diff --git a/demos/demo_factor_imu.cpp b/demos/demo_factor_imu.cpp
index 3d3efe440bef50d072230a3a75077e1f112408f8..b92d5962ef5b733b4a79c784558b4dc7b4534631 100644
--- a/demos/demo_factor_imu.cpp
+++ b/demos/demo_factor_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_imuDock.cpp b/demos/demo_imuDock.cpp
index 11306ccf977b14f0db246e974b9c9754e01ef10b..ba160af30a796f820195c82284dec122bb498107 100644
--- a/demos/demo_imuDock.cpp
+++ b/demos/demo_imuDock.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_imuDock_autoKFs.cpp b/demos/demo_imuDock_autoKFs.cpp
index fdb9d4572fead47bd79347bec256a12d969a3ebe..114a65eefcd6abb9f342fae8560dc6134f5ee998 100644
--- a/demos/demo_imuDock_autoKFs.cpp
+++ b/demos/demo_imuDock_autoKFs.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_imuPlateform_Offline.cpp b/demos/demo_imuPlateform_Offline.cpp
index 4d36ba5b23cb8deee69a418b5c6b1ea819ffd159..81e684fe2c1950c691c1ea602f5a23b63fbc2b0e 100644
--- a/demos/demo_imuPlateform_Offline.cpp
+++ b/demos/demo_imuPlateform_Offline.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_imu_constrained0.cpp b/demos/demo_imu_constrained0.cpp
index 8e5f37a111be91a4fddc08a758645ca9ef50e289..e537d77905a8e91c899e8a2884688bb8682e6f9f 100644
--- a/demos/demo_imu_constrained0.cpp
+++ b/demos/demo_imu_constrained0.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_processor_imu.cpp b/demos/demo_processor_imu.cpp
index 03e53f8a529965519afb047ca315cf00b732f2ac..bfcf4f15934e5af148d2e99be7265a9e220202a3 100644
--- a/demos/demo_processor_imu.cpp
+++ b/demos/demo_processor_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_processor_imu_jacobians.cpp b/demos/demo_processor_imu_jacobians.cpp
index 52b512fe35c766a3f3059f4186eb71d5632201ae..b41bd682b998977ceb390577f4d512cf858cb472 100644
--- a/demos/demo_processor_imu_jacobians.cpp
+++ b/demos/demo_processor_imu_jacobians.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/capture/capture_compass.h b/include/imu/capture/capture_compass.h
index 8c656693f200eceb8969b53c4bead30363b7505d..70092e03999135d2bff09636d4c5dc069ff3b8d4 100644
--- a/include/imu/capture/capture_compass.h
+++ b/include/imu/capture/capture_compass.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/capture/capture_imu.h b/include/imu/capture/capture_imu.h
index 82e876f4d63b3f9eaeb6282817aba6f8dab6eabc..6edfedcd46b5cab84b94c84fc196c0b1b27977e5 100644
--- a/include/imu/capture/capture_imu.h
+++ b/include/imu/capture/capture_imu.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/factor/factor_compass_3d.h b/include/imu/factor/factor_compass_3d.h
index 4a3395457cb4ec12b8ac7a6c7819f075a645e880..e349810f619aee2fabfb567a29d4aad97a9d1993 100644
--- a/include/imu/factor/factor_compass_3d.h
+++ b/include/imu/factor/factor_compass_3d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/factor/factor_fix_bias.h b/include/imu/factor/factor_fix_bias.h
index 19b9a6a904a973e2b6202be4200f1a668e58d8e2..432142e894cb3bd2d8bece145370b34718f3fd54 100644
--- a/include/imu/factor/factor_fix_bias.h
+++ b/include/imu/factor/factor_fix_bias.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/factor/factor_imu.h b/include/imu/factor/factor_imu.h
index 2ca0a97d847ee7522993aaa461b8249fea9b1974..962d871598616e89bca9f73054ab13170f38c7f6 100644
--- a/include/imu/factor/factor_imu.h
+++ b/include/imu/factor/factor_imu.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/factor/factor_imu2d.h b/include/imu/factor/factor_imu2d.h
index 2b5960d4b525cc29dc080967bc4734336062debc..d2b29a3a8faafeb116b8ddd635f5e3ef83a22daf 100644
--- a/include/imu/factor/factor_imu2d.h
+++ b/include/imu/factor/factor_imu2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/factor/factor_imu2d_with_gravity.h b/include/imu/factor/factor_imu2d_with_gravity.h
index e97480cd716d4fc050d5a95da94f1c28b9c47a05..d9f8d4565c1f67ac7bc5c981ac55ee63149f6cb7 100644
--- a/include/imu/factor/factor_imu2d_with_gravity.h
+++ b/include/imu/factor/factor_imu2d_with_gravity.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/feature/feature_imu.h b/include/imu/feature/feature_imu.h
index 49b043ac6b392543279ed16fc201f34dca3c79c9..3b95773c82c69a9d517ffb10adf122efe5766074 100644
--- a/include/imu/feature/feature_imu.h
+++ b/include/imu/feature/feature_imu.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/feature/feature_imu2d.h b/include/imu/feature/feature_imu2d.h
index 82b6d0edf18a76e59482465e80db339b81cb24f8..429baa5a2f995d5a38f45ffea281cefea028c19f 100644
--- a/include/imu/feature/feature_imu2d.h
+++ b/include/imu/feature/feature_imu2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/math/imu2d_tools.h b/include/imu/math/imu2d_tools.h
index f725aa9d5c21041e7713fab10fd11f7499a67474..dee7d365294e3f2f58b3e1acb1cebfba9a0122ec 100644
--- a/include/imu/math/imu2d_tools.h
+++ b/include/imu/math/imu2d_tools.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/math/imu_tools.h b/include/imu/math/imu_tools.h
index 648716ed46086a790edf4d3be3003f42b4ea1e70..de09f967dbcdd67bb2c61099d75478ab3fb70d0c 100644
--- a/include/imu/math/imu_tools.h
+++ b/include/imu/math/imu_tools.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/processor/processor_compass.h b/include/imu/processor/processor_compass.h
index 9ae9051532810f6139504e01f1ced26bbb0b0248..65270c53af1bc337d24c0fab6a2598d474dc6399 100644
--- a/include/imu/processor/processor_compass.h
+++ b/include/imu/processor/processor_compass.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index 20e348bb410b0d1a249e40eba83b6215f805240b..0422e2d913fcb7af6230803178fdc667c72b3cc9 100644
--- a/include/imu/processor/processor_imu.h
+++ b/include/imu/processor/processor_imu.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/processor/processor_imu2d.h b/include/imu/processor/processor_imu2d.h
index 6b14d6809544c48226ad43e176218c71d76e41d4..943d606f9681dcc48eda3f784c3a7c671b1b190d 100644
--- a/include/imu/processor/processor_imu2d.h
+++ b/include/imu/processor/processor_imu2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/sensor/sensor_compass.h b/include/imu/sensor/sensor_compass.h
index ac4280d21c40072dc77af7acc13939c5bd20d861..ca94f7500eea5619094e780ba931145ed21ddad2 100644
--- a/include/imu/sensor/sensor_compass.h
+++ b/include/imu/sensor/sensor_compass.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/sensor/sensor_imu.h b/include/imu/sensor/sensor_imu.h
index abd558d825fc5b84913303659ddf4e929afce2f7..6d9ad2b744145253c991a175b4ae7a92bf086491 100644
--- a/include/imu/sensor/sensor_imu.h
+++ b/include/imu/sensor/sensor_imu.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/sensor/sensor_imu2d.h b/include/imu/sensor/sensor_imu2d.h
index 870d8373d97635f2ea44d896fa3d7263f4e58249..341d442ed349a21c67ccf9e99080391d6ae4f6a2 100644
--- a/include/imu/sensor/sensor_imu2d.h
+++ b/include/imu/sensor/sensor_imu2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/license_header_2024.txt b/license_header_2025.txt
similarity index 87%
rename from license_header_2024.txt
rename to license_header_2025.txt
index 517c00582a211181c9edb8e96f0800f9aea56848..88c9fc22f1046e581ae696924553d5a52243738b 100644
--- a/license_header_2024.txt
+++ b/license_header_2025.txt
@@ -1,4 +1,4 @@
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_imu.cpp b/src/capture/capture_imu.cpp
index d05025f75e0f071b686ff06180e22f0b46575a88..0975a313bbd9aa278ffffe70960642318669a0d4 100644
--- a/src/capture/capture_imu.cpp
+++ b/src/capture/capture_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_imu.cpp b/src/feature/feature_imu.cpp
index 19797ab3856f21fe725ba14b3f40773eda8d4982..a4e66b72eba54bf16c36b64a730f7c2445abf0f4 100644
--- a/src/feature/feature_imu.cpp
+++ b/src/feature/feature_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_imu2d.cpp b/src/feature/feature_imu2d.cpp
index fd933cb4293d702e8367a20f99b035b6672e4881..1e8ea27aa979ff2d84a7c75930f8d3c09836bee8 100644
--- a/src/feature/feature_imu2d.cpp
+++ b/src/feature/feature_imu2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_compass.cpp b/src/processor/processor_compass.cpp
index 4c5a8e44aa41ac4040790d42aaa078124aa857a4..ef9152133b5c409a008eaf2278c8d2c229073591 100644
--- a/src/processor/processor_compass.cpp
+++ b/src/processor/processor_compass.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index eee9feeac1e6b6e91162fb0add028e910d5e099d..4c8ed0a9fa8b3316c6c10199027ef036cb8c35b9 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_imu2d.cpp b/src/processor/processor_imu2d.cpp
index 9e132fed7bb4cea3b57888e9d8286f7f4fd59e31..84a651e99f9f3be3e0a2d3018b32d71d054bde19 100644
--- a/src/processor/processor_imu2d.cpp
+++ b/src/processor/processor_imu2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_compass.cpp b/src/sensor/sensor_compass.cpp
index 46fd728fcd1b0e689456a885c45b0264741b12cd..0e3f15785ac77b5a24ba5c7dece6c0e361e7237a 100644
--- a/src/sensor/sensor_compass.cpp
+++ b/src/sensor/sensor_compass.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_imu.cpp b/src/sensor/sensor_imu.cpp
index b2c005441722535fad9199541f7e9ae10a9db545..c334d096392e83648832347836d7073cbc55a685 100644
--- a/src/sensor/sensor_imu.cpp
+++ b/src/sensor/sensor_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_imu2d.cpp b/src/sensor/sensor_imu2d.cpp
index dee1bc8fe57272cebcb9ccccc60fa955fa4416ee..321547824ce5148e34d37492d29182a3b10a05bc 100644
--- a/src/sensor/sensor_imu2d.cpp
+++ b/src/sensor/sensor_imu2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/processor_imu2d_yaml.cpp b/src/yaml/processor_imu2d_yaml.cpp
index fefe66d9820cf97f3664c9a1d5ac089c6ba08cfc..46d2ec4466dca97b45740b4de8b428ad4356af3b 100644
--- a/src/yaml/processor_imu2d_yaml.cpp
+++ b/src/yaml/processor_imu2d_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/processor_imu_yaml.cpp b/src/yaml/processor_imu_yaml.cpp
index 6da9ba3f8d97f43f7fec5b8cd5b8f23b24e4d5ee..97603e94e4f842a75259ea7465ad71f70d3f38b6 100644
--- a/src/yaml/processor_imu_yaml.cpp
+++ b/src/yaml/processor_imu_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/sensor_imu2d_yaml.cpp b/src/yaml/sensor_imu2d_yaml.cpp
index 4d970c93e76f8d1c47973f4c27699c107c5b2d73..d21a9c9d17f9a6d57139b84964c6aa6d7b14cd75 100644
--- a/src/yaml/sensor_imu2d_yaml.cpp
+++ b/src/yaml/sensor_imu2d_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/sensor_imu_yaml.cpp b/src/yaml/sensor_imu_yaml.cpp
index 5201c8b4b4f3ea859b72f642c8b5db377337d5ef..1c20696e7d123186a1766ce333eaee3ed060812c 100644
--- a/src/yaml/sensor_imu_yaml.cpp
+++ b/src/yaml/sensor_imu_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 635c09e7d747215b0997b0dd56aa06739099dadb..fa97538390fa9e452e79efdee183504fff9955d9 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_compass_3d.cpp b/test/gtest_factor_compass_3d.cpp
index 88b3a80b8c213324e72abba66b260454e7fedbac..c65daecd6b80f58e9bec88a5010a8080025339bc 100644
--- a/test/gtest_factor_compass_3d.cpp
+++ b/test/gtest_factor_compass_3d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_imu.cpp b/test/gtest_factor_imu.cpp
index c0e69930aeba8673d818257b4da19678a8a03e22..de771f26eac45dbe94f27aa08aa74c7fab0fe35a 100644
--- a/test/gtest_factor_imu.cpp
+++ b/test/gtest_factor_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_imu2d.cpp b/test/gtest_factor_imu2d.cpp
index f8a6d147ea84084f74a7aa146e998994148b4b3a..8b2f04afcd54e28a788f2d1a55153c42191df6b2 100644
--- a/test/gtest_factor_imu2d.cpp
+++ b/test/gtest_factor_imu2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_imu2d_with_gravity.cpp b/test/gtest_factor_imu2d_with_gravity.cpp
index afc5ebff26b801c74a4ae321ba71390215a345e6..4cb14edfe7b7949c5cdac9f9680ccbf6f89be722 100644
--- a/test/gtest_factor_imu2d_with_gravity.cpp
+++ b/test/gtest_factor_imu2d_with_gravity.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_feature_imu.cpp b/test/gtest_feature_imu.cpp
index 8b56e378d438a83efea77268209571fe4fbd3352..06d0b86c25d9f6b71bc281ca64973320ef089676 100644
--- a/test/gtest_feature_imu.cpp
+++ b/test/gtest_feature_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_imu.cpp b/test/gtest_imu.cpp
index 4d280611ee1dccaa80c2043ef0503a22f065a395..285355b0a974738a03c8c3976f94d5e59313197b 100644
--- a/test/gtest_imu.cpp
+++ b/test/gtest_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_imu2d_static_init.cpp b/test/gtest_imu2d_static_init.cpp
index 3a47f91ef636131253b0d52c4740365c8392c13e..239ce6c5c6370f86d77378f4f9cdc7b7d9e0df18 100644
--- a/test/gtest_imu2d_static_init.cpp
+++ b/test/gtest_imu2d_static_init.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_imu2d_tools.cpp b/test/gtest_imu2d_tools.cpp
index 9d184bd64546e23d97a9cf3284ebca2e480f72c3..fd9990e31053fdc8afaf32adaaac02b37d7940e0 100644
--- a/test/gtest_imu2d_tools.cpp
+++ b/test/gtest_imu2d_tools.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_imu_mocap_fusion.cpp b/test/gtest_imu_mocap_fusion.cpp
index 643cd94e1e9ab8ba496b5d378c5049ab82cebd12..ecb65df873d7ede3bbadba8e6382be88ea829b91 100644
--- a/test/gtest_imu_mocap_fusion.cpp
+++ b/test/gtest_imu_mocap_fusion.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_imu_static_init.cpp b/test/gtest_imu_static_init.cpp
index d6b1dab42e97a288e26f447cf75e31513be372c6..af454670ec3469aff59023c414b637d00bde0822 100644
--- a/test/gtest_imu_static_init.cpp
+++ b/test/gtest_imu_static_init.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_imu_tools.cpp b/test/gtest_imu_tools.cpp
index 1f7c630e5e85832113fbe5ccd560a95d1ecc3ca3..7ebd7cb2527f1dd4292b6feecaa26dec6a81a9cc 100644
--- a/test/gtest_imu_tools.cpp
+++ b/test/gtest_imu_tools.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_imu.cpp b/test/gtest_processor_imu.cpp
index 5d98e73dbc1dcb41be7cd7f5eaa4de2557fc3b91..5d439b3375a3f9072b9050f15fe98b6a67fcea32 100644
--- a/test/gtest_processor_imu.cpp
+++ b/test/gtest_processor_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_imu2d.cpp b/test/gtest_processor_imu2d.cpp
index 749da124d8910a8e9cfb4cc5a7326a3ed970b7c4..2af86376926153c40ae26c54a02f9c216f3ce8a5 100644
--- a/test/gtest_processor_imu2d.cpp
+++ b/test/gtest_processor_imu2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_imu2d_with_gravity.cpp b/test/gtest_processor_imu2d_with_gravity.cpp
index b3627da9494be27821af5e2e74bf773b5ab57642..92b4bb910744a2ed970c647afdaed9fcffdc9637 100644
--- a/test/gtest_processor_imu2d_with_gravity.cpp
+++ b/test/gtest_processor_imu2d_with_gravity.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_imu_jacobians.cpp b/test/gtest_processor_imu_jacobians.cpp
index 8e1fb13f50eda07d63fbec2077c2ed9cc875fdb8..493d569f06bf953e9cd2fdffbd75f31daa0cd273 100644
--- a/test/gtest_processor_imu_jacobians.cpp
+++ b/test/gtest_processor_imu_jacobians.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_motion_intrinsics_update.cpp b/test/gtest_processor_motion_intrinsics_update.cpp
index db254a45884ead363d55658f02b3651c36726662..9e13d311259999258c94cdde284cd59947070494 100644
--- a/test/gtest_processor_motion_intrinsics_update.cpp
+++ b/test/gtest_processor_motion_intrinsics_update.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_sensor_compass.cpp b/test/gtest_sensor_compass.cpp
index 826c239b7ded3378d6eea83a04f43f3fd6bdc937..c03c6ad43619f4f25bf058f82d11094cff4ea8ac 100644
--- a/test/gtest_sensor_compass.cpp
+++ b/test/gtest_sensor_compass.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/processor_imu2d_UnitTester.cpp b/test/processor_imu2d_UnitTester.cpp
index 1bc4467fb2956644f366aacdc79445e39109b389..a98ec9da1749aac2e4479c028b25227118cb23e1 100644
--- a/test/processor_imu2d_UnitTester.cpp
+++ b/test/processor_imu2d_UnitTester.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/processor_imu2d_UnitTester.h b/test/processor_imu2d_UnitTester.h
index dc59e1c0fbef7a9c17f5bd7a08955ad5079f5a98..687b6fffa7f49a8280f0b27e91fe7430c802a698 100644
--- a/test/processor_imu2d_UnitTester.h
+++ b/test/processor_imu2d_UnitTester.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/processor_imu_UnitTester.cpp b/test/processor_imu_UnitTester.cpp
index 2c3c984063b022dcfb7bd325135d86fa251c1814..cecfdf38a7048a475eee9dfd93c71d92c08a7594 100644
--- a/test/processor_imu_UnitTester.cpp
+++ b/test/processor_imu_UnitTester.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/processor_imu_UnitTester.h b/test/processor_imu_UnitTester.h
index af812f11ac8be2e7a0a18f5030bd38dd17189f8d..0b0c58dff7dc25e626db9e640a32b5e4df0579f5 100644
--- a/test/processor_imu_UnitTester.h
+++ b/test/processor_imu_UnitTester.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024,2025 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //