diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index d176b3066b5e09dd442ac2bf1a8219f98ccc6d4a..22758b2128be81ae6316de961a630a2e68cd3388 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,107 +1,154 @@
-image: labrobotica/ceres:1.14
+stages:
+  - license
+  - build_and_test
 
-before_script:
-  ##
+############ YAML ANCHORS ############
+.preliminaries_template: &preliminaries_definition
   ## Install ssh-agent if not already installed, it is required by Docker.
   ## (change apt-get to yum if you use an RPM-based image)
-  ##
   - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
 
-  ##
   ## Run ssh-agent (inside the build environment)
-  ##
   - eval $(ssh-agent -s)
 
-  ##
   ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
   ## We're using tr to fix line endings which makes ed25519 keys work
   ## without extra base64 encoding.
   ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
-  ##
   - mkdir -p ~/.ssh
   - chmod 700 ~/.ssh  
   - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
   # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
   - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
 
-  ##
-  ## Create the SSH directory and give it the right permissions
-  ##
-  - ls
+  # update apt
   - apt-get update
-  - apt-get install -y build-essential cmake 
 
-# SPDLOG
-#  - apt-get install -y libspdlog-dev
-  - if [ -d spdlog ]; then
-  -   echo "directory exists" 
-  -   if [ "$(ls -A ./spdlog)" ]; then 
-  -     echo "directory not empty" 
-  -     cd spdlog
-  -     git pull
-  -   else 
-  -     echo "directory empty" 
-  -     git clone https://github.com/gabime/spdlog.git
-  -     cd spdlog
-  -   fi
+  # create 'ci_deps' folder (if not exists)
+  - mkdir -pv ci_deps
+
+.license_header_template: &license_header_definition
+  - cd $CI_PROJECT_DIR
+
+  # configure git
+  - export CI_NEW_BRANCH=ci_processing$RANDOM
+  - echo creating new temporary branch... $CI_NEW_BRANCH
+  - git config --global user.email "${CI_EMAIL}"
+  - git config --global user.name "${CI_USERNAME}"
+  - git checkout -b $CI_NEW_BRANCH # temporary branch
+
+  # license headers
+  - export CURRENT_YEAR=$( date +'%Y' )
+  - echo "current year:" ${CURRENT_YEAR}
+  - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
+      # add license headers to new files
+  -   echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
+  -   ./ci_deps/wolf/wolf_scripts/license_manager.sh --add --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
   - else
-  -   echo "directory inexistent" 
-  -   git clone https://github.com/gabime/spdlog.git
-  -   cd spdlog
+      # update license headers of all files
+  -   export PREV_YEAR=$(( CURRENT_YEAR-1 ))
+  -   echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
+  -   git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
+  -   sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
+  -   ./ci_deps/wolf/wolf_scripts/license_manager.sh --update --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
   - fi
-  - git fetch
-  - git checkout v0.17.0
-  - mkdir -pv build
-  - cd build
-  - ls
-  - cmake -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fPIC" -DSPDLOG_BUILD_TESTING=OFF ..
-  - make install
-  - cd ../..
 
-# YAML
-#  - apt-get install -y libyaml-cpp-dev
-  - if [ -d yaml-cpp ]; then
-  -   echo "directory exists" 
-  -   if [ "$(ls -A ./yaml-cpp)" ]; then 
-  -     echo "directory not empty" 
-  -     cd yaml-cpp
-  -     git pull
-  -   else 
-  -     echo "directory empty" 
-  -     git clone https://github.com/jbeder/yaml-cpp.git
-  -     cd yaml-cpp
-  -   fi
+  # push changes (if any)
+  - if git commit -a -m "[skip ci] license headers added or modified" ; then
+  -   git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
+  -   git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
   - else
-  -   echo "directory inexistent" 
-  -   git clone https://github.com/jbeder/yaml-cpp.git
-  -   cd yaml-cpp
+  -   echo "No changes, nothing to commit!"
+  - fi
+
+.install_wolf_template: &install_wolf_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
+  - if [ -d wolf ]; then
+  -   echo "directory wolf exists"
+  -   cd wolf
+  -   git checkout devel
+  -   git pull
+  -   git checkout $WOLF_CORE_BRANCH
+  -   git pull
+  - else
+  -   git clone -b $WOLF_CORE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
+  -   cd wolf
   - fi
   - mkdir -pv build
   - cd build
-  - ls
-  - cmake -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fPIC" -DYAML_CPP_BUILD_TESTS=OFF ..
+  - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=OFF -DBUILD_TESTS=OFF ..
+  - make -j$(nproc)
   - make install
-  - cd ../..
-#Wolf core
-  - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
-  - cd wolf
+
+.build_and_test_template: &build_and_test_definition
+  - cd $CI_PROJECT_DIR
   - mkdir -pv build
   - cd build
-  - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
+  - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=ON ..
   - make -j$(nproc)
   - ctest -j$(nproc)
   - make install
-  - cd ../..
 
-wolf_build_and_test:
-  stage: build
+############ LICENSE HEADERS ############
+license_headers:
+  stage: license
+  image: labrobotica/wolf_deps:16.04
+  cache:
+    - key: wolf-xenial
+      paths:
+      - ci_deps/wolf/
+  except:
+    - master
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+  script:
+    - *license_header_definition
+
+############ UBUNTU 16.04 TESTS ############
+build_and_test:xenial:
+  stage: build_and_test
+  image: labrobotica/wolf_deps:16.04
+  cache:
+    - key: wolf-xenial
+      paths:
+      - ci_deps/wolf/
+  except:
+    - master
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+  script:
+    - *build_and_test_definition
+
+############ UBUNTU 18.04 TESTS ############
+build_and_test:bionic:
+  stage: build_and_test
+  image: labrobotica/wolf_deps:18.04
+  cache:
+    - key: wolf-bionic
+      paths:
+      - ci_deps/wolf/
+  except:
+    - master
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+  script:
+    - *build_and_test_definition
+
+############ UBUNTU 20.04 TESTS ############
+build_and_test:focal:
+  stage: build_and_test
+  image: labrobotica/wolf_deps:20.04
+  cache:
+    - key: wolf-focal
+      paths:
+      - ci_deps/wolf/
   except:
     - master
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
   script:
-    - mkdir -pv build
-    - cd build
-    - ls # we can check whether the directory was already full
-    - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
-    - make -j$(nproc)
-    - ctest -j$(nproc)
-    - make install
+    - *build_and_test_definition
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5b854cf7e93d2472fa231aaa20850309d3e0fffb..ea892d9b6b3b197e573e295313227fcb62286c09 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Pre-requisites about cmake itself
-CMAKE_MINimuM_REQUIRED(VERSION 2.6)
+CMAKE_MINimuM_REQUIRED(VERSION 2.8)
 
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0005 NEW) 
@@ -8,11 +8,11 @@ endif(COMMAND cmake_policy)
 # MAC OSX RPATH
 SET(CMAKE_MACOSX_RPATH 1)
 
-
 # The project name
 PROJECT(imu)
 set(PLUGIN_NAME "wolf${PROJECT_NAME}")
 
+MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
 
 SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
@@ -27,18 +27,14 @@ message(STATUS "Configured to compile in ${CMAKE_BUILD_TYPE} mode.")
 SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall -O0 -D_REENTRANT")
 SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT")
 
-#Set compiler according C++11 support
+#Set compiler according C++14 support
 include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-		message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++11 support.")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-elseif(COMPILER_SUPPORTS_CXX0X)
-		message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++0x support.")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
+if(COMPILER_SUPPORTS_CXX14)
+		message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++14 support.")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
 else()
-  message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+  message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
 endif()
 
 if(UNIX)
@@ -71,35 +67,24 @@ if(BUILD_TESTS)
     enable_testing()
 endif()
 
-MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
-CMAKE_MINimuM_REQUIRED(VERSION 2.8)
-
 #CMAKE modules
-
 SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
 MESSAGE(STATUS ${CMAKE_MODULE_PATH})
 
 # Some wolf compilation options
-
 IF((CMAKE_BUILD_TYPE MATCHES DEBUG) OR (CMAKE_BUILD_TYPE MATCHES debug) OR (CMAKE_BUILD_TYPE MATCHES Debug))
   set(_WOLF_DEBUG true)
 ENDIF()
 
 option(_WOLF_TRACE "Enable wolf tracing macro" ON)
 
-# Does this has any other interest
-# but for the examples ?
-# yes, for the tests !
-IF(BUILD_EXAMPLES OR BUILD_TESTS)
-  string(TOUPPER ${PROJECT_NAME} UPPER_NAME)
-  set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
-ENDIF(BUILD_EXAMPLES OR BUILD_TESTS)
-
-
-#find dependencies.
-# ============EXAMPLE==================
+# ============ DEPENDENCIES ============ 
 FIND_PACKAGE(wolfcore REQUIRED)
 
+# ============ config.h ============ 
+string(TOUPPER ${PROJECT_NAME} UPPER_NAME)
+set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
+  
 # Define the directory where will be the configured config.h
 SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/${PROJECT_NAME}/internal)
 
@@ -117,20 +102,11 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${WOLF_CONFIG_D
 message("CONFIG DIRECTORY ${PROJECT_BINARY_DIR}")
 include_directories("${PROJECT_BINARY_DIR}/conf")
 
-#INCLUDES SECTION
-# ============EXAMPLE==================
+# ============ INCLUDES SECTION ============ 
 INCLUDE_DIRECTORIES(${wolfcore_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(BEFORE "include")
 
-#HEADERS
-
-SET(HDRS_COMMON
-  )
-SET(HDRS_MATH
-  include/imu/math/imu_tools.h
-  )
-SET(HDRS_UTILS
-  )
+# ============ HEADERS ============ 
 SET(HDRS_CAPTURE
   include/imu/capture/capture_compass.h
   include/imu/capture/capture_imu.h
@@ -145,7 +121,8 @@ SET(HDRS_FEATURE
   include/imu/feature/feature_imu.h
   include/imu/feature/feature_imu2d.h
   )
-SET(HDRS_LANDMARK
+SET(HDRS_MATH
+  include/imu/math/imu_tools.h
   )
 SET(HDRS_PROCESSOR
   include/imu/processor/processor_compass.h
@@ -157,33 +134,15 @@ SET(HDRS_SENSOR
   include/imu/sensor/sensor_imu.h
   include/imu/sensor/sensor_imu2d.h
   )
-SET(HDRS_SOLVER
-  )
-SET(HDRS_DTASSC
-  )
-
-#SOURCES
-
-SET(SRCS_COMMON
-  )
-SET(SRCS_MATH
-  include/imu/math/imu_tools.h
-  include/imu/math/imu2d_tools.h
-  )
-SET(SRCS_UTILS
-  )
 
+# ============ SOURCES ============ 
 SET(SRCS_CAPTURE
   src/capture/capture_imu.cpp
   )
-SET(SRCS_FACTOR
-  )
 SET(SRCS_FEATURE
   src/feature/feature_imu.cpp
   src/feature/feature_imu2d.cpp
   )
-SET(SRCS_LANDMARK
-  )
 SET(SRCS_PROCESSOR
   src/processor/processor_compass.cpp
   src/processor/processor_imu.cpp
@@ -196,55 +155,20 @@ SET(SRCS_SENSOR
   src/sensor/sensor_imu.cpp
   src/sensor/sensor_imu2d.cpp
   )
-SET(SRCS_DTASSC
-  )
-SET(SRCS_SOLVER
-  )
 SET(SRCS_YAML
   src/yaml/processor_imu_yaml.cpp
   src/yaml/processor_imu2d_yaml.cpp
   src/yaml/sensor_imu_yaml.cpp
   src/yaml/sensor_imu2d_yaml.cpp
   )
-#OPTIONALS
-#optional HDRS and SRCS
-# ==================EXAMPLE===============
-# IF (Ceres_FOUND)
-#     SET(HDRS_WRAPPER
-#       include/base/solver_suitesparse/sparse_utils.h
-#       include/base/solver/solver_manager.h
-#       include/base/ceres_wrapper/ceres_manager.h
-#       include/base/ceres_wrapper/cost_function_wrapper.h
-#       include/base/ceres_wrapper/create_numeric_diff_cost_function.h
-#       include/base/ceres_wrapper/local_parametrization_wrapper.h 
-#       )
-#     SET(SRCS_WRAPPER
-#       src/solver/solver_manager.cpp
-#       src/ceres_wrapper/ceres_manager.cpp
-#       src/ceres_wrapper/local_parametrization_wrapper.cpp 
-#       )
-# ELSE(Ceres_FOUND)
-#   SET(HDRS_WRAPPER)
-#   SET(SRCS_WRAPPER)
-# ENDIF(Ceres_FOUND)
-
 
 # create the shared library
 ADD_LIBRARY(${PLUGIN_NAME}
   SHARED
-  ${SRCS_BASE}
   ${SRCS_CAPTURE}
-  ${SRCS_COMMON}
-  ${SRCS_DTASSC}
-  ${SRCS_FACTOR}
   ${SRCS_FEATURE}
-  ${SRCS_LANDMARK}
-  ${SRCS_MATH}
   ${SRCS_PROCESSOR}
   ${SRCS_SENSOR}
-  ${SRCS_SOLVER}
-  ${SRCS_UTILS}
-  ${SRCS_WRAPPER}
   ${SRCS_YAML}
   )
 
@@ -260,71 +184,44 @@ elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
   # using GCC
 endif()
 
-
 #Link the created libraries
-#===============EXAMPLE=========================
-# IF (Ceres_FOUND)
-#     TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CERES_LIBRARIES})
-# ENDIF(Ceres_FOUND)
 TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES})
 
-
-#Build tests
-#===============EXAMPLE=========================
+#===============Build tests=========================
 IF(BUILD_TESTS)
   MESSAGE("Building tests.")
   add_subdirectory(test)
 ENDIF(BUILD_TESTS)
 
 #install library
-
-#=============================================================
 INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
       RUNTIME DESTINATION bin
-      LIBRARY DESTINATION lib/iri-algorithms
-      ARCHIVE DESTINATION lib/iri-algorithms)
+      LIBRARY DESTINATION lib
+      ARCHIVE DESTINATION lib)
 
 install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
 #install headers
-INSTALL(FILES ${HDRS_DTASSC}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/association)
-INSTALL(FILES ${HDRS_MATH}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math)
-INSTALL(FILES ${HDRS_COMMON}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/common)
-INSTALL(FILES ${HDRS_UTILS}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/utils)
 INSTALL(FILES ${HDRS_CAPTURE}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/capture)
 INSTALL(FILES ${HDRS_FACTOR}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/factor)
 INSTALL(FILES ${HDRS_FEATURE}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/feature)
-INSTALL(FILES ${HDRS_SENSOR}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor)
+INSTALL(FILES ${HDRS_MATH}
+  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/math)
 INSTALL(FILES ${HDRS_PROCESSOR}
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/processor)
-INSTALL(FILES ${HDRS_LANDMARK}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/landmark)
-INSTALL(FILES ${HDRS_WRAPPER}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/ceres_wrapper)
-#INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
-#  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver_suitesparse)
-INSTALL(FILES ${HDRS_SOLVER}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/solver)
-INSTALL(FILES ${HDRS_SERIALIZATION}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/serialization)
-INSTALL(FILES ${HDRS_YAML}
-  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/yaml)
+INSTALL(FILES ${HDRS_SENSOR}
+  DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/sensor)
 
+FILE(WRITE imu.found "")
 INSTALL(FILES ${PROJECT_NAME}.found
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME})
-FILE(WRITE imu.found "")
-
 INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
   DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/internal)
 
 INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
+
 INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
 
 export(PACKAGE ${PLUGIN_NAME})
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..ea713a415e0a702b7e0098a2889919b53643d8ad
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,620 @@
+
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
+or can get the source code.  And you must show them these terms so they
+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+  For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software.  For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+  Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so.  This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software.  The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable.  Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products.  If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+  Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary.  To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+                       TERMS AND CONDITIONS
+
+  0. Definitions.
+
+  "This License" refers to version 3 of the GNU General Public License.
+
+  "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+  "The Program" refers to any copyrightable work licensed under this
+License.  Each licensee is addressed as "you".  "Licensees" and
+"recipients" may be individuals or organizations.
+
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+
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+
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diff --git a/README.md b/README.md
index dd79d5e177365518822ce675cf4fce278e65e45f..2345eb53e24a8f4179ea43625f727662fba7df26 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
 WOLF - Windowed Localization Frames | IMU Plugin
 ===================================
 
-For installation guide and code documentation, please visit the [documentation website](http://mobile_robotics.pages.iri.upc-csic.es/wolf_projects/wolf_lib/wolf_doc/).
\ No newline at end of file
+For installation guide and code documentation, please visit the [documentation website](http://mobile_robotics.pages.iri.upc-csic.es/wolf_projects/wolf_lib/wolf-doc-sphinx/).
diff --git a/cmake_modules/wolfimuConfig.cmake b/cmake_modules/wolfimuConfig.cmake
index b157cd3870468e1fbfad10b206b4ba55e310244b..97662cc09eb78aaf9b2b80e5b32cad9c59579bfc 100644
--- a/cmake_modules/wolfimuConfig.cmake
+++ b/cmake_modules/wolfimuConfig.cmake
@@ -12,7 +12,7 @@ ENDIF(wolfimu_INCLUDE_DIRS)
 FIND_LIBRARY(
     wolfimu_LIBRARIES
     NAMES libwolfimu.so libwolfimu.dylib
-    PATHS /usr/local/lib/iri-algorithms)
+    PATHS /usr/local/lib)
 IF(wolfimu_LIBRARIES)
   MESSAGE("Found wolf imu lib: ${wolfimu_LIBRARIES}")
 ELSE(wolfimu_LIBRARIES)
@@ -77,3 +77,8 @@ if(NOT wolf_FOUND)
   list(APPEND wolfimu_LIBRARIES ${wolfcore_LIBRARIES})
   list(REVERSE wolfimu_LIBRARIES)
 endif()
+
+# provide both INCLUDE_DIR and INCLUDE_DIRS
+SET(wolfimu_INCLUDE_DIR ${wolfimu_INCLUDE_DIRS})
+# provide both LIBRARY and LIBRARIES 
+SET(wolfimu_LIBRARY ${wolfimu_LIBRARIES})
diff --git a/demos/demo_factor_imu.cpp b/demos/demo_factor_imu.cpp
index 581d7429331d13a0bf67f847f7d9924c0814358e..9b0e262c6c41715f619ea5b25b4be67b9672d3c5 100644
--- a/demos/demo_factor_imu.cpp
+++ b/demos/demo_factor_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 //Wolf
 #include <core/ceres_wrapper/solver_ceres.h>
 
@@ -46,7 +67,7 @@ int main(int argc, char** argv)
     // Set the origin
     Eigen::VectorXd x0(16);
     x0 << 0,0,0,  0,0,0,1,  0,0,0,  0,0,.001,  0,0,.002; // Try some non-zero biases
-    wolf_problem_ptr_->getProcessorIsMotion()->setOrigin(x0, t); //this also creates a keyframe at origin
+    wolf_problem_ptr_->getMotionProvider()->setOrigin(x0, t); //this also creates a keyframe at origin
     wolf_problem_ptr_->getTrajectory()->getFrameList().front()->fix(); //fix the keyframe at origin
 
     TimeStamp ts(0);
@@ -78,14 +99,14 @@ int main(int argc, char** argv)
     /// ******************************************************************************************** ///
     /// factor creation
     //create FrameIMU
-    ts = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().back().ts_;
-    state_vec = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentState();
+    ts = wolf_problem_ptr_->getMotionProvider()->getBuffer().back().ts_;
+    state_vec = wolf_problem_ptr_->getMotionProvider()->getCurrentState();
     FrameIMUPtr last_frame = std::make_shared<FrameIMU>(KEY, ts, state_vec);
     wolf_problem_ptr_->getTrajectory()->addFrame(last_frame);
 
         //create a feature
-    delta_preint_cov = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentDeltaPreintCov();
-    delta_preint = wolf_problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_;
+    delta_preint_cov = wolf_problem_ptr_->getMotionProvider()->getCurrentDeltaPreintCov();
+    delta_preint = wolf_problem_ptr_->getMotionProvider()->getMotion().delta_integr_;
     std::shared_ptr<FeatureIMU> feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
     feat_imu->setCapture(imu_ptr);
 
@@ -114,7 +135,7 @@ int main(int argc, char** argv)
     std::cout << "residuals : " << residu.transpose() << std::endl;
 
     //reset origin of motion to new frame
-    wolf_problem_ptr_->getProcessorIsMotion()->setOrigin(last_frame);
+    wolf_problem_ptr_->getMotionProvider()->setOrigin(last_frame);
     imu_ptr->setFrame(last_frame);
     }
     /// ******************************************************************************************** ///
@@ -139,14 +160,14 @@ int main(int argc, char** argv)
     /// ******************************************************************************************** ///
     /// factor creation
     //create FrameIMU
-    ts = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().back().ts_;
-    state_vec = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentState();
+    ts = wolf_problem_ptr_->getMotionProvider()->getBuffer().back().ts_;
+    state_vec = wolf_problem_ptr_->getMotionProvider()->getCurrentState();
     FrameIMUPtr last_frame = std::make_shared<FrameIMU>(KEY, ts, state_vec);
     wolf_problem_ptr_->getTrajectory()->addFrame(last_frame);
 
         //create a feature
-    delta_preint_cov = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentDeltaPreintCov();
-    delta_preint = wolf_problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_;
+    delta_preint_cov = wolf_problem_ptr_->getMotionProvider()->getCurrentDeltaPreintCov();
+    delta_preint = wolf_problem_ptr_->getMotionProvider()->getMotion().delta_integr_;
     std::shared_ptr<FeatureIMU> feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
     feat_imu->setCapture(imu_ptr);
 
@@ -175,7 +196,7 @@ int main(int argc, char** argv)
     std::cout << "residuals : " << residu.transpose() << std::endl;
 
     //reset origin of motion to new frame
-    wolf_problem_ptr_->getProcessorIsMotion()->setOrigin(last_frame);
+    wolf_problem_ptr_->getMotionProvider()->setOrigin(last_frame);
     imu_ptr->setFrame(last_frame);
     }
 
@@ -197,14 +218,14 @@ int main(int argc, char** argv)
 
     //create the factor
         //create FrameIMU
-    ts = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().back().ts_;
-    state_vec = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentState();
+    ts = wolf_problem_ptr_->getMotionProvider()->getBuffer().back().ts_;
+    state_vec = wolf_problem_ptr_->getMotionProvider()->getCurrentState();
     FrameIMUPtr last_frame = std::make_shared<FrameIMU>(KEY, ts, state_vec);
     wolf_problem_ptr_->getTrajectory()->addFrame(last_frame);
 
         //create a feature
-    delta_preint_cov = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentDeltaPreintCov();
-    delta_preint = wolf_problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_;
+    delta_preint_cov = wolf_problem_ptr_->getMotionProvider()->getCurrentDeltaPreintCov();
+    delta_preint = wolf_problem_ptr_->getMotionProvider()->getMotion().delta_integr_;
     std::shared_ptr<FeatureIMU> feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
     feat_imu->setCapture(imu_ptr);
 
@@ -239,13 +260,13 @@ int main(int argc, char** argv)
     ///having a look at covariances
     Eigen::MatrixXd predelta_cov;
     predelta_cov.resize(9,9);
-    predelta_cov = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentDeltaPreintCov();
+    predelta_cov = wolf_problem_ptr_->getMotionProvider()->getCurrentDeltaPreintCov();
     //std::cout << "predelta_cov : \n" << predelta_cov << std::endl; 
 
         ///Optimization
     // PRIOR
     //FrameBasePtr first_frame = wolf_problem_ptr_->getTrajectory()->getFrameList().front();
-    wolf_problem_ptr_->getProcessorIsMotion()->setOrigin(wolf_problem_ptr_->getTrajectory()->getFrameList().front());
+    wolf_problem_ptr_->getMotionProvider()->setOrigin(wolf_problem_ptr_->getTrajectory()->getFrameList().front());
     //SensorBasePtr sensorbase = std::make_shared<SensorBase>("ABSOLUTE POSE", nullptr, nullptr, nullptr, 0);
     //CapturePosePtr initial_covariance = std::make_shared<CaptureFix>(TimeStamp(0), sensorbase, first_frame->getState().head(7), Eigen::Matrix6d::Identity() * 0.01);
     //first_frame->addCapture(initial_covariance);
diff --git a/demos/demo_imuDock.cpp b/demos/demo_imuDock.cpp
index e218a88cbf8f48b7537954f52d02ce7c7ee957f1..b9d4db8a650c799465f8f176156a55d065e884f9 100644
--- a/demos/demo_imuDock.cpp
+++ b/demos/demo_imuDock.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file test_imuDock.cpp
  *
diff --git a/demos/demo_imuDock_autoKFs.cpp b/demos/demo_imuDock_autoKFs.cpp
index d5bd9aa8bc357f6be1c5135d8c1ad7730c4858da..6b8fee70fa055ecfa00bc9317d4d427fdea71236 100644
--- a/demos/demo_imuDock_autoKFs.cpp
+++ b/demos/demo_imuDock_autoKFs.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file test_imuDock_autoKFs.cpp
  *
diff --git a/demos/demo_imuPlateform_Offline.cpp b/demos/demo_imuPlateform_Offline.cpp
index 628c4b65ed2e8b88a3cdfbedc8f07ef80f906001..7fd1d9488c9ff3b9625aa8b2e6c9fb6938f1f850 100644
--- a/demos/demo_imuPlateform_Offline.cpp
+++ b/demos/demo_imuPlateform_Offline.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 //Wolf
 #include <core/ceres_wrapper/solver_ceres.h>
 
@@ -145,9 +166,9 @@ int main(int argc, char** argv)
     }
     
     TimeStamp t0, tf;
-    t0 = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().front().ts_;
-    tf = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().back().ts_;
-    int N = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().size();
+    t0 = wolf_problem_ptr_->getMotionProvider()->getBuffer().front().ts_;
+    tf = wolf_problem_ptr_->getMotionProvider()->getBuffer().back().ts_;
+    int N = wolf_problem_ptr_->getMotionProvider()->getBuffer().size();
 
     //Finally, process the only one odom input
     mot_ptr->setTimeStamp(ts);
@@ -168,20 +189,20 @@ int main(int argc, char** argv)
     std::cout << "Initial    state: " << std::fixed << std::setprecision(3) << std::setw(8)
     << x_origin.head(16).transpose() << std::endl;
     std::cout << "Integrated delta: " << std::fixed << std::setprecision(3) << std::setw(8)
-    << wolf_problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_.transpose() << std::endl;
+    << wolf_problem_ptr_->getMotionProvider()->getMotion().delta_integr_.transpose() << std::endl;
     std::cout << "Integrated state: " << std::fixed << std::setprecision(3) << std::setw(8)
-    << wolf_problem_ptr_->getProcessorIsMotion()->getCurrentState().head(16).transpose() << std::endl;
+    << wolf_problem_ptr_->getMotionProvider()->getCurrentState().head(16).transpose() << std::endl;
     std::cout << "Integrated std  : " << std::fixed << std::setprecision(3) << std::setw(8)
-    << (wolf_problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_cov_.diagonal().transpose()).array().sqrt() << std::endl;
+    << (wolf_problem_ptr_->getMotionProvider()->getMotion().delta_integr_cov_.diagonal().transpose()).array().sqrt() << std::endl;
 
     // Print statistics
     std::cout << "\nStatistics -----------------------------------------------------------------------------------" << std::endl;
     std::cout << "If you want meaningful CPU metrics, remove all couts in the loop / remove DEBUG_RESULTS definition variable, and compile in RELEASE mode!" << std::endl;
 
     /*TimeStamp t0, tf;
-    t0 = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().front().ts_;
-    tf = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().back().ts_;
-    int N = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().size();*/
+    t0 = wolf_problem_ptr_->getMotionProvider()->getBuffer().front().ts_;
+    tf = wolf_problem_ptr_->getMotionProvider()->getBuffer().back().ts_;
+    int N = wolf_problem_ptr_->getMotionProvider()->getBuffer().size();*/
     std::cout << "t0        : " << t0.get() << " s" << std::endl;
     std::cout << "tf        : " << tf.get() << " s" << std::endl;
     std::cout << "duration  : " << tf-t0 << " s" << std::endl;
diff --git a/demos/demo_imu_constrained0.cpp b/demos/demo_imu_constrained0.cpp
index 66db5c1c71e81035aa6ea70e000a8a92d29b4af6..3837895eb78d85b15dd9a8818b4b459ca425aee9 100644
--- a/demos/demo_imu_constrained0.cpp
+++ b/demos/demo_imu_constrained0.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 //Wolf
 #include <core/ceres_wrapper/solver_ceres.h>
 
@@ -223,20 +244,20 @@ int main(int argc, char** argv)
     std::cout << "Initial    state: " << std::fixed << std::setprecision(3) << std::setw(8)
     << x_origin.head(16).transpose() << std::endl;
     std::cout << "Integrated delta: " << std::fixed << std::setprecision(3) << std::setw(8)
-    << wolf_problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_.transpose() << std::endl;
+    << wolf_problem_ptr_->getMotionProvider()->getMotion().delta_integr_.transpose() << std::endl;
     std::cout << "Integrated state: " << std::fixed << std::setprecision(3) << std::setw(8)
-    << wolf_problem_ptr_->getProcessorIsMotion()->getCurrentState().head(16).transpose() << std::endl;
+    << wolf_problem_ptr_->getMotionProvider()->getCurrentState().head(16).transpose() << std::endl;
     std::cout << "Integrated std  : " << std::fixed << std::setprecision(3) << std::setw(8)
-    << (wolf_problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_cov_.diagonal()).array().sqrt() << std::endl;
+    << (wolf_problem_ptr_->getMotionProvider()->getMotion().delta_integr_cov_.diagonal()).array().sqrt() << std::endl;
 
     // Print statistics
     std::cout << "\nStatistics -----------------------------------------------------------------------------------" << std::endl;
     std::cout << "If you want meaningful CPU metrics, remove all couts in the loop / remove DEBUG_RESULTS definition variable, and compile in RELEASE mode!" << std::endl;
 
     TimeStamp t0, tf;
-    t0 = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().front().ts_;
-    tf = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().back().ts_;
-    int N = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().size();
+    t0 = wolf_problem_ptr_->getMotionProvider()->getBuffer().front().ts_;
+    tf = wolf_problem_ptr_->getMotionProvider()->getBuffer().back().ts_;
+    int N = wolf_problem_ptr_->getMotionProvider()->getBuffer().size();
     std::cout << "t0        : " << t0.get() << " s" << std::endl;
     std::cout << "tf        : " << tf.get() << " s" << std::endl;
     std::cout << "duration  : " << tf-t0 << " s" << std::endl;
diff --git a/demos/demo_processor_imu.cpp b/demos/demo_processor_imu.cpp
index 5439f2624415c6115ccedb3bb438596fc1d0bf38..ad49116d06753947d87d141e9eb89908242caba6 100644
--- a/demos/demo_processor_imu.cpp
+++ b/demos/demo_processor_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file test_processor_imu.cpp
  *
@@ -93,7 +114,7 @@ int main(int argc, char** argv)
     // Set the origin
     Eigen::VectorXd x0(16);
     x0 << 0,0,0,  0,0,0,1,  0,0,0,  0,0,0,  0,0,0; // Try some non-zero biases
-    problem_ptr_->getProcessorIsMotion()->setOrigin(x0, t);
+    problem_ptr_->getMotionProvider()->setOrigin(x0, t);
 
     // Create one capture to store the IMU data arriving from (sensor / callback / file / etc.)
     CaptureIMUPtr imu_ptr = make_shared<CaptureIMU>(t, sensor_ptr, data, data_cov, Vector6d::Zero());
@@ -132,18 +153,18 @@ int main(int argc, char** argv)
                 << data.transpose() << std::endl;
 
         std::cout << "Current    delta: " << std::fixed << std::setprecision(3) << std::setw(8) << std::right
-                << problem_ptr_->getProcessorIsMotion()->getMotion().delta_.transpose() << std::endl;
+                << problem_ptr_->getMotionProvider()->getMotion().delta_.transpose() << std::endl;
 
         std::cout << "Integrated delta: " << std::fixed << std::setprecision(3) << std::setw(8)
-                << problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_.transpose() << std::endl;
+                << problem_ptr_->getMotionProvider()->getMotion().delta_integr_.transpose() << std::endl;
 
-        Eigen::VectorXd x = problem_ptr_->getProcessorIsMotion()->getCurrentState();
+        Eigen::VectorXd x = problem_ptr_->getMotionProvider()->getCurrentState();
 
         std::cout << "Integrated state: " << std::fixed << std::setprecision(3) << std::setw(8)
                 << x.head(10).transpose() << std::endl;
 
         std::cout << "Integrated std  : " << std::fixed << std::setprecision(3) << std::setw(8)
-                << (problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_cov_.diagonal().transpose()).array().sqrt() << std::endl;
+                << (problem_ptr_->getMotionProvider()->getMotion().delta_integr_cov_.diagonal().transpose()).array().sqrt() << std::endl;
 
         std::cout << std::endl;
 
@@ -155,10 +176,10 @@ int main(int argc, char** argv)
         Eigen::VectorXd x_debug;
         TimeStamp ts;
 
-        delta_debug = problem_ptr_->getProcessorIsMotion()->getMotion().delta_;
-        delta_integr_debug = problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_;
-        x_debug = problem_ptr_->getProcessorIsMotion()->getCurrentState();
-        ts = problem_ptr_->getProcessorIsMotion()->getBuffer().back().ts_;
+        delta_debug = problem_ptr_->getMotionProvider()->getMotion().delta_;
+        delta_integr_debug = problem_ptr_->getMotionProvider()->getMotion().delta_integr_;
+        x_debug = problem_ptr_->getMotionProvider()->getCurrentState();
+        ts = problem_ptr_->getMotionProvider()->getBuffer().back().ts_;
 
         if(debug_results)
             debug_results << ts.get() << "\t" << delta_debug(0) << "\t" << delta_debug(1) << "\t" << delta_debug(2) << "\t" << delta_debug(3) << "\t" << delta_debug(4) << "\t"
@@ -178,11 +199,11 @@ int main(int argc, char** argv)
     std::cout << "Initial    state: " << std::fixed << std::setprecision(3) << std::setw(8)
     << x0.head(16).transpose() << std::endl;
     std::cout << "Integrated delta: " << std::fixed << std::setprecision(3) << std::setw(8)
-    << problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_.transpose() << std::endl;
+    << problem_ptr_->getMotionProvider()->getMotion().delta_integr_.transpose() << std::endl;
     std::cout << "Integrated state: " << std::fixed << std::setprecision(3) << std::setw(8)
-    << problem_ptr_->getProcessorIsMotion()->getCurrentState().head(16).transpose() << std::endl;
+    << problem_ptr_->getMotionProvider()->getCurrentState().head(16).transpose() << std::endl;
 //    std::cout << "Integrated std  : " << std::fixed << std::setprecision(3) << std::setw(8)
-//    << (problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_cov_.diagonal().transpose()).array().sqrt() << std::endl;
+//    << (problem_ptr_->getMotionProvider()->getMotion().delta_integr_cov_.diagonal().transpose()).array().sqrt() << std::endl;
 
     // Print statistics
     std::cout << "\nStatistics -----------------------------------------------------------------------------------" << std::endl;
@@ -194,9 +215,9 @@ int main(int argc, char** argv)
 #endif
 
     TimeStamp t0, tf;
-    t0 = problem_ptr_->getProcessorIsMotion()->getBuffer().front().ts_;
-    tf = problem_ptr_->getProcessorIsMotion()->getBuffer().back().ts_;
-    int N = problem_ptr_->getProcessorIsMotion()->getBuffer().size();
+    t0 = problem_ptr_->getMotionProvider()->getBuffer().front().ts_;
+    tf = problem_ptr_->getMotionProvider()->getBuffer().back().ts_;
+    int N = problem_ptr_->getMotionProvider()->getBuffer().size();
     std::cout << "t0        : " << t0.get() << " s" << std::endl;
     std::cout << "tf        : " << tf.get() << " s" << std::endl;
     std::cout << "duration  : " << tf-t0 << " s" << std::endl;
diff --git a/demos/demo_processor_imu_jacobians.cpp b/demos/demo_processor_imu_jacobians.cpp
index 6c0714c9c9968db72b580c2004f7a1810925e4c0..2cbc0518a97beb6f178603e7a0f7538356899cfe 100644
--- a/demos/demo_processor_imu_jacobians.cpp
+++ b/demos/demo_processor_imu_jacobians.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file test_processor_imu_jacobians.cpp
  *
@@ -49,7 +70,7 @@ int main(int argc, char** argv)
     Eigen::VectorXd x0(16);
     x0 << 0,1,0,   0,0,0,1,  1,0,0,  0,0,.000,  0,0,.000; // P Q V B B
 
-    //wolf_problem_ptr_->getProcessorIsMotion()->setOrigin(x0, t);
+    //wolf_problem_ptr_->getMotionProvider()->setOrigin(x0, t);
 
     //CaptureIMU* imu_ptr;
 
diff --git a/include/imu/capture/capture_compass.h b/include/imu/capture/capture_compass.h
index 1a77f7ce5282fbaf6b615c8cea1950eaa7cbe274..dc1fef50b1e6cc25acf4154634da98af698f6e65 100644
--- a/include/imu/capture/capture_compass.h
+++ b/include/imu/capture/capture_compass.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef CAPTURE_COMPASS_H_
 #define CAPTURE_COMPASS_H_
 
diff --git a/include/imu/capture/capture_imu.h b/include/imu/capture/capture_imu.h
index 274d74d494ec4897e11360b4a25bd497098aa6bd..4b4e05a1caf32f4627a7bc78d8fffdc413a1acf8 100644
--- a/include/imu/capture/capture_imu.h
+++ b/include/imu/capture/capture_imu.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef CAPTURE_IMU_H
 #define CAPTURE_IMU_H
 
diff --git a/include/imu/factor/factor_compass_3d.h b/include/imu/factor/factor_compass_3d.h
index 6bb877776b886236d74f69abb1ec8062dad0bec5..3772950880281c9b6e6261192d9ac3edb0f563cd 100644
--- a/include/imu/factor/factor_compass_3d.h
+++ b/include/imu/factor/factor_compass_3d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef FACTOR_COMPASS_3D_H_
 #define FACTOR_COMPASS_3D_H_
 
diff --git a/include/imu/factor/factor_fix_bias.h b/include/imu/factor/factor_fix_bias.h
index e989b9b8861fa83d7f0568f2ea545dd50bed647e..2de0cf321f0cf93aefb50808c44afe3301f67fb1 100644
--- a/include/imu/factor/factor_fix_bias.h
+++ b/include/imu/factor/factor_fix_bias.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #ifndef FACTOR_FIX_BIAS_H_
 #define FACTOR_FIX_BIAS_H_
diff --git a/include/imu/factor/factor_imu.h b/include/imu/factor/factor_imu.h
index 17c80316246bdd977ed59b4edc0aea6f34dca4f7..7bbae22c3f2f0598b60c19f1bad5d45e177ab0c0 100644
--- a/include/imu/factor/factor_imu.h
+++ b/include/imu/factor/factor_imu.h
@@ -1,9 +1,31 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef FACTOR_IMU_THETA_H_
 #define FACTOR_IMU_THETA_H_
 
 //Wolf includes
 #include "imu/feature/feature_imu.h"
 #include "imu/sensor/sensor_imu.h"
+#include "imu/processor/processor_imu.h"
 #include "core/factor/factor_autodiff.h"
 #include "core/math/rotations.h"
 
@@ -235,9 +257,9 @@ Eigen::Vector9d FactorImu::error()
     Map<const Vector3d > acc_bias(bias.data());
     Map<const Vector3d > gyro_bias(bias.data() + 3);
 
-    Eigen::Vector9d delta_exp = expectation();
+    Eigen::Vector10d delta_exp = expectation();
 
-    Eigen::Vector9d delta_preint = getMeasurement();
+    Eigen::Vector10d delta_preint = getMeasurement();
 
     Eigen::Vector9d delta_step;
 
@@ -247,9 +269,9 @@ Eigen::Vector9d FactorImu::error()
 
     Eigen::VectorXd delta_corr = imu::plus(delta_preint, delta_step);
 
-    Eigen::Vector9d res = imu::diff(delta_exp, delta_corr);
+    Eigen::Vector9d err = imu::diff(delta_exp, delta_corr);
 
-    return res;
+    return err;
 }
 
 template<typename D1, typename D2, typename D3>
diff --git a/include/imu/factor/factor_imu2d.h b/include/imu/factor/factor_imu2d.h
index bfba5016736dd0173d9bec19142806c08dbe1b38..5158c590fb2a6ecaf570cf6e0830fbc697437ded 100644
--- a/include/imu/factor/factor_imu2d.h
+++ b/include/imu/factor/factor_imu2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef FACTOR_IMU2D_THETA_H_
 #define FACTOR_IMU2D_THETA_H_
 
diff --git a/include/imu/feature/feature_imu.h b/include/imu/feature/feature_imu.h
index 9248608f14b2c6a0d339af5776ae2459d96ad8ab..6aa5f45116edbe33ac4459868cf34b9819af4e3c 100644
--- a/include/imu/feature/feature_imu.h
+++ b/include/imu/feature/feature_imu.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef FEATURE_IMU_H_
 #define FEATURE_IMU_H_
 
diff --git a/include/imu/feature/feature_imu2d.h b/include/imu/feature/feature_imu2d.h
index 713df8f8489fad8be3fe7d6fbf3988e61a44cb60..58f64b31afcd6610783359458a1261394d2726fa 100644
--- a/include/imu/feature/feature_imu2d.h
+++ b/include/imu/feature/feature_imu2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef FEATURE_IMU2D_H_
 #define FEATURE_IMU2D_H_
 
diff --git a/include/imu/math/imu2d_tools.h b/include/imu/math/imu2d_tools.h
index e53f5bcee20c056d0f887aa76c829fdf89151287..4f2a1ef535d9a538c03228a81d6940e67c7439a2 100644
--- a/include/imu/math/imu2d_tools.h
+++ b/include/imu/math/imu2d_tools.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * imu2d_tools.h
  *
diff --git a/include/imu/math/imu_tools.h b/include/imu/math/imu_tools.h
index d9b0b58454132c8abaa11d50a5847d18b829337f..e696966cde5f21034b3e04d464c9c3305f5e4ec7 100644
--- a/include/imu/math/imu_tools.h
+++ b/include/imu/math/imu_tools.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * imu_tools.h
  *
@@ -566,7 +587,7 @@ inline void plus(const MatrixBase<D1>& dp1, const MatrixBase<D2>& dq1, const Mat
 template<typename D1, typename D2, typename D3>
 inline void plus(const MatrixBase<D1>& d1,
                  const MatrixBase<D2>& d2,
-                 MatrixBase<D3>& d_pert)
+                 MatrixBase<D3>& d)
 {
     Map<const Matrix<typename D1::Scalar, 3, 1> >   dp1    ( & d1(0) );
     Map<const Quaternion<typename D1::Scalar> >     dq1    ( & d1(3) );
@@ -574,11 +595,11 @@ inline void plus(const MatrixBase<D1>& d1,
     Map<const Matrix<typename D2::Scalar, 3, 1> >   dp2    ( & d2(0) );
     Map<const Matrix<typename D2::Scalar, 3, 1> >   do2    ( & d2(3) );
     Map<const Matrix<typename D2::Scalar, 3, 1> >   dv2    ( & d2(6) );
-    Map<Matrix<typename D3::Scalar, 3, 1> >         dp_p ( & d_pert(0) );
-    Map<Quaternion<typename D3::Scalar> >           dq_p ( & d_pert(3) );
-    Map<Matrix<typename D3::Scalar, 3, 1> >         dv_p ( & d_pert(7) );
+    Map<Matrix<typename D3::Scalar, 3, 1> >         dp     ( & d (0) );
+    Map<Quaternion<typename D3::Scalar> >           dq     ( & d (3) );
+    Map<Matrix<typename D3::Scalar, 3, 1> >         dv     ( & d (7) );
 
-    plus(dp1, dq1, dv1, dp2, do2, dv2, dp_p, dq_p, dv_p);
+    plus(dp1, dq1, dv1, dp2, do2, dv2, dp, dq, dv);
 }
 
 template<typename D1, typename D2>
diff --git a/include/imu/processor/processor_compass.h b/include/imu/processor/processor_compass.h
index 690755716de4029d257ae0807bf947bc2b511acb..71f572e6317be94c99a22d1431ef73be8d7a08cd 100644
--- a/include/imu/processor/processor_compass.h
+++ b/include/imu/processor/processor_compass.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef INCLUDE_IMU_PROCESSOR_PROCESSORCOMPASS_H_
 #define INCLUDE_IMU_PROCESSOR_PROCESSORCOMPASS_H_
 
@@ -38,11 +59,11 @@ class ProcessorCompass : public ProcessorBase
 
     protected:
         void processCapture(CaptureBasePtr) override;
-        void processKeyFrame(FrameBasePtr, const double&) override;
+        void processKeyFrame(FrameBasePtr _frm) override;
         void processMatch(FrameBasePtr, CaptureBasePtr);
 
         bool triggerInCapture(CaptureBasePtr _cap) const override { return true;};
-        bool triggerInKeyFrame(FrameBasePtr _frm, const double& _time_tol) const override { return true;};
+        bool triggerInKeyFrame(FrameBasePtr _frm) const override { return true;};
 
         bool storeKeyFrame(FrameBasePtr _frm) override { return false;};
         bool storeCapture(CaptureBasePtr _cap) override { return false;};
diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index 502120cc1400bcd2da109903adc72c219e7a6efe..12676c83d8536bc8f2ccbcc78eb288dfe74804cd 100644
--- a/include/imu/processor/processor_imu.h
+++ b/include/imu/processor/processor_imu.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef PROCESSOR_IMU_H
 #define PROCESSOR_IMU_H
 
@@ -77,8 +98,6 @@ class ProcessorImu : public ProcessorMotion{
 
     protected:
         ParamsProcessorImuPtr params_motion_Imu_;
-        Eigen::Matrix<double, 9, 9> unmeasured_perturbation_cov_;
-
 };
 
 }
diff --git a/include/imu/processor/processor_imu2d.h b/include/imu/processor/processor_imu2d.h
index bda61341dad3165764aaf78e1a6a5a7efdf8d373..433ccf6b92724169420813bdea8692cf5bc6777e 100644
--- a/include/imu/processor/processor_imu2d.h
+++ b/include/imu/processor/processor_imu2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef PROCESSOR_IMU2D_H
 #define PROCESSOR_IMU2D_H
 
@@ -77,8 +98,6 @@ class ProcessorImu2d : public ProcessorMotion{
 
     protected:
         ParamsProcessorImu2dPtr params_motion_Imu_;
-        Eigen::Matrix<double, 5, 5> unmeasured_perturbation_cov_;
-
 };
 
 }
diff --git a/include/imu/sensor/sensor_compass.h b/include/imu/sensor/sensor_compass.h
index e21bb028d1daf45e662698e4e21b2055fa5c69df..a446b8acabf40ace81f7280d931d14eb8faedb32 100644
--- a/include/imu/sensor/sensor_compass.h
+++ b/include/imu/sensor/sensor_compass.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef SENSOR_SENSOR_COMPASS_H_
 #define SENSOR_SENSOR_COMPASS_H_
 
diff --git a/include/imu/sensor/sensor_imu.h b/include/imu/sensor/sensor_imu.h
index 07b289c0ac0e21451dbe682774d3aeddc79ffa7b..dd21d8859880c52758152a445996298cdad08d48 100644
--- a/include/imu/sensor/sensor_imu.h
+++ b/include/imu/sensor/sensor_imu.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef SENSOR_IMU_H
 #define SENSOR_IMU_H
 
diff --git a/include/imu/sensor/sensor_imu2d.h b/include/imu/sensor/sensor_imu2d.h
index 21485c43168141ac29e5df325a26d9d8d4aa90da..a46b5ccae3cdbd341ad36540d366ab71ee6803d6 100644
--- a/include/imu/sensor/sensor_imu2d.h
+++ b/include/imu/sensor/sensor_imu2d.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #ifndef SENSOR_IMU2D_H
 #define SENSOR_IMU2D_H
 
diff --git a/license_header_2022.txt b/license_header_2022.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c987025f9dba3e7af993051b9bdf4b5ff400e0d
--- /dev/null
+++ b/license_header_2022.txt
@@ -0,0 +1,17 @@
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
diff --git a/src/capture/capture_imu.cpp b/src/capture/capture_imu.cpp
index 75230fafd5663ca7a422497fbd834e4a97e31fe3..f8a4b0b4118c299fda57c59e77df1b922b2e292a 100644
--- a/src/capture/capture_imu.cpp
+++ b/src/capture/capture_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "imu/capture/capture_imu.h"
 #include "imu/sensor/sensor_imu.h"
 #include "core/state_block/state_quaternion.h"
diff --git a/src/feature/feature_imu.cpp b/src/feature/feature_imu.cpp
index d3547a52c2c6794ed2d795af780ca2063ef14e36..3dfb28f79cff470aa22a1a468c4ab4c48dc09c5e 100644
--- a/src/feature/feature_imu.cpp
+++ b/src/feature/feature_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "imu/feature/feature_imu.h"
 
 namespace wolf {
diff --git a/src/feature/feature_imu2d.cpp b/src/feature/feature_imu2d.cpp
index 1a5e61a0d0a88629f37d84f96e3605933636ce3e..9fee0928794000dc527029cdf13cc1e51bef0875 100644
--- a/src/feature/feature_imu2d.cpp
+++ b/src/feature/feature_imu2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "imu/feature/feature_imu2d.h"
 
 namespace wolf {
diff --git a/src/processor/processor_compass.cpp b/src/processor/processor_compass.cpp
index 972c26c572e51296a556f8c48c6daee941770bd8..a0231bd6e9c01e178ba034efc9e14698ca9583d8 100644
--- a/src/processor/processor_compass.cpp
+++ b/src/processor/processor_compass.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "imu/processor/processor_compass.h"
 #include "imu/capture/capture_compass.h"
 #include "imu/factor/factor_compass_3d.h"
@@ -18,24 +39,24 @@ ProcessorCompass::~ProcessorCompass()
 void ProcessorCompass::processCapture(CaptureBasePtr _capture)
 {
     // Search for any stored frame within time tolerance of capture
-    auto frame_pack = buffer_pack_kf_.select(_capture->getTimeStamp(), params_->time_tolerance);
-    if (frame_pack)
+    auto keyframe = buffer_frame_.select(_capture->getTimeStamp(), params_->time_tolerance);
+    if (keyframe)
     {
-        processMatch(frame_pack->key_frame, _capture);
+        processMatch(keyframe, _capture);
 
         // remove the frame and older frames
-        buffer_pack_kf_.removeUpTo(frame_pack->key_frame->getTimeStamp());
+        buffer_frame_.removeUpTo(keyframe->getTimeStamp());
     }
     // Otherwise: store capture
     // Note that more than one processor can be emplacing frames, so an older frame can arrive later than this one.
     else
-        buffer_capture_.add(_capture->getTimeStamp(), _capture);
+        buffer_capture_.emplace(_capture->getTimeStamp(), _capture);
 }
 
-void ProcessorCompass::processKeyFrame(FrameBasePtr _frame, const double& _time_tolerance)
+void ProcessorCompass::processKeyFrame(FrameBasePtr _frame)
 {
     // Search for any stored capture within time tolerance of frame
-    auto capture = buffer_capture_.select(_frame->getTimeStamp(), _time_tolerance);
+    auto capture = buffer_capture_.select(_frame->getTimeStamp(), getTimeTolerance());
     if (capture)
     {
         processMatch(_frame, capture);
@@ -44,10 +65,10 @@ void ProcessorCompass::processKeyFrame(FrameBasePtr _frame, const double& _time_
         buffer_capture_.removeUpTo(_frame->getTimeStamp() - 10);
     }
     // Otherwise: If frame is more recent than any capture in buffer -> store frame to be processed later in processCapture
-    else if (buffer_capture_.selectLastAfter(_frame->getTimeStamp(), _time_tolerance) == nullptr)
+    else if (buffer_capture_.selectLastAfter(_frame->getTimeStamp(), getTimeTolerance()) == nullptr)
     {
         // store frame
-        buffer_pack_kf_.add(_frame, _time_tolerance);
+        buffer_frame_.emplace(_frame->getTimeStamp(), _frame);
     }
     // Otherwise: There are captures more recent than the frame but none that match with it -> discard frame
 }
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index 6eb0edced109dec6bc58e2bb3e9a400805c49730..69dbf111bc7a5bbcd4ad11796633338c5e877083 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 // imu
 #include "imu/processor/processor_imu.h"
 #include "imu/factor/factor_imu.h"
@@ -12,11 +33,7 @@ ProcessorImu::ProcessorImu(ParamsProcessorImuPtr _params_motion_imu) :
         ProcessorMotion("ProcessorImu", "POV", 3, 10, 10, 9, 6, 6, _params_motion_imu),
         params_motion_Imu_(std::make_shared<ParamsProcessorImu>(*_params_motion_imu))
 {
-    // Set constant parts of Jacobians
-    jacobian_delta_preint_.setIdentity(9,9);                                    // dDp'/dDp, dDv'/dDv, all zeros
-    jacobian_delta_.setIdentity(9,9);                                           //
-    jacobian_calib_.setZero(9,6);
-    unmeasured_perturbation_cov_ = pow(params_motion_Imu_->unmeasured_perturbation_std, 2.0) * Eigen::Matrix<double, 9, 9>::Identity();
+    //
 }
 
 ProcessorImu::~ProcessorImu()
diff --git a/src/processor/processor_imu2d.cpp b/src/processor/processor_imu2d.cpp
index b0bfed05b4ce5d86bd095ff7aa57193e04989c34..1fcf8f5d782634b821daa013ada05426a92d0aa3 100644
--- a/src/processor/processor_imu2d.cpp
+++ b/src/processor/processor_imu2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 // imu
 #include "imu/processor/processor_imu2d.h"
 #include "imu/factor/factor_imu2d.h"
@@ -13,11 +34,7 @@ namespace wolf {
     ProcessorMotion("ProcessorImu2d", "POV", 2, 5, 5, 5, 6, 3, _params_motion_imu),
     params_motion_Imu_(std::make_shared<ParamsProcessorImu2d>(*_params_motion_imu))
   {
-    // Set constant parts of Jacobians
-    jacobian_delta_preint_.setIdentity(5,5);                                    // dDp'/dDp, dDv'/dDv, all zeros
-    jacobian_delta_.setIdentity(5,5);                                           //
-    jacobian_calib_.setZero(5,3);
-    unmeasured_perturbation_cov_ = pow(params_motion_Imu_->unmeasured_perturbation_std, 2.0) * Eigen::Matrix<double, 5, 5>::Identity();
+      //
   }
 
   ProcessorImu2d::~ProcessorImu2d()
diff --git a/src/sensor/sensor_compass.cpp b/src/sensor/sensor_compass.cpp
index d81f52926e3633cc31d248a88e8f119bc6f2012b..43171641af0110385be84e72f40251bc5797b5cc 100644
--- a/src/sensor/sensor_compass.cpp
+++ b/src/sensor/sensor_compass.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "imu/sensor/sensor_compass.h"
 #include "core/state_block/state_block.h"
 #include "core/state_block/state_quaternion.h"
diff --git a/src/sensor/sensor_imu.cpp b/src/sensor/sensor_imu.cpp
index 8f12c8188ea85bdfff31e1a524a667dddd3cd178..bb6ec35e0061202819385fe04b5b2c58c54a3160 100644
--- a/src/sensor/sensor_imu.cpp
+++ b/src/sensor/sensor_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "imu/sensor/sensor_imu.h"
 #include "core/state_block/state_block.h"
 #include "core/state_block/state_quaternion.h"
diff --git a/src/sensor/sensor_imu2d.cpp b/src/sensor/sensor_imu2d.cpp
index 4db7e8fab11258f3197bc238d54d8eb6dfe4802a..f74b3baa23383ea5265d7d288abc8d97d225a0ff 100644
--- a/src/sensor/sensor_imu2d.cpp
+++ b/src/sensor/sensor_imu2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <imu/sensor/sensor_imu2d.h>
 #include <core/state_block/state_block.h>
 #include <core/state_block/state_angle.h>
diff --git a/src/yaml/processor_imu2d_yaml.cpp b/src/yaml/processor_imu2d_yaml.cpp
index 5d8e528cf6d1a12d0f31e2dee03bb2d9d9874ee9..b1d1e282e4991d7ad991d5e6f5a70bb31984c187 100644
--- a/src/yaml/processor_imu2d_yaml.cpp
+++ b/src/yaml/processor_imu2d_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file processor_imu2d_yaml.cpp
  *
diff --git a/src/yaml/processor_imu_yaml.cpp b/src/yaml/processor_imu_yaml.cpp
index 4d75aa8f13069a7a22404de29fe90462196b394e..30221d8e0350f1bcf840acd0fddcba2f2f845e8e 100644
--- a/src/yaml/processor_imu_yaml.cpp
+++ b/src/yaml/processor_imu_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file processor_imu_yaml.cpp
  *
diff --git a/src/yaml/sensor_imu2d_yaml.cpp b/src/yaml/sensor_imu2d_yaml.cpp
index 548168791dde3afb2d2df5a6f415f7047313b9f5..a138b56bf11564a794893c872eecb297d10a1634 100644
--- a/src/yaml/sensor_imu2d_yaml.cpp
+++ b/src/yaml/sensor_imu2d_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file sensor_imu2d_yaml.cpp
  *
diff --git a/src/yaml/sensor_imu_yaml.cpp b/src/yaml/sensor_imu_yaml.cpp
index 87201a4699e047e1873fe12de0ce121bcd96d1db..fbee701af0d92988fd0833da9aac2dbbee5927c4 100644
--- a/src/yaml/sensor_imu_yaml.cpp
+++ b/src/yaml/sensor_imu_yaml.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file sensor_imu_yaml.cpp
  *
@@ -28,7 +49,6 @@ static ParamsSensorBasePtr createParamsSensorImu(const std::string & _filename_d
     if (config["type"].as<std::string>() == "SensorImu")
     {
         YAML::Node variances        = config["motion_variances"];
-        YAML::Node kf_vote          = config["keyframe_vote"];
 
         ParamsSensorImuPtr params = std::make_shared<ParamsSensorImu>();
 
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 8c95cfe4aea8d11b9fecd28135ec25630b174353..bc10d2bf34366c9dbd624d62a8fffa92b1fb2598 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -14,48 +14,54 @@ target_link_libraries(gtest_example ${PLUGIN_NAME})      #
 ###########################################################
 
 wolf_add_gtest(gtest_processor_imu gtest_processor_imu.cpp)
-target_link_libraries(gtest_processor_imu ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_processor_imu ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_processor_imu2d gtest_processor_imu2d.cpp)
-target_link_libraries(gtest_processor_imu2d ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_processor_imu2d ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_processor_imu2d_with_gravity gtest_processor_imu2d_with_gravity.cpp)
 target_link_libraries(gtest_processor_imu2d_with_gravity ${PLUGIN_NAME} ${wolf_LIBRARY})
 
 wolf_add_gtest(gtest_imu gtest_imu.cpp)
-target_link_libraries(gtest_imu ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_imu ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_imu_tools gtest_imu_tools.cpp)
-target_link_libraries(gtest_imu_tools ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_imu_tools ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_imu2d_tools gtest_imu2d_tools.cpp)
-target_link_libraries(gtest_imu2d_tools ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_imu2d_tools ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_processor_imu_jacobians gtest_processor_imu_jacobians.cpp)
-target_link_libraries(gtest_processor_imu_jacobians ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_processor_imu_jacobians ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_feature_imu gtest_feature_imu.cpp)
-target_link_libraries(gtest_feature_imu ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_feature_imu ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_factor_imu2d gtest_factor_imu2d.cpp)
-target_link_libraries(gtest_factor_imu2d ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_factor_imu2d ${PLUGIN_NAME})
+
+wolf_add_gtest(gtest_imu_static_init gtest_imu_static_init.cpp)
+target_link_libraries(gtest_imu_static_init ${PLUGIN_NAME})
+
+wolf_add_gtest(gtest_imu2d_static_init gtest_imu2d_static_init.cpp)
+target_link_libraries(gtest_imu2d_static_init ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_factor_imu2d_with_gravity gtest_factor_imu2d_with_gravity.cpp)
 target_link_libraries(gtest_factor_imu2d_with_gravity ${PLUGIN_NAME} ${wolf_LIBRARY})
 
 wolf_add_gtest(gtest_imu_mocap_fusion gtest_imu_mocap_fusion.cpp)
-target_link_libraries(gtest_imu_mocap_fusion ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_imu_mocap_fusion ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_factor_compass_3d gtest_factor_compass_3d.cpp)
-target_link_libraries(gtest_factor_compass_3d ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_factor_compass_3d ${PLUGIN_NAME})
 
 # Has been excluded from tests for god knows how long, so thing is broken.
 # Maybe call an archeologist to fix this thing?
 # wolf_add_gtest(gtest_factor_imu gtest_factor_imu.cpp)
-# target_link_libraries(gtest_factor_imu ${PLUGIN_NAME} ${wolf_LIBRARY})
+# target_link_libraries(gtest_factor_imu ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_processor_motion_intrinsics_update gtest_processor_motion_intrinsics_update.cpp)
-target_link_libraries(gtest_processor_motion_intrinsics_update ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_processor_motion_intrinsics_update ${PLUGIN_NAME})
 
 wolf_add_gtest(gtest_sensor_compass gtest_sensor_compass.cpp)
-target_link_libraries(gtest_sensor_compass ${PLUGIN_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_sensor_compass ${PLUGIN_NAME})
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 140792d538ab5ae568ba7743fbc49bce0bb6d9f2..c73292612597de2fb22c677ffd5bedf92c62daa4 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <core/utils/utils_gtest.h>
 
 TEST(TestTest, DummyTestExample)
diff --git a/test/gtest_factor_compass_3d.cpp b/test/gtest_factor_compass_3d.cpp
index f438aa03fbc5c18ed3d6f0d87c26ed568c535a6d..c368b7691e2012691ab2ec5c35dbe6bdb251b640 100644
--- a/test/gtest_factor_compass_3d.cpp
+++ b/test/gtest_factor_compass_3d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "imu/internal/config.h"
diff --git a/test/gtest_factor_imu.cpp b/test/gtest_factor_imu.cpp
index c22ac6eafd00cb4c0cf480f70ffa64c0c8a88676..b6fe81776f2fb7db6ef7aaba0e4f130d7a6c2637 100644
--- a/test/gtest_factor_imu.cpp
+++ b/test/gtest_factor_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file gtest_factor_imu.cpp
  *
@@ -89,7 +110,7 @@ class FactorImu_biasTest_Static_NullBias : public testing::Test
         expected_final_state = x_origin; //null bias + static
 
         //set origin of the problem
-        KF0 = problem->setPrior(x_origin, P_origin, t, 0.005);
+        KF0 = problem->setPrior(x_origin, P_origin, t);
 //        KF0 = processor_imu->setOrigin(x_origin, t);
 
         //===================================================== END{INITIALIZATION}
@@ -1220,7 +1241,7 @@ class FactorImu_ODOM_biasTest_Move_NonNullBiasRotXY : public testing::Test
         Eigen::Quaterniond current_quatState(Eigen::Quaterniond::Identity());
 
         //set origin of the problem
-        origin_KF = problem->setPrior(x_origin, P_origin, t, 0.005);
+        origin_KF = problem->setPrior(x_origin, P_origin, t);
 //        origin_KF = processor_imu->setOrigin(x_origin, t);
 //        processor_odom3d->setOrigin(origin_KF);
 
diff --git a/test/gtest_factor_imu2d.cpp b/test/gtest_factor_imu2d.cpp
index 037783f6966b9c96f7016371469c7b522a6ded14..7dd71060608bd87f8b3188f9827f213d181322e6 100644
--- a/test/gtest_factor_imu2d.cpp
+++ b/test/gtest_factor_imu2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <core/ceres_wrapper/solver_ceres.h>
 #include <core/utils/utils_gtest.h>
 
diff --git a/test/gtest_feature_imu.cpp b/test/gtest_feature_imu.cpp
index 6d2403b6827319b85236fbf444bc3af8987dbc27..d634807aec2b5b6b4f4243ea106c6b5363ffa10f 100644
--- a/test/gtest_feature_imu.cpp
+++ b/test/gtest_feature_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 //Wolf
 #include "imu/capture/capture_imu.h"
 #include "imu/processor/processor_imu.h"
@@ -57,7 +78,7 @@ class FeatureImu_test : public testing::Test
     // Set the origin
         VectorComposite x0("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
         VectorComposite s0("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-        origin_frame = problem->setPriorFactor(x0, s0, t, 0.01);
+        origin_frame = problem->setPriorFactor(x0, s0, t);
         processor_motion_ptr_->setOrigin(origin_frame);
 
     // Emplace one capture to store the Imu data arriving from (sensor / callback / file / etc.)
diff --git a/test/gtest_imu.cpp b/test/gtest_imu.cpp
index 161157b8e079a5dd5f3dd4c873e754e021003c6f..6e63ec0bba182b5b0e163ed3c7ff094896f4a296 100644
--- a/test/gtest_imu.cpp
+++ b/test/gtest_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * gtest_Imu.cpp
  *
@@ -328,7 +349,7 @@ class Process_Factor_Imu : public testing::Test
             // wolf objects
             WOLF_INFO("x0c: ", x0c);
             WOLF_INFO("s0c: ", s0c);
-            KF_0    = problem->setPriorFactor(x0c, s0c, t0, dt/2);
+            KF_0    = problem->setPriorFactor(x0c, s0c, t0);
             processor_imu->setOrigin(KF_0);
             WOLF_INFO("prior set");
 
@@ -475,28 +496,10 @@ class Process_Factor_Imu : public testing::Test
         {
             // This perturbs states to estimate around the exact value, then assigns to the keyframe
             // Perturbations are applied only if the state block is unfixed
-
-            VectorXd x_pert(10);
-
-            // KF 0
-            x_pert = x0;
-            if (!p0_fixed)
-                x_pert.head(3)      += Vector3d::Random() * 0.01;
-            if (!q0_fixed)
-                x_pert.segment(3,4) = (Quaterniond(x_pert.data() + 3) * exp_q(Vector3d::Random() * 0.01)).coeffs().normalized();
-            if (!v0_fixed)
-                x_pert.tail(3)      += Vector3d::Random() * 0.01;
-            KF_0->setState(x_pert);
-
-            // KF 1
-            x_pert = x1_exact;
-            if (!p1_fixed)
-                x_pert.head(3)      += Vector3d::Random() * 0.01;
-            if (!q1_fixed)
-                x_pert.segment(3,4) = (Quaterniond(x_pert.data() + 3) * exp_q(Vector3d::Random() * 0.01)).coeffs().normalized();
-            if (!v1_fixed)
-                x_pert.tail(3)      += Vector3d::Random() * 0.01;
-            KF_1->setState(x_pert);
+            KF_0->setState(x0);
+            KF_0->perturb();
+            KF_1->setState(x1_exact);
+            KF_1->perturb();
         }
 
         virtual void buildProblem()
@@ -505,7 +508,7 @@ class Process_Factor_Imu : public testing::Test
             FrameBasePtr KF = problem->emplaceFrame(t, x1_exact);
 
             // ===================================== Imu CALLBACK
-            problem->keyFrameCallback(KF, nullptr, dt/2);
+            problem->keyFrameCallback(KF, nullptr);
 
             // Process Imu for the callback to take effect
             data = Vector6d::Zero();
diff --git a/test/gtest_imu2d_static_init.cpp b/test/gtest_imu2d_static_init.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ddf1624c4a9c7c9d44c6ce43c35d8f975c8d2494
--- /dev/null
+++ b/test/gtest_imu2d_static_init.cpp
@@ -0,0 +1,555 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+/*
+ * gtest_imu2d_static_init.cpp
+ *
+ *  Created on: Sept 2021
+ *      Author: igeer
+ */
+
+#include <fstream>
+#include <core/ceres_wrapper/solver_ceres.h>
+#include <core/utils/utils_gtest.h>
+#include "imu/internal/config.h"
+
+#include "imu/factor/factor_imu2d.h"
+#include "imu/math/imu2d_tools.h"
+#include "imu/sensor/sensor_imu2d.h"
+#include "core/capture/capture_void.h"
+#include <core/factor/factor_relative_pose_2d.h>
+
+using namespace Eigen;
+using namespace wolf;
+
+class ProcessorImu2dStaticInitTest : public testing::Test
+{
+
+    public: //These can be accessed in fixtures
+        wolf::ProblemPtr problem_ptr_;
+        wolf::SensorBasePtr sensor_ptr_;
+        wolf::ProcessorMotionPtr processor_motion_;
+        wolf::TimeStamp t;
+        wolf::TimeStamp t0;
+        double dt;
+        Vector6d data;
+        Matrix6d data_cov;
+        FrameBasePtr KF0_;
+        FrameBasePtr first_frame_;
+        FrameBasePtr last_frame_;
+        SolverCeresPtr solver_;
+
+    //a new of this will be created for each new test
+    void SetUp() override
+    {
+        WOLF_INFO("Doing setup...");
+        using namespace Eigen;
+        using std::shared_ptr;
+        using std::make_shared;
+        using std::static_pointer_cast;
+        using namespace wolf::Constants;
+
+        std::string wolf_root = _WOLF_IMU_ROOT_DIR;
+
+        // Wolf problem
+        problem_ptr_ = Problem::create("POV", 2);
+        Vector3d extrinsics = (Vector3d() << 0,0,0).finished();
+        sensor_ptr_ = problem_ptr_->installSensor("SensorImu2d", "Main Imu", extrinsics,  wolf_root + "/test/yaml/sensor_imu2d_static_init.yaml");
+        ProcessorBasePtr processor_ptr = problem_ptr_->installProcessor("ProcessorImu2d", "Imu pre-integrator", "Main Imu", wolf_root + "/test/yaml/imu2d_static_init.yaml");
+        processor_motion_ = std::static_pointer_cast<ProcessorMotion>(processor_ptr);
+
+        // Time and data variables
+        dt = 0.1;
+        t0.set(0);
+        t = t0;
+        data = Vector6d::Random();
+        data_cov = Matrix6d::Identity();
+        last_frame_ = nullptr;
+        first_frame_ = nullptr;
+
+        // Create the solver
+        solver_ = make_shared<SolverCeres>(problem_ptr_);
+        
+        // Set the origin
+        VectorComposite x_origin("POV", {Vector2d::Zero(), Vector1d::Zero(), Vector2d::Zero()});
+        VectorComposite std_origin("POV", {0.001*Vector2d::Ones(), 0.001*Vector1d::Ones(), 0.001*Vector2d::Ones()});
+        //KF0_ = problem_ptr_->setPriorFix(x_origin, t0);
+        KF0_ = problem_ptr_->setPriorFactor(x_origin, std_origin, 0);
+
+    }
+
+    void TestStatic(const Vector3d& body_magnitudes, const Vector3d& bias_groundtruth, const Vector3d& bias_initial_guess, const string& test_name, int testing_var, bool small_tol)
+    {
+      //Data
+      data.head(2) = body_magnitudes.head(2);
+      data(5) = body_magnitudes(2);
+      data.head(2) += bias_groundtruth.head(2);
+      data(5) += bias_groundtruth(2);
+
+      //Set bias initial guess
+      sensor_ptr_->getIntrinsic(t0)->setState(bias_initial_guess);
+      processor_motion_->setOrigin(KF0_);
+
+#if WRITE_CSV_FILE
+      std::fstream file_est; 
+      file_est.open("./est2d-"+test_name+".csv", std::fstream::out);
+      //    std::string header_est = "t,px,py,pz,qx,qy,qz,qw,vx,vy,vz,bax_est,bax_preint\n";
+      std::string header_est;
+      if(testing_var == 0) header_est = "t;px;vx;o;bax_est;bg_est;bax_preint;bg_preint\n";
+      if(testing_var == 1) header_est = "t;py;vy;o;bay_est;bg_est;bay_preint;bg_preint\n";
+      //if(testing_var == 2) header_est = "t;pz;vz;oz:baz_est;bgz_est;baz_preint;bgz_preint\n";
+      if(testing_var == 3) header_est = "t;pnorm;vnorm;o;banorm_est;bg_est;banorm_preint;bg_preint\n";
+      file_est << header_est;
+#endif
+
+
+      int n_frames = 0;
+      for(t = t0; t <= t0 + 9.9 + dt/2; t+=dt){
+        WOLF_INFO("\n------------------------------------------------------------------------");
+
+        //Create and process capture  
+        auto C = std::make_shared<CaptureImu>(t, sensor_ptr_, data, data_cov, KF0_->getCaptureList().front());
+        C->process();
+
+        auto state = problem_ptr_->getState();
+        auto bias_est = sensor_ptr_->getIntrinsic()->getState();
+        auto bias_preint = processor_motion_->getLast()->getCalibrationPreint();
+
+#if WRITE_CSV_FILE
+        // pre-solve print to CSV
+        if(testing_var == 3){
+        file_est << std::fixed << t << ";"
+            << state['P'].norm() << ";"
+            << state['V'].norm() << ";"
+            << state['O'] << ";"
+            << bias_est.head(2).norm() << ";"
+            << bias_est(2) << ";"
+            << bias_preint.head(2).norm() << ";"
+            << bias_preint(2) << "\n";
+        }
+        else
+        {
+        file_est << std::fixed << t << ";"
+            << state['P'](testing_var) << ";"
+            << state['V'](testing_var) << ";"
+            << state['O'] << ";"
+            << bias_est(testing_var) << ";"
+            << bias_est(2) << ";"
+            << bias_preint(testing_var) << ";"
+            << bias_preint(2) << "\n";
+
+        }
+#endif
+
+        // new frame
+        if (last_frame_ != processor_motion_->getOrigin()->getFrame())
+        {
+          n_frames++;
+          last_frame_ = processor_motion_->getOrigin()->getFrame();
+
+          // impose static
+          last_frame_->getP()->setState(KF0_->getP()->getState());
+          last_frame_->getO()->setState(KF0_->getO()->getState());
+          last_frame_->getV()->setZero();
+
+          //Fix frame
+          last_frame_->fix();
+
+          //Solve
+          if(n_frames > 0)
+          {
+            std::string report = solver_->solve(SolverManager::ReportVerbosity::FULL);
+            //WOLF_INFO("Solver Report: ", report);
+
+            state = problem_ptr_->getState();
+            bias_est = sensor_ptr_->getIntrinsic()->getState();
+            bias_preint = processor_motion_->getLast()->getCalibrationPreint();
+            
+            WOLF_INFO("The current problem is:");
+            problem_ptr_->print(4);
+
+#if WRITE_CSV_FILE
+            // post-solve print to CSV with time-stamp shifted by dt/2 to separate from pre-solve  result
+            if(testing_var == 3){
+              file_est << std::fixed << t+dt/2 << ";"
+                << state['P'].norm() << ";"
+                << state['V'].norm() << ";"
+                << state['O'] << ";"
+                << bias_est.head(2).norm() << ";"
+                << bias_est(2) << ";"
+                << bias_preint.head(2).norm() << ";"
+                << bias_preint(2) << "\n";
+            }
+            else
+            {
+              file_est << std::fixed << t+dt/2 << ";"
+                << state['P'](testing_var) << ";"
+                << state['V'](testing_var) << ";"
+                << state['O'] << ";"
+                << bias_est(testing_var) << ";"
+                << bias_est(2) << ";"
+                << bias_preint(testing_var) << ";"
+                << bias_preint(2) << "\n";
+
+            }
+#endif
+          }
+
+        }
+
+
+        WOLF_INFO("Number of frames is ", n_frames);
+        WOLF_INFO("The state is: ", state);
+        WOLF_INFO("The estimated bias is: ", bias_est.transpose());
+        WOLF_INFO("The preintegrated bias is: ", bias_preint.transpose());
+        if(small_tol)
+        {
+          if(n_frames == 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-6);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-6);
+          }
+          else if (n_frames > 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-6);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-6);
+            EXPECT_MATRIX_APPROX(bias_preint, bias_groundtruth, 1e-6);
+          }
+        }
+        else
+        {
+          if(n_frames == 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-3);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-3);
+          }
+          else if (n_frames > 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-3);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-3);
+            EXPECT_MATRIX_APPROX(bias_preint, bias_groundtruth, 1e-3);
+          }
+        }
+      }
+
+#if WRITE_CSV_FILE
+      file_est.close();
+#endif
+
+    }
+
+    void TestStaticZeroOdom(const Vector3d& body_magnitudes, const Vector3d& bias_groundtruth, const Vector3d& bias_initial_guess, const string& test_name, int testing_var, bool small_tol)
+    {
+      //Data
+      data.head(2) = body_magnitudes.head(2);
+      data(5) = body_magnitudes(2);
+      data.head(2) += bias_groundtruth.head(2);
+      data(5) += bias_groundtruth(2);
+
+      //Set bias initial guess
+      sensor_ptr_->getIntrinsic(t0)->setState(bias_initial_guess);
+      processor_motion_->setOrigin(KF0_);
+
+#if WRITE_CSV_FILE
+      std::fstream file_est; 
+      file_est.open("./est2dzeroodom-"+test_name+".csv", std::fstream::out);
+      //    std::string header_est = "t,px,py,pz,qx,qy,qz,qw,vx,vy,vz,bax_est,bax_preint\n";
+      std::string header_est;
+      if(testing_var == 0) header_est = "t;px;vx;o;bax_est;bg_est;bax_preint;bg_preint\n";
+      if(testing_var == 1) header_est = "t;py;vy;o;bay_est;bg_est;bay_preint;bg_preint\n";
+      //if(testing_var == 2) header_est = "t;pz;vz;oz:baz_est;bgz_est;baz_preint;bgz_preint\n";
+      if(testing_var == 3) header_est = "t;pnorm;vnorm;o;banorm_est;bg_est;banorm_preint;bg_preint\n";
+      file_est << header_est;
+#endif
+
+      int n_frames = 0;
+      for(t = t0; t <= t0 + 9.9 + dt/2; t+=dt){
+        WOLF_INFO("\n------------------------------------------------------------------------");
+
+        //Create and process capture  
+        auto C = std::make_shared<CaptureImu>(t, sensor_ptr_, data, data_cov, KF0_->getCaptureList().front());
+        C->process();
+
+        auto state = problem_ptr_->getState();
+        auto bias_est = sensor_ptr_->getIntrinsic()->getState();
+        auto bias_preint = processor_motion_->getLast()->getCalibrationPreint();
+
+#if WRITE_CSV_FILE
+        // pre-solve print to CSV
+        if(testing_var == 3){
+        file_est << std::fixed << t << ";"
+            << state['P'].norm() << ";"
+            << state['V'].norm() << ";"
+            << state['O'] << ";"
+            << bias_est.head(2).norm() << ";"
+            << bias_est(2) << ";"
+            << bias_preint.head(2).norm() << ";"
+            << bias_preint(2) << "\n";
+        }
+        else
+        {
+        file_est << std::fixed << t << ";"
+            << state['P'](testing_var) << ";"
+            << state['V'](testing_var) << ";"
+            << state['O'] << ";"
+            << bias_est(testing_var) << ";"
+            << bias_est(2) << ";"
+            << bias_preint(testing_var) << ";"
+            << bias_preint(2) << "\n";
+
+        }
+#endif
+
+        // new frame
+        if (last_frame_ != processor_motion_->getOrigin()->getFrame())
+        {
+          n_frames++;
+          last_frame_ = processor_motion_->getOrigin()->getFrame();
+          
+          // impose zero odometry
+          processor_motion_->setOdometry(sensor_ptr_->getProblem()->stateZero(processor_motion_->getStateStructure()));
+
+          // add zero displacement and rotation capture & feature & factor with all previous frames
+          assert(sensor_ptr_->getProblem());
+          for (auto frm_pair =  sensor_ptr_->getProblem()->getTrajectory()->begin();
+              frm_pair != sensor_ptr_->getProblem()->getTrajectory()->end();
+              frm_pair++)
+          {
+            if (frm_pair->second == last_frame_)
+              break;
+            auto capture_zero = CaptureBase::emplace<CaptureVoid>(last_frame_, last_frame_->getTimeStamp(), nullptr);
+
+            auto feature_zero = FeatureBase::emplace<FeatureBase>(capture_zero,
+                "FeatureZeroOdom",
+                Vector3d::Zero(),
+                Eigen::MatrixXd::Identity(3,3) * 0.01);
+
+            FactorBase::emplace<FactorRelativePose2d>(feature_zero,
+                feature_zero,
+                frm_pair->second,
+                nullptr,
+                false,
+                TOP_MOTION);
+
+          }
+
+          // impose static
+          last_frame_->getV()->setZero();
+
+          //Fix frame
+          last_frame_->getV()->fix();
+
+          //Solve
+          if(n_frames > 0)
+          {
+            std::string report = solver_->solve(SolverManager::ReportVerbosity::FULL);
+            //WOLF_INFO("Solver Report: ", report);
+
+            state = problem_ptr_->getState();
+            bias_est = sensor_ptr_->getIntrinsic()->getState();
+            bias_preint = processor_motion_->getLast()->getCalibrationPreint();
+            
+            WOLF_INFO("The current problem is:");
+            problem_ptr_->print(4);
+
+#if WRITE_CSV_FILE
+            // post-solve print to CSV with time-stamp shifted by dt/2 to separate from pre-solve  result
+            if(testing_var == 3){
+              file_est << std::fixed << t+dt/2 << ";"
+                << state['P'].norm() << ";"
+                << state['V'].norm() << ";"
+                << state['O'] << ";"
+                << bias_est.head(2).norm() << ";"
+                << bias_est(2) << ";"
+                << bias_preint.head(2).norm() << ";"
+                << bias_preint(2) << "\n";
+            }
+            else
+            {
+              file_est << std::fixed << t+dt/2 << ";"
+                << state['P'](testing_var) << ";"
+                << state['V'](testing_var) << ";"
+                << state['O'] << ";"
+                << bias_est(testing_var) << ";"
+                << bias_est(2) << ";"
+                << bias_preint(testing_var) << ";"
+                << bias_preint(2) << "\n";
+
+            }
+#endif
+          }
+
+        }
+
+
+
+        WOLF_INFO("Number of frames is ", n_frames);
+        WOLF_INFO("The state is: ", state);
+        WOLF_INFO("The estimated bias is: ", bias_est.transpose());
+        WOLF_INFO("The preintegrated bias is: ", bias_preint.transpose());
+        if(small_tol)
+        {
+          if(n_frames == 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-6);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-6);
+          }
+          else if (n_frames > 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-6);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-6);
+            EXPECT_MATRIX_APPROX(bias_preint, bias_groundtruth, 1e-6);
+          }
+        }
+        else
+        {
+          if(n_frames == 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-3);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-3);
+          }
+          else if (n_frames > 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-3);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-3);
+            EXPECT_MATRIX_APPROX(bias_preint, bias_groundtruth, 1e-3);
+          }
+        }
+      }
+
+#if WRITE_CSV_FILE
+      file_est.close();
+#endif
+
+    }
+};
+
+
+
+TEST_F(ProcessorImu2dStaticInitTest, static_bias_aX_initial_guess_zero)
+{
+   Vector3d body_magnitudes = Vector3d::Zero();
+   Vector3d bias_groundtruth = (Vector3d() << 0.42, 0, 0).finished(); 
+   Vector3d bias_initial_guess = Vector3d::Zero();
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_aX_initial_guess_zero", 0, true); 
+}
+
+TEST_F(ProcessorImu2dStaticInitTest, static_bias_zero_initial_guess_aX)
+{
+   Vector3d body_magnitudes = Vector3d::Zero();
+   Vector3d bias_groundtruth = Vector3d::Zero();
+   Vector3d bias_initial_guess = (Vector3d() << 0.42, 0, 0).finished(); 
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_aX", 0, true); 
+}
+
+TEST_F(ProcessorImu2dStaticInitTest, static_bias_gX_initial_guess_zero)
+{
+   Vector3d body_magnitudes = Vector3d::Zero();
+   Vector3d bias_groundtruth = (Vector3d() << 0, 0, 0.01).finished(); 
+   Vector3d bias_initial_guess = Vector3d::Zero();
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_gX_initial_guess_zero", 0, false); 
+}
+
+TEST_F(ProcessorImu2dStaticInitTest, static_bias_zero_initial_guess_gX)
+{
+   Vector3d body_magnitudes = Vector3d::Zero();
+   Vector3d bias_groundtruth = Vector3d::Zero();
+   Vector3d bias_initial_guess = (Vector3d() << 0, 0, 0.01).finished(); 
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_gX", 0, false); 
+}
+
+TEST_F(ProcessorImu2dStaticInitTest, static_bias_aX_initial_guess_zero_zeroodom)
+{
+   Vector3d body_magnitudes = Vector3d::Zero();
+   Vector3d bias_groundtruth = (Vector3d() << 0.42, 0, 0).finished(); 
+   Vector3d bias_initial_guess = Vector3d::Zero();
+
+   TestStaticZeroOdom(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_aX_initial_guess_zero", 0, true); 
+}
+
+TEST_F(ProcessorImu2dStaticInitTest, static_bias_zero_initial_guess_aX_zeroodom)
+{
+   Vector3d body_magnitudes = Vector3d::Zero();
+   Vector3d bias_groundtruth = Vector3d::Zero();
+   Vector3d bias_initial_guess = (Vector3d() << 0.42, 0, 0).finished(); 
+
+   TestStaticZeroOdom(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_aX", 0, true); 
+}
+
+TEST_F(ProcessorImu2dStaticInitTest, static_bias_gX_initial_guess_zero_zeroodom)
+{
+   Vector3d body_magnitudes = Vector3d::Zero();
+   Vector3d bias_groundtruth = (Vector3d() <<  0, 0, 0.01).finished(); 
+   Vector3d bias_initial_guess = Vector3d::Zero();
+
+   TestStaticZeroOdom(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_gX_initial_guess_zero", 0, false); 
+}
+
+TEST_F(ProcessorImu2dStaticInitTest, static_bias_zero_initial_guess_gX_zeroodom)
+{
+   Vector3d body_magnitudes = Vector3d::Zero();
+   Vector3d bias_groundtruth = Vector3d::Zero();
+   Vector3d bias_initial_guess = (Vector3d() << 0, 0, 0.01).finished(); 
+
+   TestStaticZeroOdom(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_gX", 0, false); 
+}
+
+
+TEST_F(ProcessorImu2dStaticInitTest, static_bias_zero_initial_guess_a_random)
+{
+   Vector3d body_magnitudes = Vector3d::Zero();
+   Vector3d bias_groundtruth = Vector3d::Zero();
+   Vector3d bias_initial_guess = Vector3d::Random()*100;
+   bias_initial_guess(2) = 0;
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_a_random", 3, true); 
+}
+
+TEST_F(ProcessorImu2dStaticInitTest, static_bias_zero_initial_guess_random)
+{
+   Vector3d body_magnitudes = Vector3d::Zero();
+   Vector3d bias_groundtruth = Vector3d::Zero();
+   Vector3d bias_initial_guess = Vector3d::Random()*0.01;
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_random", 3, false); 
+}
+
+TEST_F(ProcessorImu2dStaticInitTest, realistic_test)
+{
+   Vector3d body_magnitudes = Vector3d::Zero();
+   Vector3d bias_groundtruth = (Vector3d() << -0.529550648247,
+                                               0.278316717683,
+                                              -0.00122491355676).finished();
+   Vector3d bias_initial_guess = Vector3d::Zero();
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_random", 3, false); 
+}
+
+int main(int argc, char **argv)
+{
+    testing::InitGoogleTest(&argc, argv);
+    //    ::testing::GTEST_FLAG(filter) = "FactorImu2d.no_bias_fixed"; // Test only this one
+    return RUN_ALL_TESTS();
+}
diff --git a/test/gtest_imu2d_tools.cpp b/test/gtest_imu2d_tools.cpp
index c1e727ccac84397b47f4902cb6c6b808df4ca9f3..964cdbee899e1e83760b062a2caf531614c545e4 100644
--- a/test/gtest_imu2d_tools.cpp
+++ b/test/gtest_imu2d_tools.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * gtest_imu2d_tools.cpp
  *
diff --git a/test/gtest_imu_mocap_fusion.cpp b/test/gtest_imu_mocap_fusion.cpp
index bb668f2b85062e100ad80dbd92ce29411dd19458..34cf4948419a04b2b8f0648fe75b020495509b70 100644
--- a/test/gtest_imu_mocap_fusion.cpp
+++ b/test/gtest_imu_mocap_fusion.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file gtest_imu_mocap_fusion.cpp
  *
@@ -92,7 +113,7 @@ class ImuMocapFusion_Test : public testing::Test
         solver_->getSolverOptions().max_num_iterations = 500;
         // initial guess
         VectorComposite x_origin("POV", {w_p_wb, w_q_b.coeffs(), w_v_wb});
-        FrameBasePtr KF1 = problem_->setPriorInitialGuess(x_origin, 0, 0.0005);  // if mocap used
+        FrameBasePtr KF1 = problem_->setPriorInitialGuess(x_origin, 0);  // if mocap used
 
         // pose sensor and proc (to get extrinsics in the prb)
         auto intr_sp = std::make_shared<ParamsSensorPose>();
@@ -279,4 +300,4 @@ int main(int argc, char **argv)
 {
   testing::InitGoogleTest(&argc, argv);
   return RUN_ALL_TESTS();
-}
\ No newline at end of file
+}
diff --git a/test/gtest_imu_static_init.cpp b/test/gtest_imu_static_init.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e0c769b4a30a4d1dc122be4ebe88622634186e1a
--- /dev/null
+++ b/test/gtest_imu_static_init.cpp
@@ -0,0 +1,554 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+/*
+ * gtest_imu_static_init.cpp
+ *
+ *  Created on: Sept 2021
+ *      Author: igeer
+ */
+#include <fstream>
+
+#include <core/ceres_wrapper/solver_ceres.h>
+#include <core/utils/utils_gtest.h>
+#include "imu/internal/config.h"
+
+#include "imu/factor/factor_imu.h"
+#include "imu/math/imu_tools.h"
+#include "imu/sensor/sensor_imu.h"
+#include "core/capture/capture_void.h"
+#include <core/factor/factor_relative_pose_3d.h>
+
+using namespace Eigen;
+using namespace wolf;
+
+/**
+ *  SET TO TRUE  TO PRODUCE CSV FILE
+ *  SET TO FALSE TO STOP PRODUCING CSV FILE
+ */
+#define WRITE_CSV_FILE  true
+
+class ProcessorImuStaticInitTest : public testing::Test
+{
+
+    public: //These can be accessed in fixtures
+        wolf::ProblemPtr problem_ptr_;
+        wolf::SensorBasePtr sensor_ptr_;
+        wolf::ProcessorMotionPtr processor_motion_;
+        wolf::TimeStamp t;
+        wolf::TimeStamp t0;
+        double dt;
+        Vector6d data;
+        Matrix6d data_cov;
+        FrameBasePtr KF0_;
+        FrameBasePtr first_frame_;
+        FrameBasePtr last_frame_;
+        SolverCeresPtr solver_;
+
+    //a new of this will be created for each new test
+    void SetUp() override
+    {
+        WOLF_INFO("Doing setup...");
+        using namespace Eigen;
+        using std::shared_ptr;
+        using std::make_shared;
+        using std::static_pointer_cast;
+        using namespace wolf::Constants;
+
+        std::string wolf_root = _WOLF_IMU_ROOT_DIR;
+
+        // Wolf problem
+        problem_ptr_ = Problem::create("POV", 3);
+        Vector7d extrinsics = (Vector7d() << 0,0,0,0,0,0,1).finished();
+        sensor_ptr_ = problem_ptr_->installSensor("SensorImu", "Main Imu", extrinsics,  wolf_root + "/test/yaml/sensor_imu_static_init.yaml");
+        ProcessorBasePtr processor_ptr = problem_ptr_->installProcessor("ProcessorImu", "Imu pre-integrator", "Main Imu", wolf_root + "/test/yaml/imu_static_init.yaml");
+        processor_motion_ = std::static_pointer_cast<ProcessorMotion>(processor_ptr);
+
+        // Time and data variables
+        dt = 0.1;
+        t0.set(0);
+        t = t0;
+        data = Vector6d::Random();
+        data_cov = Matrix6d::Identity();
+        last_frame_ = nullptr;
+        first_frame_ = nullptr;
+
+        // Create the solver
+        solver_ = make_shared<SolverCeres>(problem_ptr_);
+        
+        // Set the origin
+        VectorComposite x0c("POV", {Vector3d::Zero(), (Vector4d() << 0,0,0,1).finished(), Vector3d::Zero()});
+        WOLF_INFO("x0c is: \n", x0c);
+        //KF0_ = problem_ptr_->setPriorFix(x0c, t0);
+
+        Vector4d q_init; q_init << 0,0,0,1;
+        VectorComposite x_origin("POV", {Vector3d::Zero(), q_init, Vector3d::Zero()});
+        VectorComposite std_origin("POV", {0.001*Vector3d::Ones(), 0.001*Vector3d::Ones(), 0.001*Vector3d::Ones()});
+        KF0_ = problem_ptr_->setPriorFactor(x_origin, std_origin, 0);
+
+    }
+
+    void TestStatic(const Vector6d& body_magnitudes, const Vector6d& bias_groundtruth, const Vector6d& bias_initial_guess, const string& test_name, int testing_var, bool small_tol)
+    {
+      //Data
+      data = body_magnitudes;
+      data.head(3) -= Quaterniond(Vector4d(KF0_->getO()->getState())).conjugate() * wolf::gravity();
+      data += bias_groundtruth;
+
+      //Set bias initial guess
+      sensor_ptr_->getIntrinsic(t0)->setState(bias_initial_guess);
+      processor_motion_->setOrigin(KF0_);
+
+#if WRITE_CSV_FILE
+      std::fstream file_est; 
+      file_est.open("./est-"+test_name+".csv", std::fstream::out);
+      //    std::string header_est = "t,px,py,pz,qx,qy,qz,qw,vx,vy,vz,bax_est,bax_preint\n";
+      std::string header_est;
+      if(testing_var == 0) header_est = "t;px;vx;ox;bax_est;bgx_est;bax_preint;bgx_preint\n";
+      if(testing_var == 1) header_est = "t;py;vy;oy;bay_est;bgy_est;bay_preint;bgy_preint\n";
+      if(testing_var == 2) header_est = "t;pz;vz;oz:baz_est;bgz_est;baz_preint;bgz_preint\n";
+      if(testing_var == 3) header_est = "t;pnorm;vnorm;onorm;banorm_est;bgnorm_est;banorm_preint;bgnorm_preint\n";
+      file_est << header_est;
+#endif
+
+
+      int n_frames = 0;
+      for(t = t0; t <= t0 + 9.9 + dt/2; t+=dt){
+        WOLF_INFO("\n------------------------------------------------------------------------");
+
+        //Create and process capture  
+        auto C = std::make_shared<CaptureImu>(t, sensor_ptr_, data, data_cov, KF0_->getCaptureList().front());
+        C->process();
+
+        auto state = problem_ptr_->getState();
+        auto bias_est = sensor_ptr_->getIntrinsic()->getState();
+        auto bias_preint = processor_motion_->getLast()->getCalibrationPreint();
+
+#if WRITE_CSV_FILE
+        // pre-solve print to CSV
+        if(testing_var == 3){
+        file_est << std::fixed << t << ";"
+            << state['P'].norm() << ";"
+            << state['V'].norm() << ";"
+            << state['O'].norm() << ";"
+            << bias_est.head(3).norm() << ";"
+            << bias_est.tail(3).norm() << ";"
+            << bias_preint.head(3).norm() << ";"
+            << bias_preint.tail(3).norm() << "\n";
+        }
+        else
+        {
+        file_est << std::fixed << t << ";"
+            << state['P'](testing_var) << ";"
+            << state['V'](testing_var) << ";"
+            << state['O'](testing_var) << ";"
+            << bias_est(testing_var) << ";"
+            << bias_est(testing_var+3) << ";"
+            << bias_preint(testing_var) << ";"
+            << bias_preint(testing_var+3) << "\n";
+
+        }
+#endif
+
+        // new frame
+        if (last_frame_ != processor_motion_->getOrigin()->getFrame())
+        {
+          n_frames++;
+          last_frame_ = processor_motion_->getOrigin()->getFrame();
+
+          // impose static
+          last_frame_->getP()->setState(KF0_->getP()->getState());
+          last_frame_->getO()->setState(KF0_->getO()->getState());
+          last_frame_->getV()->setZero();
+
+          //Fix frame
+          last_frame_->fix();
+
+          //Solve
+          if(n_frames > 0)
+          {
+            std::string report = solver_->solve(SolverManager::ReportVerbosity::FULL);
+            //WOLF_INFO("Solver Report: ", report);
+
+            state = problem_ptr_->getState();
+            bias_est = sensor_ptr_->getIntrinsic()->getState();
+            bias_preint = processor_motion_->getLast()->getCalibrationPreint();
+            
+            WOLF_INFO("The current problem is:");
+            problem_ptr_->print(4);
+
+#if WRITE_CSV_FILE
+            // post-solve print to CSV with time-stamp shifted by dt/2 to separate from pre-solve  result
+            if(testing_var == 3){
+              file_est << std::fixed << t+dt/2 << ";"
+                << state['P'].norm() << ";"
+                << state['V'].norm() << ";"
+                << state['O'].norm() << ";"
+                << bias_est.head(3).norm() << ";"
+                << bias_est.tail(3).norm() << ";"
+                << bias_preint.head(3).norm() << ";"
+                << bias_preint.tail(3).norm() << "\n";
+            }
+            else
+            {
+              file_est << std::fixed << t+dt/2 << ";"
+                << state['P'](testing_var) << ";"
+                << state['V'](testing_var) << ";"
+                << state['O'](testing_var) << ";"
+                << bias_est(testing_var) << ";"
+                << bias_est(testing_var+3) << ";"
+                << bias_preint(testing_var) << ";"
+                << bias_preint(testing_var+3) << "\n";
+
+            }
+#endif
+          }
+
+        }
+
+
+
+        WOLF_INFO("Number of frames is ", n_frames);
+        WOLF_INFO("The state is: ", state);
+        WOLF_INFO("The estimated bias is: ", bias_est.transpose());
+        WOLF_INFO("The preintegrated bias is: ", bias_preint.transpose());
+        if(small_tol)
+        {
+          if(n_frames == 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-6);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-6);
+          }
+          else if (n_frames > 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-6);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-6);
+            EXPECT_MATRIX_APPROX(bias_preint, bias_groundtruth, 1e-6);
+          }
+        }
+        else
+        {
+          if(n_frames == 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-3);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-3);
+          }
+          else if (n_frames > 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-3);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-3);
+            EXPECT_MATRIX_APPROX(bias_preint, bias_groundtruth, 1e-3);
+          }
+        }
+      }
+
+#if WRITE_CSV_FILE
+      file_est.close();
+#endif
+
+    }
+
+    void TestStaticZeroOdom(const Vector6d& body_magnitudes, const Vector6d& bias_groundtruth, const Vector6d& bias_initial_guess, const string& test_name, int testing_var, bool small_tol)
+    {
+      //Data
+      data = body_magnitudes;
+      data.head(3) -= Quaterniond(Vector4d(KF0_->getO()->getState())).conjugate() * wolf::gravity();
+      data += bias_groundtruth;
+
+      //Set bias initial guess
+      sensor_ptr_->getIntrinsic(t0)->setState(bias_initial_guess);
+      processor_motion_->setOrigin(KF0_);
+
+#if WRITE_CSV_FILE
+      std::fstream file_est; 
+      file_est.open("./estzeroodom-"+test_name+".csv", std::fstream::out);
+      //    std::string header_est = "t,px,py,pz,qx,qy,qz,qw,vx,vy,vz,bax_est,bax_preint\n";
+      std::string header_est;
+      if(testing_var == 0) header_est = "t;px;vx;ox;bax_est;bgx_est;bax_preint;bgx_preint\n";
+      if(testing_var == 1) header_est = "t;py;vy;oy;bay_est;bgy_est;bay_preint;bgy_preint\n";
+      if(testing_var == 2) header_est = "t;pz;vz;oz:baz_est;bgz_est;baz_preint;bgz_preint\n";
+      if(testing_var == 3) header_est = "t;pnorm;vnorm;onorm;banorm_est;bgnorm_est;banorm_preint;bgnorm_preint\n";
+      file_est << header_est;
+#endif
+
+
+      int n_frames = 0;
+      for(t = t0; t <= t0 + 9.9 + dt/2; t+=dt){
+        WOLF_INFO("\n------------------------------------------------------------------------");
+
+        //Create and process capture  
+        auto C = std::make_shared<CaptureImu>(t, sensor_ptr_, data, data_cov, KF0_->getCaptureList().front());
+        C->process();
+
+        auto state = problem_ptr_->getState();
+        auto bias_est = sensor_ptr_->getIntrinsic()->getState();
+        auto bias_preint = processor_motion_->getLast()->getCalibrationPreint();
+
+#if WRITE_CSV_FILE
+        // pre-solve print to CSV
+        if(testing_var == 3){
+        file_est << std::fixed << t << ";"
+            << state['P'].norm() << ";"
+            << state['V'].norm() << ";"
+            << state['O'].norm() << ";"
+            << bias_est.head(3).norm() << ";"
+            << bias_est.tail(3).norm() << ";"
+            << bias_preint.head(3).norm() << ";"
+            << bias_preint.tail(3).norm() << "\n";
+        }
+        else
+        {
+        file_est << std::fixed << t << ";"
+            << state['P'](testing_var) << ";"
+            << state['V'](testing_var) << ";"
+            << state['O'](testing_var) << ";"
+            << bias_est(testing_var) << ";"
+            << bias_est(testing_var+3) << ";"
+            << bias_preint(testing_var) << ";"
+            << bias_preint(testing_var+3) << "\n";
+
+        }
+#endif
+
+        // new frame
+        if (last_frame_ != processor_motion_->getOrigin()->getFrame())
+        {
+          n_frames++;
+          last_frame_ = processor_motion_->getOrigin()->getFrame();
+          
+          // impose zero odometry
+          processor_motion_->setOdometry(sensor_ptr_->getProblem()->stateZero(processor_motion_->getStateStructure()));
+
+          // add zero displacement and rotation capture & feature & factor with all previous frames
+          assert(sensor_ptr_->getProblem());
+          for (auto frm_pair =  sensor_ptr_->getProblem()->getTrajectory()->begin();
+              frm_pair != sensor_ptr_->getProblem()->getTrajectory()->end();
+              frm_pair++)
+          {
+            if (frm_pair->second == last_frame_)
+              break;
+            auto capture_zero = CaptureBase::emplace<CaptureVoid>(last_frame_, last_frame_->getTimeStamp(), nullptr);
+
+            auto feature_zero = FeatureBase::emplace<FeatureBase>(capture_zero,
+                "FeatureZeroOdom",
+                Vector7d::Zero(),
+                Eigen::MatrixXd::Identity(6,6) * 0.01);
+
+            FactorBase::emplace<FactorRelativePose3d>(feature_zero,
+                feature_zero,
+                frm_pair->second,
+                nullptr,
+                false,
+                TOP_MOTION);
+
+          }
+
+          // impose static
+          last_frame_->getV()->setZero();
+
+          //Fix frame
+          last_frame_->getV()->fix();
+
+          //Solve
+          if(n_frames > 0)
+          {
+            std::string report = solver_->solve(SolverManager::ReportVerbosity::FULL);
+            //WOLF_INFO("Solver Report: ", report);
+
+            state = problem_ptr_->getState();
+            bias_est = sensor_ptr_->getIntrinsic()->getState();
+            bias_preint = processor_motion_->getLast()->getCalibrationPreint();
+            
+            WOLF_INFO("The current problem is:");
+            problem_ptr_->print(4);
+
+#if WRITE_CSV_FILE
+            // post-solve print to CSV with time-stamp shifted by dt/2 to separate from pre-solve  result
+            if(testing_var == 3){
+              file_est << std::fixed << t+dt/2 << ";"
+                << state['P'].norm() << ";"
+                << state['V'].norm() << ";"
+                << state['O'].norm() << ";"
+                << bias_est.head(3).norm() << ";"
+                << bias_est.tail(3).norm() << ";"
+                << bias_preint.head(3).norm() << ";"
+                << bias_preint.tail(3).norm() << "\n";
+            }
+            else
+            {
+              file_est << std::fixed << t+dt/2 << ";"
+                << state['P'](testing_var) << ";"
+                << state['V'](testing_var) << ";"
+                << state['O'](testing_var) << ";"
+                << bias_est(testing_var) << ";"
+                << bias_est(testing_var+3) << ";"
+                << bias_preint(testing_var) << ";"
+                << bias_preint(testing_var+3) << "\n";
+
+            }
+#endif
+          }
+
+        }
+
+
+
+        WOLF_INFO("Number of frames is ", n_frames);
+        WOLF_INFO("The state is: ", state);
+        WOLF_INFO("The estimated bias is: ", bias_est.transpose());
+        WOLF_INFO("The preintegrated bias is: ", bias_preint.transpose());
+        if(small_tol)
+        {
+          if(n_frames == 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-6);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-6);
+          }
+          else if (n_frames > 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-6);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-6);
+            EXPECT_MATRIX_APPROX(bias_preint, bias_groundtruth, 1e-6);
+          }
+        }
+        else
+        {
+          if(n_frames == 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-3);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-3);
+          }
+          else if (n_frames > 2)
+          {
+            EXPECT_MATRIX_APPROX(state.vector("POV"), KF0_->getState().vector("POV"), 1e-3);
+            EXPECT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-3);
+            EXPECT_MATRIX_APPROX(bias_preint, bias_groundtruth, 1e-3);
+          }
+        }
+      }
+
+#if WRITE_CSV_FILE
+      file_est.close();
+#endif
+
+    }
+};
+
+
+
+TEST_F(ProcessorImuStaticInitTest, static_bias_aX_initial_guess_zero)
+{
+   Vector6d body_magnitudes = Vector6d::Zero();
+   Vector6d bias_groundtruth = (Vector6d() << 0.42, 0, 0, 0, 0, 0).finished(); 
+   Vector6d bias_initial_guess = Vector6d::Zero();
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_aX_initial_guess_zero", 0, true); 
+}
+
+TEST_F(ProcessorImuStaticInitTest, static_bias_zero_initial_guess_aX)
+{
+   Vector6d body_magnitudes = Vector6d::Zero();
+   Vector6d bias_groundtruth = Vector6d::Zero();
+   Vector6d bias_initial_guess = (Vector6d() << 0.42, 0, 0, 0, 0, 0).finished(); 
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_aX", 0, true); 
+}
+
+TEST_F(ProcessorImuStaticInitTest, static_bias_gX_initial_guess_zero)
+{
+   Vector6d body_magnitudes = Vector6d::Zero();
+   Vector6d bias_groundtruth = (Vector6d() << 0, 0, 0, 0.01, 0, 0).finished(); 
+   Vector6d bias_initial_guess = Vector6d::Zero();
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_gX_initial_guess_zero", 0, false); 
+}
+
+TEST_F(ProcessorImuStaticInitTest, static_bias_zero_initial_guess_gX)
+{
+   Vector6d body_magnitudes = Vector6d::Zero();
+   Vector6d bias_groundtruth = Vector6d::Zero();
+   Vector6d bias_initial_guess = (Vector6d() << 0, 0, 0, 0.01, 0, 0).finished(); 
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_gX", 0, false); 
+}
+
+TEST_F(ProcessorImuStaticInitTest, static_bias_aX_initial_guess_zero_zeroodom)
+{
+   Vector6d body_magnitudes = Vector6d::Zero();
+   Vector6d bias_groundtruth = (Vector6d() << 0.42, 0, 0, 0, 0, 0).finished(); 
+   Vector6d bias_initial_guess = Vector6d::Zero();
+
+   TestStaticZeroOdom(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_aX_initial_guess_zero", 0, true); 
+}
+
+TEST_F(ProcessorImuStaticInitTest, static_bias_zero_initial_guess_aX_zeroodom)
+{
+   Vector6d body_magnitudes = Vector6d::Zero();
+   Vector6d bias_groundtruth = Vector6d::Zero();
+   Vector6d bias_initial_guess = (Vector6d() << 0.42, 0, 0, 0, 0, 0).finished(); 
+
+   TestStaticZeroOdom(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_aX", 0, true); 
+}
+
+TEST_F(ProcessorImuStaticInitTest, static_bias_gX_initial_guess_zero_zeroodom)
+{
+   Vector6d body_magnitudes = Vector6d::Zero();
+   Vector6d bias_groundtruth = (Vector6d() << 0, 0, 0, 0.01, 0, 0).finished(); 
+   Vector6d bias_initial_guess = Vector6d::Zero();
+
+   TestStaticZeroOdom(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_gX_initial_guess_zero", 0, false); 
+}
+
+TEST_F(ProcessorImuStaticInitTest, static_bias_zero_initial_guess_gX_zeroodom)
+{
+   Vector6d body_magnitudes = Vector6d::Zero();
+   Vector6d bias_groundtruth = Vector6d::Zero();
+   Vector6d bias_initial_guess = (Vector6d() << 0, 0, 0, 0.01, 0, 0).finished(); 
+
+   TestStaticZeroOdom(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_gX", 0, false); 
+}
+
+
+TEST_F(ProcessorImuStaticInitTest, static_bias_zero_initial_guess_a_random)
+{
+   Vector6d body_magnitudes = Vector6d::Zero();
+   Vector6d bias_groundtruth = Vector6d::Zero();
+   Vector6d bias_initial_guess = Vector6d::Random()*100;
+   bias_initial_guess.tail(3) = Vector3d::Zero();
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_a_random", 3, true); 
+}
+
+TEST_F(ProcessorImuStaticInitTest, static_bias_zero_initial_guess_random)
+{
+   Vector6d body_magnitudes = Vector6d::Zero();
+   Vector6d bias_groundtruth = Vector6d::Zero();
+   Vector6d bias_initial_guess = Vector6d::Random()*0.01;
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_random", 3, false); 
+}
+
+
+int main(int argc, char **argv)
+{
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}
diff --git a/test/gtest_imu_tools.cpp b/test/gtest_imu_tools.cpp
index c2e8306ce5b7d0c6cacafc1ac30f8be0474cf0e9..4053b15f912ef7e5cb4b39181e7a5b81395d0c6a 100644
--- a/test/gtest_imu_tools.cpp
+++ b/test/gtest_imu_tools.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /*
  * gtest_imu_tools.cpp
  *
diff --git a/test/gtest_processor_imu.cpp b/test/gtest_processor_imu.cpp
index 79db6e39e80ca013f5ea4bc833844984fa69d5c3..6255fa38517be1218fcd6e39647c18e2151974c6 100644
--- a/test/gtest_processor_imu.cpp
+++ b/test/gtest_processor_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file gtest_processor_imu.cpp
  *
@@ -144,7 +165,7 @@ TEST(ProcessorImu, voteForKeyFrame)
     TimeStamp t(0);
     VectorComposite x0("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     VectorComposite s0("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0, s0, t, 0.01);
+    problem->setPriorFactor(x0, s0, t);
 
     //data variable and covariance matrix
     // since we integrate only a few times, give the capture a big covariance, otherwise it will be so small that it won't pass following assertions
@@ -212,7 +233,7 @@ TEST_F(ProcessorImut, acc_x)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -243,7 +264,7 @@ TEST_F(ProcessorImut, acc_y)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -285,7 +306,7 @@ TEST_F(ProcessorImut, acc_z)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -327,7 +348,7 @@ TEST_F(ProcessorImut, check_Covariance)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -353,7 +374,7 @@ TEST_F(ProcessorImut, gyro_x)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -410,7 +431,7 @@ TEST_F(ProcessorImut, gyro_x_biasedAbx)
     // init things
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -468,7 +489,7 @@ TEST_F(ProcessorImut, gyro_xy_biasedAbxy)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -524,7 +545,7 @@ TEST_F(ProcessorImut, gyro_z)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -567,7 +588,7 @@ TEST_F(ProcessorImut, gyro_xyz)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -659,7 +680,7 @@ TEST_F(ProcessorImut, gyro_z_ConstVelocity)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(2,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -703,7 +724,7 @@ TEST_F(ProcessorImut, gyro_x_ConstVelocity)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(2,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -752,7 +773,7 @@ TEST_F(ProcessorImut, gyro_xy_ConstVelocity)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(2,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -801,7 +822,7 @@ TEST_F(ProcessorImut, gyro_y_ConstVelocity)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(2,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -849,7 +870,7 @@ TEST_F(ProcessorImut, gyro_xyz_ConstVelocity)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(2,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -943,7 +964,7 @@ TEST_F(ProcessorImut, gyro_x_acc_x)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(0,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -997,7 +1018,7 @@ TEST_F(ProcessorImut, gyro_y_acc_y)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(0,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -1051,7 +1072,7 @@ TEST_F(ProcessorImut, gyro_z_acc_z)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(0,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
diff --git a/test/gtest_processor_imu2d.cpp b/test/gtest_processor_imu2d.cpp
index 4e0084f3002024e2bd04cd9896bcb49e798b8cd7..87c3619d3fbe37425bfc62bb6c0e2b17cfc40d9c 100644
--- a/test/gtest_processor_imu2d.cpp
+++ b/test/gtest_processor_imu2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file gtest_processor_imu2d.cpp
  *
@@ -113,7 +134,7 @@ TEST_F(ProcessorImu2dTest, Prior)
     x0c['P'] = Vector2d(1,2);
     x0c['O'] = Vector1d(0);
     x0c['V'] = Vector2d(4,5);
-    auto KF0 = problem->setPriorFix(x0c, t0, dt/2);
+    auto KF0 = problem->setPriorFix(x0c, t0);
     processor_motion->setOrigin(KF0);
     //WOLF_DEBUG("x0 =", x0c);
     //WOLF_DEBUG("KF0 state =", problem->getTrajectory()->getFrameMap().at(t)->getState("POV"));
@@ -127,7 +148,7 @@ TEST_F(ProcessorImu2dTest, MRUA)
    x0c['P'] = Vector2d(1,2);
    x0c['O'] = Vector1d(0);
    x0c['V'] = Vector2d(4,5);
-   auto KF0 = problem->setPriorFix(x0c, t0, dt/2);
+   auto KF0 = problem->setPriorFix(x0c, t0);
    processor_motion->setOrigin(KF0);
 
    //WOLF_DEBUG("Current State: ", problem->getState());
@@ -154,7 +175,7 @@ TEST_F(ProcessorImu2dTest, parabola)
    x0c['V'] = Vector2d(v0, 0);
 
    data_cov *= 1e-3;
-   auto KF0 = problem->setPriorFix(x0c, t0, dt/2);
+   auto KF0 = problem->setPriorFix(x0c, t0);
    processor_motion->setOrigin(KF0);
 
    for(t = t0+dt; t <= t0 + 0.5 + dt/2; t+=dt){
@@ -184,7 +205,7 @@ TEST_F(ProcessorImu2dTest, parabola_deluxe)
    x0c['V'] = v0;
 
    data_cov *= 1e-3;
-   auto KF0 = problem->setPriorFix(x0c, t0, dt/2);
+   auto KF0 = problem->setPriorFix(x0c, t0);
    processor_motion->setOrigin(KF0);
 
    for(t = t0+dt; t <= t0 + 0.5 + dt/2; t+=dt){
@@ -216,7 +237,7 @@ TEST_F(ProcessorImu2dTest, Circular_move)
 
    data_cov *= 1e-3;
    //dt = 0.0001;
-   auto KF0 = problem->setPriorFix(x0c, t0, dt/2);
+   auto KF0 = problem->setPriorFix(x0c, t0);
    processor_motion->setOrigin(KF0);
 
    WOLF_DEBUG("Current State: ", problem->getState());
diff --git a/test/gtest_processor_imu_jacobians.cpp b/test/gtest_processor_imu_jacobians.cpp
index bc4ff1533c993e8be1b530433527a2e2cb7783d2..929b92569f363af49e92a39a28428f23df500e10 100644
--- a/test/gtest_processor_imu_jacobians.cpp
+++ b/test/gtest_processor_imu_jacobians.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 /**
  * \file gtest_imu_preintegration_jacobians.cpp
  *
diff --git a/test/gtest_processor_motion_intrinsics_update.cpp b/test/gtest_processor_motion_intrinsics_update.cpp
index 4dbac962133c7d8da9f76e152a09e0749c1f2e71..93ba8561b5b4fea55e814cc9d3b68501ae2439ac 100644
--- a/test/gtest_processor_motion_intrinsics_update.cpp
+++ b/test/gtest_processor_motion_intrinsics_update.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include <fstream>
 
 #include "imu/internal/config.h"
@@ -77,7 +98,7 @@ class ProcessorImuTest : public testing::Test
             params_->time_tolerance = 0.0025;
             processor_ = std::static_pointer_cast<ProcessorImu>(problem_->installProcessor("ProcessorImu", "processor imu", sensor_, params_));
 
-            KF0_ = problem_->setPriorFactor(x_origin, std_origin, 0, 0.01);
+            KF0_ = problem_->setPriorFactor(x_origin, std_origin, 0);
 
             Vector6d bias; bias << 0.42,0,0, 0,0,0;
             // Vector6d bias; bias << 0.0,0,0, 0.42,0,0;
@@ -155,7 +176,7 @@ TEST_F(ProcessorImuTest, test1)
  *  SET TO TRUE  TO PRODUCE CSV FILE
  *  SET TO FALSE TO STOP PRODUCING CSV FILE
  */
-#define WRITE_CSV_FILE  false
+#define WRITE_CSV_FILE  true
 
 TEST_F(ProcessorImuTest, getState)
 {
diff --git a/test/gtest_sensor_compass.cpp b/test/gtest_sensor_compass.cpp
index 8b404d2ad88ea63c0d6a6beac32f2a7b31377299..0200128bad102e5b4c50015a4428050bd957d5a7 100644
--- a/test/gtest_sensor_compass.cpp
+++ b/test/gtest_sensor_compass.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "imu/internal/config.h"
diff --git a/test/processor_imu2d_UnitTester.cpp b/test/processor_imu2d_UnitTester.cpp
index 6611c9b1461993fb9fb09268a756d7f13c93f4ec..3412389aa7c251d37aa1f98afe3891e9b9b7374e 100644
--- a/test/processor_imu2d_UnitTester.cpp
+++ b/test/processor_imu2d_UnitTester.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "processor_imu2d_UnitTester.h"
 
 namespace wolf {
diff --git a/test/processor_imu2d_UnitTester.h b/test/processor_imu2d_UnitTester.h
index 30cd61fed36b4b2e74609c7cfc2af748f0f51f38..8dd65887a91947890e6f83aa48c797f5c39cd522 100644
--- a/test/processor_imu2d_UnitTester.h
+++ b/test/processor_imu2d_UnitTester.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #ifndef PROCESSOR_IMU2D_UNITTESTER_H
 #define PROCESSOR_IMU2D_UNITTESTER_H
diff --git a/test/processor_imu_UnitTester.cpp b/test/processor_imu_UnitTester.cpp
index 71b68efe982fa4c635b1bbf4f068a2101e07fc70..8b6f10f272a0923c67b709ba3676a4b21c95719b 100644
--- a/test/processor_imu_UnitTester.cpp
+++ b/test/processor_imu_UnitTester.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 #include "processor_imu_UnitTester.h"
 
 namespace wolf {
diff --git a/test/processor_imu_UnitTester.h b/test/processor_imu_UnitTester.h
index f9990707cb56f5ec6d1357683aa749503343ca1b..398b69bc28c4be496b3d742750621b4b5e18ea90 100644
--- a/test/processor_imu_UnitTester.h
+++ b/test/processor_imu_UnitTester.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
 
 #ifndef PROCESSOR_IMU_UNITTESTER_H
 #define PROCESSOR_IMU_UNITTESTER_H
@@ -108,16 +129,16 @@ namespace wolf {
             jacobian_delta_ = Eigen::MatrixXd::Zero(9,9);
         }
 
-        Imu_jac_deltas(Imu_jac_deltas const & toCopy){
-
-            Delta_noisy_vect_ = toCopy.Delta_noisy_vect_;
-            delta_noisy_vect_ = toCopy.delta_noisy_vect_;
-
-            Delta0_ = toCopy.Delta0_;
-            delta0_ = toCopy.delta0_;
-            jacobian_delta_preint_ = toCopy.jacobian_delta_preint_;
-            jacobian_delta_ = toCopy.jacobian_delta_;
-        }
+//        Imu_jac_deltas(Imu_jac_deltas const & toCopy){
+//
+//            Delta_noisy_vect_ = toCopy.Delta_noisy_vect_;
+//            delta_noisy_vect_ = toCopy.delta_noisy_vect_;
+//
+//            Delta0_ = toCopy.Delta0_;
+//            delta0_ = toCopy.delta0_;
+//            jacobian_delta_preint_ = toCopy.jacobian_delta_preint_;
+//            jacobian_delta_ = toCopy.jacobian_delta_;
+//        }
         
         public:
             /*The following vectors will contain all the matrices and deltas needed to compute the finite differences.
diff --git a/test/yaml/imu2d_static_init.yaml b/test/yaml/imu2d_static_init.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4978c8e2863908df72a336da1225667411d3022a
--- /dev/null
+++ b/test/yaml/imu2d_static_init.yaml
@@ -0,0 +1,12 @@
+type: "ProcessorImu2d"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+
+time_tolerance: 0.0025         # Time tolerance for joining KFs
+unmeasured_perturbation_std: 0.0001
+
+keyframe_vote:
+    voting_active:      true
+    voting_aux_active:  false
+    max_time_span:      0.9999   # seconds
+    max_buff_length:    1000000000   # motion deltas
+    dist_traveled:      100000000000   # meters
+    angle_turned:       10000000000   # radians (1 rad approx 57 deg, approx 60 deg)
diff --git a/test/yaml/imu_static_init.yaml b/test/yaml/imu_static_init.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..46393f30b8f24bf645bfb1272764e6c8915e5dc2
--- /dev/null
+++ b/test/yaml/imu_static_init.yaml
@@ -0,0 +1,12 @@
+type: "ProcessorImu"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+
+time_tolerance: 0.0025         # Time tolerance for joining KFs
+unmeasured_perturbation_std: 0.0001
+
+keyframe_vote:
+    voting_active:      true
+    voting_aux_active:  false
+    max_time_span:      0.9999   # seconds
+    max_buff_length:    1000000000   # motion deltas
+    dist_traveled:      100000000000   # meters
+    angle_turned:       10000000000   # radians (1 rad approx 57 deg, approx 60 deg)
diff --git a/test/yaml/sensor_imu.yaml b/test/yaml/sensor_imu.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3c78a00d35c785fe73381d8f6ce99a705d27ce77
--- /dev/null
+++ b/test/yaml/sensor_imu.yaml
@@ -0,0 +1,9 @@
+type: "SensorImu"             # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+
+motion_variances: 
+    a_noise:                0.053     # standard deviation of Acceleration noise (same for all the axis) in m/s2
+    w_noise:                0.0011    # standard deviation of Gyroscope noise (same for all the axis) in rad/sec
+    ab_initial_stdev:       0.800     # m/s2    - initial bias 
+    wb_initial_stdev:       0.350     # rad/sec - initial bias 
+    ab_rate_stdev:          0.1       # m/s2/sqrt(s)           
+    wb_rate_stdev:          0.0400    # rad/s/sqrt(s)
diff --git a/test/yaml/sensor_imu2d_static_init.yaml b/test/yaml/sensor_imu2d_static_init.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ce810d4f5f397a7bcb8647e086c026b125fbc936
--- /dev/null
+++ b/test/yaml/sensor_imu2d_static_init.yaml
@@ -0,0 +1,9 @@
+type: "SensorImu2d"             # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+
+motion_variances: 
+    a_noise:                0.053     # standard deviation of Acceleration noise (same for all the axis) in m/s2
+    w_noise:                0.0011    # standard deviation of Gyroscope noise (same for all the axis) in rad/sec
+    ab_initial_stdev:       0.800     # m/s2    - initial bias 
+    wb_initial_stdev:       0.350     # rad/sec - initial bias 
+    ab_rate_stdev:          0.1       # m/s2/sqrt(s)           
+    wb_rate_stdev:          0.0400    # rad/s/sqrt(s)
diff --git a/test/yaml/sensor_imu_static_init.yaml b/test/yaml/sensor_imu_static_init.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..700b8d6762b91b38e96391f6032b2c7c4221eabc
--- /dev/null
+++ b/test/yaml/sensor_imu_static_init.yaml
@@ -0,0 +1,9 @@
+type: "SensorImu"             # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+
+motion_variances: 
+    a_noise:                0.001     # standard deviation of Acceleration noise (same for all the axis) in m/s2
+    w_noise:                0.001    # standard deviation of Gyroscope noise (same for all the axis) in rad/sec
+    ab_initial_stdev:       0.001     # m/s2    - initial bias 
+    wb_initial_stdev:       0.001     # rad/sec - initial bias 
+    ab_rate_stdev:          0.001       # m/s2/sqrt(s)           
+    wb_rate_stdev:          0.001    # rad/s/sqrt(s)