diff --git a/demos/demo_factor_imu.cpp b/demos/demo_factor_imu.cpp
index 581d7429331d13a0bf67f847f7d9924c0814358e..3f054bf9dd9e7075e652910f454e0bdd4a4762c5 100644
--- a/demos/demo_factor_imu.cpp
+++ b/demos/demo_factor_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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>
 
diff --git a/demos/demo_imuDock.cpp b/demos/demo_imuDock.cpp
index e218a88cbf8f48b7537954f52d02ce7c7ee957f1..77fe923604c8428583edda4d3031f36426a10cac 100644
--- a/demos/demo_imuDock.cpp
+++ b/demos/demo_imuDock.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..9d2425dc2db2c5e9ddfc153806f67212afb8d19f 100644
--- a/demos/demo_imuDock_autoKFs.cpp
+++ b/demos/demo_imuDock_autoKFs.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..bed5e236f78c1c04c9541476c14ea51f4c78d757 100644
--- a/demos/demo_imuPlateform_Offline.cpp
+++ b/demos/demo_imuPlateform_Offline.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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>
 
diff --git a/demos/demo_imu_constrained0.cpp b/demos/demo_imu_constrained0.cpp
index 66db5c1c71e81035aa6ea70e000a8a92d29b4af6..19dbf56c1b1ff393701a16604a2e6d32f7f84196 100644
--- a/demos/demo_imu_constrained0.cpp
+++ b/demos/demo_imu_constrained0.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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>
 
diff --git a/demos/demo_processor_imu.cpp b/demos/demo_processor_imu.cpp
index 5439f2624415c6115ccedb3bb438596fc1d0bf38..c9b46d01d993ff08901322e8d1b85075111944ee 100644
--- a/demos/demo_processor_imu.cpp
+++ b/demos/demo_processor_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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
  *
diff --git a/demos/demo_processor_imu_jacobians.cpp b/demos/demo_processor_imu_jacobians.cpp
index 6c0714c9c9968db72b580c2004f7a1810925e4c0..0a784bf040389bb227309a124fc7f1cb51e43d17 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 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
  *
diff --git a/include/imu/capture/capture_compass.h b/include/imu/capture/capture_compass.h
index 1a77f7ce5282fbaf6b615c8cea1950eaa7cbe274..4af25fe2cada56abe176145f0d4141e072152153 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 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..fb7d381bc5d4bdc2bd33374822386372b9b871c3 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 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..1e271882428f4647c5b85980ed650503efa1a485 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 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..e37adf1d0c0369be41cc715441bc8e11a7a6c80d 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 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 0d52b68b7a005597b958d90a334a620819f581fe..45632de220e0df69d983da2cc5135604a5029333 100644
--- a/include/imu/factor/factor_imu.h
+++ b/include/imu/factor/factor_imu.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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_
 
diff --git a/include/imu/factor/factor_imu2d.h b/include/imu/factor/factor_imu2d.h
index 4e9be3689c49fbfedda19f69b3c1bf0139e1604c..ce4c3e97093878cae85ee19b3cff5bc7e70a3f4a 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 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..c94afb7d5f7a483147c08215ef45070c5ef8aea6 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 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..9191a3ce9f5abf250fe84d1f8ce120a77715be79 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 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 1abcd588f1354c7a7e0181dea8f602aba92ec390..f7ecf892b58b263296579387686125adc7babd3b 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 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 ac93e3fe2228f39fab603cec3b889e598309086f..16548eed1fbe20f3bd0846cc004e46ac8d30d3bf 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 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
  *
diff --git a/include/imu/processor/processor_compass.h b/include/imu/processor/processor_compass.h
index 690755716de4029d257ae0807bf947bc2b511acb..a3db652bc7efaf9ec94ce86e9fd1daa69c5fb5b7 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 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_
 
diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index 502120cc1400bcd2da109903adc72c219e7a6efe..fe9d4af4bccec08861a4412b187190b24c20521a 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 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
 
diff --git a/include/imu/processor/processor_imu2d.h b/include/imu/processor/processor_imu2d.h
index bda61341dad3165764aaf78e1a6a5a7efdf8d373..7942d0663b72367678314f6c6030fd3bc223ea51 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 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
 
diff --git a/include/imu/sensor/sensor_compass.h b/include/imu/sensor/sensor_compass.h
index e21bb028d1daf45e662698e4e21b2055fa5c69df..2644a1c8b8bad93c24db413ffb70c685cd78d6a4 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 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..5a8507266f6aa3c0df49cc855081e8493d135c46 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 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 43fb38693178aea9e06da9c2272071517ac68c5f..c49736f08e92be23f99ba992425117898a68d05f 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 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/src/capture/capture_imu.cpp b/src/capture/capture_imu.cpp
index 75230fafd5663ca7a422497fbd834e4a97e31fe3..92e9328d51d89cff52563e616dcb18530e5a52d4 100644
--- a/src/capture/capture_imu.cpp
+++ b/src/capture/capture_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..b2b62c2782ada19361a8eb0d82d645982dcf98d6 100644
--- a/src/feature/feature_imu.cpp
+++ b/src/feature/feature_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..79aedda6e6d6ff00b6faf536ed94c818ff8da2df 100644
--- a/src/feature/feature_imu2d.cpp
+++ b/src/feature/feature_imu2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..956f7581ced4bdf6ef66d8687a5dc999e20242e5 100644
--- a/src/processor/processor_compass.cpp
+++ b/src/processor/processor_compass.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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"
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index 6eb0edced109dec6bc58e2bb3e9a400805c49730..d9e7045d8cfe6ee470733fdaaa817bf5940fbbc9 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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"
diff --git a/src/processor/processor_imu2d.cpp b/src/processor/processor_imu2d.cpp
index 5c5e911c1edcf6319946b1d3a095e29317820522..49c40a452eccfde87d18de226ec420cb18a75b84 100644
--- a/src/processor/processor_imu2d.cpp
+++ b/src/processor/processor_imu2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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"
diff --git a/src/sensor/sensor_compass.cpp b/src/sensor/sensor_compass.cpp
index d81f52926e3633cc31d248a88e8f119bc6f2012b..9bc1cc2e766b56cb9a83afb856aaa01a4fb4d1c1 100644
--- a/src/sensor/sensor_compass.cpp
+++ b/src/sensor/sensor_compass.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..6f2a50c43e0c7a135a554ab31492dddf8fe63511 100644
--- a/src/sensor/sensor_imu.cpp
+++ b/src/sensor/sensor_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 5b4c94103b4a18d155043100692feb49e02443db..02898e8a2986cf6517f5aaf87b147a35d99270b4 100644
--- a/src/sensor/sensor_imu2d.cpp
+++ b/src/sensor/sensor_imu2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..824c348bfd33e26f251a6d271e9f530a151a5848 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 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..98bf82ad23803af567e06b99a6c9b64fa1acdb52 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 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 286e6fb247c253bed93919475c63e753d12f09e7..c4e0659ea724cd659f7a312077d656b1b3282362 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 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 f2631e901d8d0e27d7564ef523f660820ef6d524..897effcc9c14af573c282a4e70c3056f7c8944d3 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 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
  *
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 140792d538ab5ae568ba7743fbc49bce0bb6d9f2..979fabb18a7fc70dff93e5d91e02be065a05b753 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..da9bb9d102becbe5d30f9d63ffd4f772b3e1e579 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 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..b2661cbe68b02d90813ace9ecb2094372ba81d29 100644
--- a/test/gtest_factor_imu.cpp
+++ b/test/gtest_factor_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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
  *
diff --git a/test/gtest_factor_imu2d.cpp b/test/gtest_factor_imu2d.cpp
index 037783f6966b9c96f7016371469c7b522a6ded14..9da0cf5c8d4ccdecbbcd13209335269c71a9db43 100644
--- a/test/gtest_factor_imu2d.cpp
+++ b/test/gtest_factor_imu2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..b3941de78dcecb081472103f210cadbc8b9f2712 100644
--- a/test/gtest_feature_imu.cpp
+++ b/test/gtest_feature_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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"
diff --git a/test/gtest_imu.cpp b/test/gtest_imu.cpp
index d666285f444465fa01dc5d4c20fdc182efea9863..11c5f9c6c2d110297b820ef619711aca47503c94 100644
--- a/test/gtest_imu.cpp
+++ b/test/gtest_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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
  *
diff --git a/test/gtest_imu2d_static_init.cpp b/test/gtest_imu2d_static_init.cpp
index 863147d289cf33dfe4dc272df02d65a9f3dd70b3..f2c3338b4f2a92b089aa1162859b0dfa6974d871 100644
--- a/test/gtest_imu2d_static_init.cpp
+++ b/test/gtest_imu2d_static_init.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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
  *
diff --git a/test/gtest_imu2d_tools.cpp b/test/gtest_imu2d_tools.cpp
index f5ce0cd3d35458ddafeca138fc7fa34db8a8f88d..b7b1599ef1db90dc9063839c7ab0d861cadc18ec 100644
--- a/test/gtest_imu2d_tools.cpp
+++ b/test/gtest_imu2d_tools.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..449313c20332600b786ec192202934a8144afe36 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 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
  *
diff --git a/test/gtest_imu_static_init.cpp b/test/gtest_imu_static_init.cpp
index 7ad48b186079c12af08b6db42cc014207bc7bc38..7b47cd1d35e71814a9e6c96b82bdf27b0c435f33 100644
--- a/test/gtest_imu_static_init.cpp
+++ b/test/gtest_imu_static_init.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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
  *
diff --git a/test/gtest_imu_tools.cpp b/test/gtest_imu_tools.cpp
index c2e8306ce5b7d0c6cacafc1ac30f8be0474cf0e9..0597deb1458fa6180d68e862df326ad81aa6d7b8 100644
--- a/test/gtest_imu_tools.cpp
+++ b/test/gtest_imu_tools.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..408a93e5871676b1bbd13d887205186069027f3a 100644
--- a/test/gtest_processor_imu.cpp
+++ b/test/gtest_processor_imu.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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
  *
diff --git a/test/gtest_processor_imu2d.cpp b/test/gtest_processor_imu2d.cpp
index 4e0084f3002024e2bd04cd9896bcb49e798b8cd7..12d91d550645c60af2bb7707a61acc02ef89db1a 100644
--- a/test/gtest_processor_imu2d.cpp
+++ b/test/gtest_processor_imu2d.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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
  *
diff --git a/test/gtest_processor_imu_jacobians.cpp b/test/gtest_processor_imu_jacobians.cpp
index bc4ff1533c993e8be1b530433527a2e2cb7783d2..fd2071cd36019eb168d4d2f38ae346dc6f7e425a 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 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 a013072abf3064c5a2ac26302a1fcfe145f1a0b5..64d4a8f0b3b4672a341cf4d8bf4e09ccf5754fbd 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 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"
diff --git a/test/gtest_sensor_compass.cpp b/test/gtest_sensor_compass.cpp
index 8b404d2ad88ea63c0d6a6beac32f2a7b31377299..4a277987c583f56cd6d820b172e6912858a41187 100644
--- a/test/gtest_sensor_compass.cpp
+++ b/test/gtest_sensor_compass.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..5b12931f7cc794be4e7261b022cda4ac2383c48e 100644
--- a/test/processor_imu2d_UnitTester.cpp
+++ b/test/processor_imu2d_UnitTester.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..5e2c386dbdb7b7ac886e0be5667e1864f2dc6fb6 100644
--- a/test/processor_imu2d_UnitTester.h
+++ b/test/processor_imu2d_UnitTester.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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..3675ab37e9d9eedf8313fab8b19987edf6485d2c 100644
--- a/test/processor_imu_UnitTester.cpp
+++ b/test/processor_imu_UnitTester.cpp
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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 e816349ecccd892f0ca3f1d7a1a4edbbb043eded..5b912ec6179ca3664981e62dc7f3dd317d5f9d26 100644
--- a/test/processor_imu_UnitTester.h
+++ b/test/processor_imu_UnitTester.h
@@ -1,3 +1,24 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021 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