From eb04fe7f3c46acff9660211e002ab79a20e9ed66 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 10 Feb 2025 15:05:01 +0100
Subject: [PATCH] [skip ci] license headers update according LICENSE (not LGPL,
 GPL)

---
 include/imu/capture/capture_compass.h             | 14 ++++++--------
 include/imu/capture/capture_imu.h                 | 14 ++++++--------
 include/imu/common/imu.h                          | 14 ++++++--------
 include/imu/factor/factor_compass_3d.h            | 14 ++++++--------
 include/imu/factor/factor_imu_2d.h                | 14 ++++++--------
 include/imu/factor/factor_imu_2d_with_gravity.h   | 14 ++++++--------
 include/imu/factor/factor_imu_3d.h                | 14 ++++++--------
 include/imu/feature/feature_imu_2d.h              | 14 ++++++--------
 include/imu/feature/feature_imu_3d.h              | 14 ++++++--------
 include/imu/math/imu_2d_tools.h                   | 14 ++++++--------
 include/imu/math/imu_3d_tools.h                   | 14 ++++++--------
 include/imu/processor/processor_compass.h         | 14 ++++++--------
 include/imu/processor/processor_imu_2d.h          | 14 ++++++--------
 include/imu/processor/processor_imu_3d.h          | 14 ++++++--------
 include/imu/sensor/sensor_compass.h               | 14 ++++++--------
 include/imu/sensor/sensor_imu.h                   | 14 ++++++--------
 include/imu/utils/load_imu.h                      | 14 ++++++--------
 license_header_2025.txt                           | 13 ++++++-------
 src/capture/capture_imu.cpp                       | 14 ++++++--------
 src/feature/feature_imu_2d.cpp                    | 14 ++++++--------
 src/feature/feature_imu_3d.cpp                    | 14 ++++++--------
 src/processor/processor_compass.cpp               | 14 ++++++--------
 src/processor/processor_imu_2d.cpp                | 14 ++++++--------
 src/processor/processor_imu_3d.cpp                | 14 ++++++--------
 src/sensor/sensor_compass.cpp                     | 14 ++++++--------
 src/sensor/sensor_imu.cpp                         | 14 ++++++--------
 src/utils/load_imu.cpp                            | 14 ++++++--------
 test/dummy/load_dummy.cpp                         | 14 ++++++--------
 test/dummy/load_dummy.h                           | 14 ++++++--------
 test/dummy/processor_imu_2d_tester.cpp            | 14 ++++++--------
 test/dummy/processor_imu_2d_tester.h              | 14 ++++++--------
 test/dummy/processor_imu_3d_tester.cpp            | 14 ++++++--------
 test/dummy/processor_imu_3d_tester.h              | 14 ++++++--------
 test/gtest_example.cpp                            | 14 ++++++--------
 test/gtest_factor_compass_3d.cpp                  | 14 ++++++--------
 test/gtest_factor_imu_2d.cpp                      | 14 ++++++--------
 test/gtest_factor_imu_2d_with_gravity.cpp         | 14 ++++++--------
 test/gtest_factor_imu_3d.cpp                      | 14 ++++++--------
 test/gtest_feature_imu_3d.cpp                     | 14 ++++++--------
 test/gtest_imu_2d_static_init.cpp                 | 14 ++++++--------
 test/gtest_imu_2d_tools.cpp                       | 14 ++++++--------
 test/gtest_imu_3d.cpp                             | 14 ++++++--------
 test/gtest_imu_3d_bootstrap.cpp                   | 14 ++++++--------
 test/gtest_imu_3d_mocap_fusion.cpp                | 14 ++++++--------
 test/gtest_imu_3d_static_init.cpp                 | 14 ++++++--------
 test/gtest_imu_3d_tools.cpp                       | 14 ++++++--------
 test/gtest_load_imu.cpp                           | 14 ++++++--------
 test/gtest_no_load_imu.cpp                        | 14 ++++++--------
 test/gtest_processor_imu_2d.cpp                   | 14 ++++++--------
 test/gtest_processor_imu_2d_with_gravity.cpp      | 14 ++++++--------
 test/gtest_processor_imu_3d.cpp                   | 14 ++++++--------
 test/gtest_processor_imu_3d_jacobians.cpp         | 14 ++++++--------
 test/gtest_processor_motion_intrinsics_update.cpp | 14 ++++++--------
 test/gtest_schema.cpp                             | 14 ++++++--------
 test/gtest_sensor_compass.cpp                     | 14 ++++++--------
 55 files changed, 330 insertions(+), 439 deletions(-)

diff --git a/include/imu/capture/capture_compass.h b/include/imu/capture/capture_compass.h
index d8b58550d..7255ca5ba 100644
--- a/include/imu/capture/capture_compass.h
+++ b/include/imu/capture/capture_compass.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // Wolf includes
diff --git a/include/imu/capture/capture_imu.h b/include/imu/capture/capture_imu.h
index 3985e3625..7ac5886ef 100644
--- a/include/imu/capture/capture_imu.h
+++ b/include/imu/capture/capture_imu.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // Wolf includes
diff --git a/include/imu/common/imu.h b/include/imu/common/imu.h
index a1452e9fd..68b14cde8 100644
--- a/include/imu/common/imu.h
+++ b/include/imu/common/imu.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // Enable project-specific definitions and macros
diff --git a/include/imu/factor/factor_compass_3d.h b/include/imu/factor/factor_compass_3d.h
index e13b9ad3e..66d61715b 100644
--- a/include/imu/factor/factor_compass_3d.h
+++ b/include/imu/factor/factor_compass_3d.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 #include "imu/common/imu.h"
diff --git a/include/imu/factor/factor_imu_2d.h b/include/imu/factor/factor_imu_2d.h
index b5da14e8c..67de95ec5 100644
--- a/include/imu/factor/factor_imu_2d.h
+++ b/include/imu/factor/factor_imu_2d.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // Wolf includes
diff --git a/include/imu/factor/factor_imu_2d_with_gravity.h b/include/imu/factor/factor_imu_2d_with_gravity.h
index 4b53d628b..10808be99 100644
--- a/include/imu/factor/factor_imu_2d_with_gravity.h
+++ b/include/imu/factor/factor_imu_2d_with_gravity.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // Wolf includes
diff --git a/include/imu/factor/factor_imu_3d.h b/include/imu/factor/factor_imu_3d.h
index 1d5c5c171..b4485c513 100644
--- a/include/imu/factor/factor_imu_3d.h
+++ b/include/imu/factor/factor_imu_3d.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // Wolf includes
diff --git a/include/imu/feature/feature_imu_2d.h b/include/imu/feature/feature_imu_2d.h
index 3fd40842d..5dae11d71 100644
--- a/include/imu/feature/feature_imu_2d.h
+++ b/include/imu/feature/feature_imu_2d.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // Wolf includes
diff --git a/include/imu/feature/feature_imu_3d.h b/include/imu/feature/feature_imu_3d.h
index 9a9f3aedb..2511f8f7d 100644
--- a/include/imu/feature/feature_imu_3d.h
+++ b/include/imu/feature/feature_imu_3d.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // Wolf includes
diff --git a/include/imu/math/imu_2d_tools.h b/include/imu/math/imu_2d_tools.h
index 6a9bf2d73..6e215f8a7 100644
--- a/include/imu/math/imu_2d_tools.h
+++ b/include/imu/math/imu_2d_tools.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 #include "imu/common/imu.h"
diff --git a/include/imu/math/imu_3d_tools.h b/include/imu/math/imu_3d_tools.h
index 0e6d89d1c..6c4d4d955 100644
--- a/include/imu/math/imu_3d_tools.h
+++ b/include/imu/math/imu_3d_tools.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 #include "imu/common/imu.h"
diff --git a/include/imu/processor/processor_compass.h b/include/imu/processor/processor_compass.h
index 1a340b2f4..5b3044c56 100644
--- a/include/imu/processor/processor_compass.h
+++ b/include/imu/processor/processor_compass.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 #include "imu/common/imu.h"
diff --git a/include/imu/processor/processor_imu_2d.h b/include/imu/processor/processor_imu_2d.h
index 968505f35..7de9b8280 100644
--- a/include/imu/processor/processor_imu_2d.h
+++ b/include/imu/processor/processor_imu_2d.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // Wolf
diff --git a/include/imu/processor/processor_imu_3d.h b/include/imu/processor/processor_imu_3d.h
index 247c553c2..69b7557e5 100644
--- a/include/imu/processor/processor_imu_3d.h
+++ b/include/imu/processor/processor_imu_3d.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // Wolf Imu
diff --git a/include/imu/sensor/sensor_compass.h b/include/imu/sensor/sensor_compass.h
index 85ac13842..7e67b3992 100644
--- a/include/imu/sensor/sensor_compass.h
+++ b/include/imu/sensor/sensor_compass.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // wolf includes
diff --git a/include/imu/sensor/sensor_imu.h b/include/imu/sensor/sensor_imu.h
index 109e3c001..57defd4bb 100644
--- a/include/imu/sensor/sensor_imu.h
+++ b/include/imu/sensor/sensor_imu.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // wolf includes
diff --git a/include/imu/utils/load_imu.h b/include/imu/utils/load_imu.h
index 559e1c7b1..d1b9723fc 100644
--- a/include/imu/utils/load_imu.h
+++ b/include/imu/utils/load_imu.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 #include "core/utils/unused.h"
diff --git a/license_header_2025.txt b/license_header_2025.txt
index e2eb895d8..1ebad91c1 100644
--- a/license_header_2025.txt
+++ b/license_header_2025.txt
@@ -6,14 +6,13 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
\ No newline at end of file
diff --git a/src/capture/capture_imu.cpp b/src/capture/capture_imu.cpp
index 4dce75c4e..5e33eade6 100644
--- a/src/capture/capture_imu.cpp
+++ b/src/capture/capture_imu.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/capture/capture_imu.h"
 #include "imu/sensor/sensor_imu.h"
 
diff --git a/src/feature/feature_imu_2d.cpp b/src/feature/feature_imu_2d.cpp
index 5822e45d4..77a171987 100644
--- a/src/feature/feature_imu_2d.cpp
+++ b/src/feature/feature_imu_2d.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/feature/feature_imu_2d.h"
 
 namespace wolf
diff --git a/src/feature/feature_imu_3d.cpp b/src/feature/feature_imu_3d.cpp
index ea19ef75e..89232969a 100644
--- a/src/feature/feature_imu_3d.cpp
+++ b/src/feature/feature_imu_3d.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/feature/feature_imu_3d.h"
 
 namespace wolf
diff --git a/src/processor/processor_compass.cpp b/src/processor/processor_compass.cpp
index aef22b3ba..54c16bc7b 100644
--- a/src/processor/processor_compass.cpp
+++ b/src/processor/processor_compass.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #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_2d.cpp b/src/processor/processor_imu_2d.cpp
index 5c82da209..9f2a42b69 100644
--- a/src/processor/processor_imu_2d.cpp
+++ b/src/processor/processor_imu_2d.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 // imu
 #include "imu/processor/processor_imu_2d.h"
 #include "imu/factor/factor_imu_2d.h"
diff --git a/src/processor/processor_imu_3d.cpp b/src/processor/processor_imu_3d.cpp
index 1feff44f9..53ec5d683 100644
--- a/src/processor/processor_imu_3d.cpp
+++ b/src/processor/processor_imu_3d.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 // imu
 #include "imu/processor/processor_imu_3d.h"
 #include "imu/factor/factor_imu_3d.h"
diff --git a/src/sensor/sensor_compass.cpp b/src/sensor/sensor_compass.cpp
index 66007f65f..43eafec9d 100644
--- a/src/sensor/sensor_compass.cpp
+++ b/src/sensor/sensor_compass.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/sensor/sensor_compass.h"
 
 namespace wolf
diff --git a/src/sensor/sensor_imu.cpp b/src/sensor/sensor_imu.cpp
index 0ae385c6b..4f5a7de1c 100644
--- a/src/sensor/sensor_imu.cpp
+++ b/src/sensor/sensor_imu.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/sensor/sensor_imu.h"
 
 namespace wolf
diff --git a/src/utils/load_imu.cpp b/src/utils/load_imu.cpp
index af9321cc1..0c5b78f79 100644
--- a/src/utils/load_imu.cpp
+++ b/src/utils/load_imu.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/utils/load_imu.h"
 
 namespace wolf
diff --git a/test/dummy/load_dummy.cpp b/test/dummy/load_dummy.cpp
index 5afbfdc49..6130e8a44 100644
--- a/test/dummy/load_dummy.cpp
+++ b/test/dummy/load_dummy.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "load_dummy.h"
 
 namespace wolf
diff --git a/test/dummy/load_dummy.h b/test/dummy/load_dummy.h
index 79bc9da40..79cb34858 100644
--- a/test/dummy/load_dummy.h
+++ b/test/dummy/load_dummy.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 #include "core/utils/unused.h"
diff --git a/test/dummy/processor_imu_2d_tester.cpp b/test/dummy/processor_imu_2d_tester.cpp
index c75c6898c..133ae9071 100644
--- a/test/dummy/processor_imu_2d_tester.cpp
+++ b/test/dummy/processor_imu_2d_tester.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "processor_imu_2d_tester.h"
 
 namespace wolf
diff --git a/test/dummy/processor_imu_2d_tester.h b/test/dummy/processor_imu_2d_tester.h
index 473bd862c..59d26e816 100644
--- a/test/dummy/processor_imu_2d_tester.h
+++ b/test/dummy/processor_imu_2d_tester.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // Wolf
diff --git a/test/dummy/processor_imu_3d_tester.cpp b/test/dummy/processor_imu_3d_tester.cpp
index 246df3e37..aec155733 100644
--- a/test/dummy/processor_imu_3d_tester.cpp
+++ b/test/dummy/processor_imu_3d_tester.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "processor_imu_3d_tester.h"
 
 namespace wolf
diff --git a/test/dummy/processor_imu_3d_tester.h b/test/dummy/processor_imu_3d_tester.h
index af5cd3d2d..ff266fd1f 100644
--- a/test/dummy/processor_imu_3d_tester.h
+++ b/test/dummy/processor_imu_3d_tester.h
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #pragma once
 
 // Wolf
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 010b8ac9b..a48c73f43 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #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 7ffc2378d..b0ca40588 100644
--- a/test/gtest_factor_compass_3d.cpp
+++ b/test/gtest_factor_compass_3d.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "core/utils/utils_gtest.h"
 
 #include "imu/capture/capture_compass.h"
diff --git a/test/gtest_factor_imu_2d.cpp b/test/gtest_factor_imu_2d.cpp
index 61621ed26..1086064cc 100644
--- a/test/gtest_factor_imu_2d.cpp
+++ b/test/gtest_factor_imu_2d.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/common/imu.h"
 
 #include <core/ceres_wrapper/solver_ceres.h>
diff --git a/test/gtest_factor_imu_2d_with_gravity.cpp b/test/gtest_factor_imu_2d_with_gravity.cpp
index faa412e8a..046853303 100644
--- a/test/gtest_factor_imu_2d_with_gravity.cpp
+++ b/test/gtest_factor_imu_2d_with_gravity.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/common/imu.h"
 
 #include <core/ceres_wrapper/solver_ceres.h>
diff --git a/test/gtest_factor_imu_3d.cpp b/test/gtest_factor_imu_3d.cpp
index b6bf40362..8ac2a7dc0 100644
--- a/test/gtest_factor_imu_3d.cpp
+++ b/test/gtest_factor_imu_3d.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include <core/ceres_wrapper/solver_ceres.h>
 #include <core/utils/logging.h>
 #include <core/utils/utils_gtest.h>
diff --git a/test/gtest_feature_imu_3d.cpp b/test/gtest_feature_imu_3d.cpp
index dad74cb3b..5c2aad3e4 100644
--- a/test/gtest_feature_imu_3d.cpp
+++ b/test/gtest_feature_imu_3d.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 // Wolf
 #include "imu/capture/capture_imu.h"
 #include "imu/processor/processor_imu_3d.h"
diff --git a/test/gtest_imu_2d_static_init.cpp b/test/gtest_imu_2d_static_init.cpp
index 97de91889..e682d3568 100644
--- a/test/gtest_imu_2d_static_init.cpp
+++ b/test/gtest_imu_2d_static_init.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/common/imu.h"
 #include <core/utils/utils_gtest.h>
 #include <fstream>
diff --git a/test/gtest_imu_2d_tools.cpp b/test/gtest_imu_2d_tools.cpp
index 6663e2082..5c242a067 100644
--- a/test/gtest_imu_2d_tools.cpp
+++ b/test/gtest_imu_2d_tools.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/math/imu_2d_tools.h"
 #include <core/utils/utils_gtest.h>
 
diff --git a/test/gtest_imu_3d.cpp b/test/gtest_imu_3d.cpp
index b12f77599..b30578252 100644
--- a/test/gtest_imu_3d.cpp
+++ b/test/gtest_imu_3d.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/common/imu.h"
 #include "imu/math/imu_3d_tools.h"
 #include "imu/processor/processor_imu_3d.h"
diff --git a/test/gtest_imu_3d_bootstrap.cpp b/test/gtest_imu_3d_bootstrap.cpp
index 949d2e770..6616994da 100644
--- a/test/gtest_imu_3d_bootstrap.cpp
+++ b/test/gtest_imu_3d_bootstrap.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/common/imu.h"
 #include "imu/math/imu_3d_tools.h"
 #include "imu/processor/processor_imu_3d.h"
diff --git a/test/gtest_imu_3d_mocap_fusion.cpp b/test/gtest_imu_3d_mocap_fusion.cpp
index 215076a34..9c880f9e4 100644
--- a/test/gtest_imu_3d_mocap_fusion.cpp
+++ b/test/gtest_imu_3d_mocap_fusion.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include <fstream>
 
 #include "imu/capture/capture_imu.h"
diff --git a/test/gtest_imu_3d_static_init.cpp b/test/gtest_imu_3d_static_init.cpp
index 46ee2b7f5..cf7686ad0 100644
--- a/test/gtest_imu_3d_static_init.cpp
+++ b/test/gtest_imu_3d_static_init.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include <fstream>
 
 #include "imu/common/imu.h"
diff --git a/test/gtest_imu_3d_tools.cpp b/test/gtest_imu_3d_tools.cpp
index 4fee78977..4e789ea8e 100644
--- a/test/gtest_imu_3d_tools.cpp
+++ b/test/gtest_imu_3d_tools.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/math/imu_3d_tools.h"
 #include <core/utils/utils_gtest.h>
 
diff --git a/test/gtest_load_imu.cpp b/test/gtest_load_imu.cpp
index 48609cfad..e60c7c0e3 100644
--- a/test/gtest_load_imu.cpp
+++ b/test/gtest_load_imu.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include <gtest/gtest.h>
 #include "imu/utils/load_imu.h"
 #include <core/sensor/factory_sensor.h>
diff --git a/test/gtest_no_load_imu.cpp b/test/gtest_no_load_imu.cpp
index 07edb13e1..a1d7bcb24 100644
--- a/test/gtest_no_load_imu.cpp
+++ b/test/gtest_no_load_imu.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include <gtest/gtest.h>
 #include <core/utils/load_core.h>
 #include <core/sensor/factory_sensor.h>
diff --git a/test/gtest_processor_imu_2d.cpp b/test/gtest_processor_imu_2d.cpp
index 622ad6f76..4f95eaec2 100644
--- a/test/gtest_processor_imu_2d.cpp
+++ b/test/gtest_processor_imu_2d.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/capture/capture_imu.h"
 #include "imu/common/imu.h"
 #include "imu/processor/processor_imu_2d.h"
diff --git a/test/gtest_processor_imu_2d_with_gravity.cpp b/test/gtest_processor_imu_2d_with_gravity.cpp
index feadbe039..bb4acc323 100644
--- a/test/gtest_processor_imu_2d_with_gravity.cpp
+++ b/test/gtest_processor_imu_2d_with_gravity.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/capture/capture_imu.h"
 #include "imu/common/imu.h"
 #include "imu/processor/processor_imu_2d.h"
diff --git a/test/gtest_processor_imu_3d.cpp b/test/gtest_processor_imu_3d.cpp
index 7a4e33742..80b453844 100644
--- a/test/gtest_processor_imu_3d.cpp
+++ b/test/gtest_processor_imu_3d.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "imu/capture/capture_imu.h"
 #include "imu/common/imu.h"
 #include "imu/processor/processor_imu_3d.h"
diff --git a/test/gtest_processor_imu_3d_jacobians.cpp b/test/gtest_processor_imu_3d_jacobians.cpp
index 56b4ca16e..7a729828b 100644
--- a/test/gtest_processor_imu_3d_jacobians.cpp
+++ b/test/gtest_processor_imu_3d_jacobians.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 // Wolf
 #include "core/common/wolf.h"
 #include "core/problem/problem.h"
diff --git a/test/gtest_processor_motion_intrinsics_update.cpp b/test/gtest_processor_motion_intrinsics_update.cpp
index f6e54a052..b5b65f94d 100644
--- a/test/gtest_processor_motion_intrinsics_update.cpp
+++ b/test/gtest_processor_motion_intrinsics_update.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include <fstream>
 
 #include "core/utils/logging.h"
diff --git a/test/gtest_schema.cpp b/test/gtest_schema.cpp
index f3de3216d..87a027a40 100644
--- a/test/gtest_schema.cpp
+++ b/test/gtest_schema.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "core/map/map_base.h"
 #include "core/processor/processor_base.h"
 #include "core/sensor/sensor_base.h"
diff --git a/test/gtest_sensor_compass.cpp b/test/gtest_sensor_compass.cpp
index ca5089591..8d31fe32b 100644
--- a/test/gtest_sensor_compass.cpp
+++ b/test/gtest_sensor_compass.cpp
@@ -6,18 +6,16 @@
 //
 // This file is part of WOLF: http://www.iri.upc.edu/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.
+// it under the terms of the GNU General Public License version 3
+// as published by the Free Software Foundation.
 //
 // 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.
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU 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/>.
-
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
 #include "core/utils/utils_gtest.h"
 
 #include "imu/capture/capture_compass.h"
-- 
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