics/factor/factor_point_feet_nomove.h
+++ b/include/bodydynamics/factor/factor_point_feet_nomove.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/factor/factor_point_feet_zero_velocity.h b/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
index 1907583..00b40ef 100644
--- a/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
+++ b/include/bodydynamics/factor/factor_point_feet_zero_velocity.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/feature/feature_force_torque.h b/include/bodydynamics/feature/feature_force_torque.h
index 1459482..e37917e 100644
--- a/include/bodydynamics/feature/feature_force_torque.h
+++ b/include/bodydynamics/feature/feature_force_torque.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/feature/feature_force_torque_preint.h b/include/bodydynamics/feature/feature_force_torque_preint.h
index 9a03d2a..ed2a4d9 100644
--- a/include/bodydynamics/feature/feature_force_torque_preint.h
+++ b/include/bodydynamics/feature/feature_force_torque_preint.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/feature/feature_inertial_kinematics.h b/include/bodydynamics/feature/feature_inertial_kinematics.h
index 98f03fc..fc4cffd 100644
--- a/include/bodydynamics/feature/feature_inertial_kinematics.h
+++ b/include/bodydynamics/feature/feature_inertial_kinematics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/math/force_torque_delta_tools.h b/include/bodydynamics/math/force_torque_delta_tools.h
index fdc3d3a..1c31a2f 100644
--- a/include/bodydynamics/math/force_torque_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_delta_tools.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/processor/processor_force_torque_preint.h b/include/bodydynamics/processor/processor_force_torque_preint.h
index 6cd0891..9a1b11b 100644
--- a/include/bodydynamics/processor/processor_force_torque_preint.h
+++ b/include/bodydynamics/processor/processor_force_torque_preint.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/processor/processor_inertial_kinematics.h b/include/bodydynamics/processor/processor_inertial_kinematics.h
index 468fd9f..d07d1e0 100644
--- a/include/bodydynamics/processor/processor_inertial_kinematics.h
+++ b/include/bodydynamics/processor/processor_inertial_kinematics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/processor/processor_point_feet_nomove.h b/include/bodydynamics/processor/processor_point_feet_nomove.h
index 5c3f727..f60b402 100644
--- a/include/bodydynamics/processor/processor_point_feet_nomove.h
+++ b/include/bodydynamics/processor/processor_point_feet_nomove.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/sensor/sensor_force_torque.h b/include/bodydynamics/sensor/sensor_force_torque.h
index eea790d..96dad1a 100644
--- a/include/bodydynamics/sensor/sensor_force_torque.h
+++ b/include/bodydynamics/sensor/sensor_force_torque.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/sensor/sensor_inertial_kinematics.h b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
index 76e74ad..6c0c62d 100644
--- a/include/bodydynamics/sensor/sensor_inertial_kinematics.h
+++ b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/bodydynamics/sensor/sensor_point_feet_nomove.h b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
index 077765e..88d8e6f 100644
--- a/include/bodydynamics/sensor/sensor_point_feet_nomove.h
+++ b/include/bodydynamics/sensor/sensor_point_feet_nomove.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/license_header_2022.txt b/license_header_2023.txt
similarity index 88%
rename from license_header_2022.txt
rename to license_header_2023.txt
index 0c98702..2ddae24 100644
--- a/license_header_2022.txt
+++ b/license_header_2023.txt
@@ -1,4 +1,4 @@
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_force_torque_preint.cpp b/src/capture/capture_force_torque_preint.cpp
index 83e145e..88172f4 100644
--- a/src/capture/capture_force_torque_preint.cpp
+++ b/src/capture/capture_force_torque_preint.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_inertial_kinematics.cpp b/src/capture/capture_inertial_kinematics.cpp
index 3640f6b..a69164f 100644
--- a/src/capture/capture_inertial_kinematics.cpp
+++ b/src/capture/capture_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_leg_odom.cpp b/src/capture/capture_leg_odom.cpp
index 69336fa..6e7ef29 100644
--- a/src/capture/capture_leg_odom.cpp
+++ b/src/capture/capture_leg_odom.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_point_feet_nomove.cpp b/src/capture/capture_point_feet_nomove.cpp
index 3851ea4..cc274f4 100644
--- a/src/capture/capture_point_feet_nomove.cpp
+++ b/src/capture/capture_point_feet_nomove.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_force_torque.cpp b/src/feature/feature_force_torque.cpp
index 83c1254..f38f366 100644
--- a/src/feature/feature_force_torque.cpp
+++ b/src/feature/feature_force_torque.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_force_torque_preint.cpp b/src/feature/feature_force_torque_preint.cpp
index 1a21081..9c5382c 100644
--- a/src/feature/feature_force_torque_preint.cpp
+++ b/src/feature/feature_force_torque_preint.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_inertial_kinematics.cpp b/src/feature/feature_inertial_kinematics.cpp
index 8f80b0d..f66bfec 100644
--- a/src/feature/feature_inertial_kinematics.cpp
+++ b/src/feature/feature_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_force_torque_preint.cpp b/src/processor/processor_force_torque_preint.cpp
index 1b84f78..2f13226 100644
--- a/src/processor/processor_force_torque_preint.cpp
+++ b/src/processor/processor_force_torque_preint.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_inertial_kinematics.cpp b/src/processor/processor_inertial_kinematics.cpp
index 360ef7d..0676306 100644
--- a/src/processor/processor_inertial_kinematics.cpp
+++ b/src/processor/processor_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_point_feet_nomove.cpp b/src/processor/processor_point_feet_nomove.cpp
index 161c16d..57ae3ac 100644
--- a/src/processor/processor_point_feet_nomove.cpp
+++ b/src/processor/processor_point_feet_nomove.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_force_torque.cpp b/src/sensor/sensor_force_torque.cpp
index 7670495..76e03a3 100644
--- a/src/sensor/sensor_force_torque.cpp
+++ b/src/sensor/sensor_force_torque.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_inertial_kinematics.cpp b/src/sensor/sensor_inertial_kinematics.cpp
index 33369c5..d7c93ea 100644
--- a/src/sensor/sensor_inertial_kinematics.cpp
+++ b/src/sensor/sensor_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_point_feet_nomove.cpp b/src/sensor/sensor_point_feet_nomove.cpp
index 45d1c1a..7be8820 100644
--- a/src/sensor/sensor_point_feet_nomove.cpp
+++ b/src/sensor/sensor_point_feet_nomove.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_capture_inertial_kinematics.cpp b/test/gtest_capture_inertial_kinematics.cpp
index 4402dde..e5c30fa 100644
--- a/test/gtest_capture_inertial_kinematics.cpp
+++ b/test/gtest_capture_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_capture_leg_odom.cpp b/test/gtest_capture_leg_odom.cpp
index 6b19d8d..490ef0c 100644
--- a/test/gtest_capture_leg_odom.cpp
+++ b/test/gtest_capture_leg_odom.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp
index 16bd8d8..d459963 100644
--- a/test/gtest_factor_force_torque.cpp
+++ b/test/gtest_factor_force_torque.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp
index 45034d6..7d4ad65 100644
--- a/test/gtest_factor_inertial_kinematics.cpp
+++ b/test/gtest_factor_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_feature_inertial_kinematics.cpp b/test/gtest_feature_inertial_kinematics.cpp
index 41d3970..981e816 100644
--- a/test/gtest_feature_inertial_kinematics.cpp
+++ b/test/gtest_feature_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_force_torque_delta_tools.cpp b/test/gtest_force_torque_delta_tools.cpp
index e27553d..c8064c7 100644
--- a/test/gtest_force_torque_delta_tools.cpp
+++ b/test/gtest_force_torque_delta_tools.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp
index 3465ea6..98ff733 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/test/gtest_processor_force_torque_preint.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index bee3fb3..3e044b7 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/test/gtest_processor_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_point_feet_nomove.cpp b/test/gtest_processor_point_feet_nomove.cpp
index ac09e66..2e36fe3 100644
--- a/test/gtest_processor_point_feet_nomove.cpp
+++ b/test/gtest_processor_point_feet_nomove.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_sensor_force_torque.cpp b/test/gtest_sensor_force_torque.cpp
index 470b78a..f69f04e 100644
--- a/test/gtest_sensor_force_torque.cpp
+++ b/test/gtest_sensor_force_torque.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_sensor_inertial_kinematics.cpp b/test/gtest_sensor_inertial_kinematics.cpp
index dc981d7..05bad88 100644
--- a/test/gtest_sensor_inertial_kinematics.cpp
+++ b/test/gtest_sensor_inertial_kinematics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
-- 
GitLab