diff --git a/include/gnss/capture/capture_gnss.h b/include/gnss/capture/capture_gnss.h index 4693ef76d95e474af52c6274bd1a8ce08d0c3fb0..1a8980534f1e38c6aa0b6479369fbe4db77c078f 100644 --- a/include/gnss/capture/capture_gnss.h +++ b/include/gnss/capture/capture_gnss.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/capture/capture_gnss_fix.h b/include/gnss/capture/capture_gnss_fix.h index fb236a36441b24e2268671777bf96204c644c9e3..c894d3e7f887ee2deaed7241f9a3fc819f0e8ace 100644 --- a/include/gnss/capture/capture_gnss_fix.h +++ b/include/gnss/capture/capture_gnss_fix.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/capture/capture_gnss_tdcp.h b/include/gnss/capture/capture_gnss_tdcp.h index 7454cb6a3e78a7f151f797ef25a9d2c39a87e507..73af63d7ccc75ce4ec45616638c60a54b43e722f 100644 --- a/include/gnss/capture/capture_gnss_tdcp.h +++ b/include/gnss/capture/capture_gnss_tdcp.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/factor/factor_gnss_fix_2d.h b/include/gnss/factor/factor_gnss_fix_2d.h index d1ff9c344828b1be14e3441b17f4e18193d7e443..26a8735be406bfdadb7c62f52dd0c3507adf21ed 100644 --- a/include/gnss/factor/factor_gnss_fix_2d.h +++ b/include/gnss/factor/factor_gnss_fix_2d.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/factor/factor_gnss_fix_3d.h b/include/gnss/factor/factor_gnss_fix_3d.h index 65022a5fae39f7239d43c4b777d7ca66ee08e291..650a1055f52b804bccf1f46352b71b3819a56721 100644 --- a/include/gnss/factor/factor_gnss_fix_3d.h +++ b/include/gnss/factor/factor_gnss_fix_3d.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/factor/factor_gnss_pseudo_range.h b/include/gnss/factor/factor_gnss_pseudo_range.h index eeb9e3ed31905a1a925a2e55c67bfeee171ddb6a..ac1825f5aed30fbd12f95b7367ed301109cdeffe 100644 --- a/include/gnss/factor/factor_gnss_pseudo_range.h +++ b/include/gnss/factor/factor_gnss_pseudo_range.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/factor/factor_gnss_single_diff_2d.h b/include/gnss/factor/factor_gnss_single_diff_2d.h index 66c7a27de303d68c4448dee0a7899789c57c474c..f85495b058a4c7a33f8982f85f38d5b1e99c5b0b 100644 --- a/include/gnss/factor/factor_gnss_single_diff_2d.h +++ b/include/gnss/factor/factor_gnss_single_diff_2d.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/factor/factor_gnss_tdcp.h b/include/gnss/factor/factor_gnss_tdcp.h index ed3bc37ef21fd92b6e2d8667f5767897240cda59..fb19510fb738d8d4e94d86ff849d14196efc3125 100644 --- a/include/gnss/factor/factor_gnss_tdcp.h +++ b/include/gnss/factor/factor_gnss_tdcp.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/factor/factor_gnss_tdcp_2d.h b/include/gnss/factor/factor_gnss_tdcp_2d.h index 4c4c821984c2893e9daf50d7092977edb2e99929..049106a4d22b36ccb9818cb64d936cd5bb369e7c 100644 --- a/include/gnss/factor/factor_gnss_tdcp_2d.h +++ b/include/gnss/factor/factor_gnss_tdcp_2d.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/factor/factor_gnss_tdcp_3d.h b/include/gnss/factor/factor_gnss_tdcp_3d.h index 723b69b36eca8891ffddc55812ff31dd10cb846c..f55c668ec0003a69494557365946bd825cdc057d 100644 --- a/include/gnss/factor/factor_gnss_tdcp_3d.h +++ b/include/gnss/factor/factor_gnss_tdcp_3d.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/factor/factor_gnss_tdcp_batch.h b/include/gnss/factor/factor_gnss_tdcp_batch.h index d080a972d7cfa6c046c3694ad0f401bc5adb0bb9..1c0e9ecff7deccc491182c04e83c3044411e6c98 100644 --- a/include/gnss/factor/factor_gnss_tdcp_batch.h +++ b/include/gnss/factor/factor_gnss_tdcp_batch.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/feature/feature_gnss_fix.h b/include/gnss/feature/feature_gnss_fix.h index c106401e2965a0fbd00ff7b417fba50d84626298..60f8debf65e8e60e3d58703611cf7e3f42b5bc84 100644 --- a/include/gnss/feature/feature_gnss_fix.h +++ b/include/gnss/feature/feature_gnss_fix.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/feature/feature_gnss_satellite.h b/include/gnss/feature/feature_gnss_satellite.h index b3ca1f458ca71922162268afbc778fc2b4a54a3c..ff98d71771dd9f5c8b9d7981f94273c041c5acb5 100644 --- a/include/gnss/feature/feature_gnss_satellite.h +++ b/include/gnss/feature/feature_gnss_satellite.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/feature/feature_gnss_tdcp.h b/include/gnss/feature/feature_gnss_tdcp.h index da435fe1c074315108ee91c89a1cdcec3d932c89..1af89dda3398c0e0642cb99a6a62171e77f6e242 100644 --- a/include/gnss/feature/feature_gnss_tdcp.h +++ b/include/gnss/feature/feature_gnss_tdcp.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/processor/processor_gnss_fix.h b/include/gnss/processor/processor_gnss_fix.h index 0af093f1800b98a6e9b0e8cd0cb48d8ea7d42314..1fa78ddd321ef08d9c1d557a7bd2ea7a5fac703a 100644 --- a/include/gnss/processor/processor_gnss_fix.h +++ b/include/gnss/processor/processor_gnss_fix.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/processor/processor_gnss_tdcp.h b/include/gnss/processor/processor_gnss_tdcp.h index 9c040a1e522c8ea767a3bad7f1c465b3997ae0e4..0f1bbf1d0aed54d393109a3d63f7769a3a3aea5d 100644 --- a/include/gnss/processor/processor_gnss_tdcp.h +++ b/include/gnss/processor/processor_gnss_tdcp.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/processor/processor_tracker_gnss.h b/include/gnss/processor/processor_tracker_gnss.h index 1b23209f1d1e6626efb7416f9b0b6c2961108c0c..319ce9deb7fe70fe5d770578ae15ee81276e3c3d 100644 --- a/include/gnss/processor/processor_tracker_gnss.h +++ b/include/gnss/processor/processor_tracker_gnss.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/sensor/sensor_gnss.h b/include/gnss/sensor/sensor_gnss.h index fd3ade784729f7eb7c1cf47c4ccabd74fc148785..03fc7a2d446f4b568939e1686ccb021f234f1129 100644 --- a/include/gnss/sensor/sensor_gnss.h +++ b/include/gnss/sensor/sensor_gnss.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/include/gnss/tree_manager/tree_manager_sliding_window_tdcp.h b/include/gnss/tree_manager/tree_manager_sliding_window_tdcp.h index 1d4920fb0f68e3b95faf231b3fa08eec771b2ec4..2124f150656a2d7d8334fbd050809a653d69da3d 100644 --- a/include/gnss/tree_manager/tree_manager_sliding_window_tdcp.h +++ b/include/gnss/tree_manager/tree_manager_sliding_window_tdcp.h @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/license_header_2021.txt b/license_header_2022.txt similarity index 89% rename from license_header_2021.txt rename to license_header_2022.txt index c75a6f243b37109b77d60e16b7caebfc19215aea..0c987025f9dba3e7af993051b9bdf4b5ff400e0d 100644 --- a/license_header_2021.txt +++ b/license_header_2022.txt @@ -1,4 +1,4 @@ -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/src/capture/capture_gnss.cpp b/src/capture/capture_gnss.cpp index 0064d98aef4d83a37207c3f1eb1867a2672b71e7..299f515a98a55a32ba9df65afff2c877e050c5d9 100644 --- a/src/capture/capture_gnss.cpp +++ b/src/capture/capture_gnss.cpp @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/src/capture/capture_gnss_fix.cpp b/src/capture/capture_gnss_fix.cpp index c6c9419eac8683d8b2343ca9514fd22394e00f63..5ddd2bb8a87e12e512a92a7313576f6893463ec3 100644 --- a/src/capture/capture_gnss_fix.cpp +++ b/src/capture/capture_gnss_fix.cpp @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp index fb104bf26e458ec4c79136b7008a425d9b7e86ec..31f95fd152bb034143384d3d96ee03b5029c6479 100644 --- a/src/processor/processor_gnss_fix.cpp +++ b/src/processor/processor_gnss_fix.cpp @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/src/processor/processor_gnss_single_diff.cpp b/src/processor/processor_gnss_single_diff.cpp index 71c9003cc8bf278f26da7624d8b228a02e6f57b7..99c73f2fc8b8fb824739dde680a1264dbe8e842b 100644 --- a/src/processor/processor_gnss_single_diff.cpp +++ b/src/processor/processor_gnss_single_diff.cpp @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/src/processor/processor_gnss_tdcp.cpp b/src/processor/processor_gnss_tdcp.cpp index e19aeed9eb0cabc8ffdb41fd56d9af9a8064ca5f..c087f70747614b859de670898ce9cd9dd655ca6f 100644 --- a/src/processor/processor_gnss_tdcp.cpp +++ b/src/processor/processor_gnss_tdcp.cpp @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/src/processor/processor_tracker_gnss.cpp b/src/processor/processor_tracker_gnss.cpp index 5001cd78fe4f2b8d78da4cb68560af3f4dfeb640..ace52948ce6e00adc5961081c00ee02fe8760781 100644 --- a/src/processor/processor_tracker_gnss.cpp +++ b/src/processor/processor_tracker_gnss.cpp @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/src/sensor/sensor_gnss.cpp b/src/sensor/sensor_gnss.cpp index be9ac94f4d1fdf258bc1d5e0e6f321a5eb9b490f..6e8d73c399cbe429846a339386a821bc77c648e7 100644 --- a/src/sensor/sensor_gnss.cpp +++ b/src/sensor/sensor_gnss.cpp @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/src/tree_manager/tree_manager_sliding_window_tdcp.cpp b/src/tree_manager/tree_manager_sliding_window_tdcp.cpp index 0b2b888e7512c427e45f78e110677ede5a1389b4..6d97ad40a884683c13672c0f7b68069abfe17873 100644 --- a/src/tree_manager/tree_manager_sliding_window_tdcp.cpp +++ b/src/tree_manager/tree_manager_sliding_window_tdcp.cpp @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp index 979fabb18a7fc70dff93e5d91e02be065a05b753..c73292612597de2fb22c677ffd5bedf92c62daa4 100644 --- a/test/gtest_example.cpp +++ b/test/gtest_example.cpp @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/test/gtest_factor_gnss_fix_2d.cpp b/test/gtest_factor_gnss_fix_2d.cpp index 98fa09cc5ac8d773fef816e4b06df81e11f57273..a95688fd9c9c73b8456f3d81e2ebc036edf9eee9 100644 --- a/test/gtest_factor_gnss_fix_2d.cpp +++ b/test/gtest_factor_gnss_fix_2d.cpp @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/test/gtest_factor_gnss_pseudo_range.cpp b/test/gtest_factor_gnss_pseudo_range.cpp index 5dedaad5e9dc5ee5ce56cc7ba7317af60d79577b..f6691f178df5d7697e1d3f75d0e1dfb32af21598 100644 --- a/test/gtest_factor_gnss_pseudo_range.cpp +++ b/test/gtest_factor_gnss_pseudo_range.cpp @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. // diff --git a/test/gtest_factor_gnss_tdcp.cpp b/test/gtest_factor_gnss_tdcp.cpp index 53a821d72a5c4f79f52b2eb13806ecd930653b40..7818ab4a9bcbebcb10f9bb14e4d1abc42fdb6883 100644 --- a/test/gtest_factor_gnss_tdcp.cpp +++ b/test/gtest_factor_gnss_tdcp.cpp @@ -1,6 +1,6 @@ //--------LICENSE_START-------- // -// Copyright (C) 2020,2021 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. // Authors: Joan Solà Ortega (jsola@iri.upc.edu) // All rights reserved. //