diff --git a/demos/demo_2_lasers_offline.cpp b/demos/demo_2_lasers_offline.cpp
index 94cedee65f5dd29bb9d952094628465fd7fc7c9a..8ec341798b6dc098dee0b298983d36f1e8bbb87e 100644
--- a/demos/demo_2_lasers_offline.cpp
+++ b/demos/demo_2_lasers_offline.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_capture_laser_2d.cpp b/demos/demo_capture_laser_2d.cpp
index 93fe6138614cba889e39d648f32aa874f28a6bf1..756fd0eea126eb6451e9827e8cd86b79caf55531 100644
--- a/demos/demo_capture_laser_2d.cpp
+++ b/demos/demo_capture_laser_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_ceres_2_lasers.cpp b/demos/demo_ceres_2_lasers.cpp
index 32d151d112b5c981ac646949cdd09ab9328334d1..05ec4631f9c20f4b0a3a0bc93400272d781c00db 100644
--- a/demos/demo_ceres_2_lasers.cpp
+++ b/demos/demo_ceres_2_lasers.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_ceres_2_lasers_polylines.cpp b/demos/demo_ceres_2_lasers_polylines.cpp
index dc383b67fdc7f2332d049f8b5569c324544ca8d5..8dad5d18bace977ea250ec0664a8693b93620ffc 100644
--- a/demos/demo_ceres_2_lasers_polylines.cpp
+++ b/demos/demo_ceres_2_lasers_polylines.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/capture/capture_laser_2d.h b/include/laser/capture/capture_laser_2d.h
index bde23f0976e751ad84699729a6157f72d60064cf..579f4475b3e2bd3a59fd41c4fb3fb9dc24db883a 100644
--- a/include/laser/capture/capture_laser_2d.h
+++ b/include/laser/capture/capture_laser_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/factor/factor_container.h b/include/laser/factor/factor_container.h
index 87b19530df3b86b06eab569b2aad3e68f09f2684..20cb2014b2cd9592b1007c9754180f4bb330cfd3 100644
--- a/include/laser/factor/factor_container.h
+++ b/include/laser/factor/factor_container.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/factor/factor_point_2d.h b/include/laser/factor/factor_point_2d.h
index e0662388bed89b5ae42af1e38ed272a6cf0848a4..30b4884d08fa0874c97722f47f0804b3b0e3b3c4 100644
--- a/include/laser/factor/factor_point_2d.h
+++ b/include/laser/factor/factor_point_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/factor/factor_point_to_line_2d.h b/include/laser/factor/factor_point_to_line_2d.h
index 13bb2ad2d156958d4b378ca899d2d45bfef7ca5c..cc975d802a098f3dc610bb5b185e5184e489c69c 100644
--- a/include/laser/factor/factor_point_to_line_2d.h
+++ b/include/laser/factor/factor_point_to_line_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/feature/feature_icp_align.h b/include/laser/feature/feature_icp_align.h
index f20fe5616fcc0f8fcea5c1dab646e73c0050e4e1..1c292c3ddba48e852cba83dbde21fc14a3a93a6a 100644
--- a/include/laser/feature/feature_icp_align.h
+++ b/include/laser/feature/feature_icp_align.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/feature/feature_match_polyline_2d.h b/include/laser/feature/feature_match_polyline_2d.h
index 16ee18bf33d1c6097903e9dc956ba18b33697d22..8142b25477de8ace40e2c372264204e62e76238e 100644
--- a/include/laser/feature/feature_match_polyline_2d.h
+++ b/include/laser/feature/feature_match_polyline_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/feature/feature_polyline_2d.h b/include/laser/feature/feature_polyline_2d.h
index aee5a81d4a67ec17b5a0ffeb1f246523f0f269e8..b889c49b827b3f76f197b9f4fa7f801285cecf82 100644
--- a/include/laser/feature/feature_polyline_2d.h
+++ b/include/laser/feature/feature_polyline_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/feature/feature_scene_falko.h b/include/laser/feature/feature_scene_falko.h
index 6cd1b5fb232acaf627fe37eec4059cefceb19d15..c571db55da8177dadbd4e63818317ce2271a76d3 100644
--- a/include/laser/feature/feature_scene_falko.h
+++ b/include/laser/feature/feature_scene_falko.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/landmark/landmark_match_polyline_2d.h b/include/laser/landmark/landmark_match_polyline_2d.h
index 882ff4b15e5318936d6801016c3bd487d8c01e7c..d5d10114faa6c9865f3ca75166f1f5f92fbc0ab2 100644
--- a/include/laser/landmark/landmark_match_polyline_2d.h
+++ b/include/laser/landmark/landmark_match_polyline_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/landmark/landmark_polyline_2d.h b/include/laser/landmark/landmark_polyline_2d.h
index 60037402e37dc0c958cdbb959e8ca8279b8f3af2..4d1574cf3bb765c674435ba65cd2afb1c632b584 100644
--- a/include/laser/landmark/landmark_polyline_2d.h
+++ b/include/laser/landmark/landmark_polyline_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/math/laser_tools.h b/include/laser/math/laser_tools.h
index 159eef7c51fc26a25c9c8d507b7310958acad4f8..6e5ae69aecf741a05b5025dcb39c18183cb683b7 100644
--- a/include/laser/math/laser_tools.h
+++ b/include/laser/math/laser_tools.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/processor/params_icp.h b/include/laser/processor/params_icp.h
index 2932db8384ed132224b2d3c1b6fa5ba67e464c53..bfafa5dc03a2a341bbca112289316834bb95b8d0 100644
--- a/include/laser/processor/params_icp.h
+++ b/include/laser/processor/params_icp.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/processor/polyline_2d_utils.h b/include/laser/processor/polyline_2d_utils.h
index 31e44416c3bacbdee41425bc2c5f5b13ec497d7e..29e10d1f2252e797afdf492f6228d8d8f65e28ac 100644
--- a/include/laser/processor/polyline_2d_utils.h
+++ b/include/laser/processor/polyline_2d_utils.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/processor/processor_loop_closure_falko.h b/include/laser/processor/processor_loop_closure_falko.h
index f7f9d6085d7e1b3ec493ad1ee79b43502e6a6cfb..755b702fa89231af99f6b43330a6393e40bb1e7a 100644
--- a/include/laser/processor/processor_loop_closure_falko.h
+++ b/include/laser/processor/processor_loop_closure_falko.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/processor/processor_loop_closure_falko_icp.h b/include/laser/processor/processor_loop_closure_falko_icp.h
index 556ace850edcc6ac07be307dd958ea200e9f513c..a3e41335bcebd0d73b655cbbcf7aee0846ab498b 100644
--- a/include/laser/processor/processor_loop_closure_falko_icp.h
+++ b/include/laser/processor/processor_loop_closure_falko_icp.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/processor/processor_loop_closure_icp.h b/include/laser/processor/processor_loop_closure_icp.h
index e6e92bdad1ec9d70aa5394b6e0162276da02a9ad..5741d1110f42beca9cf2c473917bde618d164119 100644
--- a/include/laser/processor/processor_loop_closure_icp.h
+++ b/include/laser/processor/processor_loop_closure_icp.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/processor/processor_odom_icp.h b/include/laser/processor/processor_odom_icp.h
index 711bd767e9d5fd937e1f926065b1fbebe1372a8e..a802d9232fb0362cef9892721f5d83c81ec9da00 100644
--- a/include/laser/processor/processor_odom_icp.h
+++ b/include/laser/processor/processor_odom_icp.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/processor/processor_tracker_feature_polyline_2d.h b/include/laser/processor/processor_tracker_feature_polyline_2d.h
index df2f5c22941d61232d35352d727c025612b7e8a8..c35a574f9979cd99e37e358d32e62607010f7295 100644
--- a/include/laser/processor/processor_tracker_feature_polyline_2d.h
+++ b/include/laser/processor/processor_tracker_feature_polyline_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/sensor/sensor_laser_2d.h b/include/laser/sensor/sensor_laser_2d.h
index 598d0ac6c231c0b486314d31f93bdae1f08be1f3..5568961c21fe2049e5472759cb32ba28323b49cd 100644
--- a/include/laser/sensor/sensor_laser_2d.h
+++ b/include/laser/sensor/sensor_laser_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/laser/state_block/local_parametrization_polyline_extreme.h b/include/laser/state_block/local_parametrization_polyline_extreme.h
index e44dca64d9cf3e0eb8f3c411ef5301e493efba4c..f1857ce7b8877f5db0d1ac146803b76c6b180b01 100644
--- a/include/laser/state_block/local_parametrization_polyline_extreme.h
+++ b/include/laser/state_block/local_parametrization_polyline_extreme.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/license_header_2021.txt b/license_header_2022.txt
similarity index 89%
rename from license_header_2021.txt
rename to license_header_2022.txt
index c75a6f243b37109b77d60e16b7caebfc19215aea..0c987025f9dba3e7af993051b9bdf4b5ff400e0d 100644
--- a/license_header_2021.txt
+++ b/license_header_2022.txt
@@ -1,4 +1,4 @@
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_laser_2d.cpp b/src/capture/capture_laser_2d.cpp
index 251c97eb12adb1e84d7098239220b832da942e50..407b9a845abfd2d280be5495baf35753e4383803 100644
--- a/src/capture/capture_laser_2d.cpp
+++ b/src/capture/capture_laser_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_icp_align.cpp b/src/feature/feature_icp_align.cpp
index 0f0672a0fe17bc8673ae4b69a5a824d0ffc5753d..82a38d2d93d0ef8ef38084fd54b7604c1c592a8b 100644
--- a/src/feature/feature_icp_align.cpp
+++ b/src/feature/feature_icp_align.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_match_polyline_2d.cpp b/src/feature/feature_match_polyline_2d.cpp
index ef5cb4cabd777d79f1ac384f7a1afb6b04a96735..9c748f8ea9816d94e27a81b207a43df74e62a4fe 100644
--- a/src/feature/feature_match_polyline_2d.cpp
+++ b/src/feature/feature_match_polyline_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_polyline_2d.cpp b/src/feature/feature_polyline_2d.cpp
index 406f7098d1600a078d8008030ad0c17e42baf4a4..2afe6b82bcbfdb7594666e5e1d19bdc44e82a92e 100644
--- a/src/feature/feature_polyline_2d.cpp
+++ b/src/feature/feature_polyline_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_scene_falko.cpp b/src/feature/feature_scene_falko.cpp
index 113e1568808f9d8d86bdd92166943c02b9fe264f..39e6b054fd48a379dfc6abc1ceadb7bd0f9e3de4 100644
--- a/src/feature/feature_scene_falko.cpp
+++ b/src/feature/feature_scene_falko.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/landmark/landmark_match_polyline_2d.cpp b/src/landmark/landmark_match_polyline_2d.cpp
index f26662fdc45cf69704631b3ff665183ded53559f..cfb48ee32589cb60d305085440493577b3cbfa27 100644
--- a/src/landmark/landmark_match_polyline_2d.cpp
+++ b/src/landmark/landmark_match_polyline_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/landmark/landmark_polyline_2d.cpp b/src/landmark/landmark_polyline_2d.cpp
index 4a912e9a731ac557e87c162fd1265cfbae6ea30d..bdd6566a85dcf025d6053ce62cfc7b47ab2e98a4 100644
--- a/src/landmark/landmark_polyline_2d.cpp
+++ b/src/landmark/landmark_polyline_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/polyline_2d_utils.cpp b/src/processor/polyline_2d_utils.cpp
index c001dc5a5f247d82699fa4ba7bbed8f8f295f5a8..d935ec63d985d40d5c3a2729256a9b7e3c5e90d4 100644
--- a/src/processor/polyline_2d_utils.cpp
+++ b/src/processor/polyline_2d_utils.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_loop_closure_falko.cpp b/src/processor/processor_loop_closure_falko.cpp
index 730782a8e66d7d618da8cce1b113e6bee2b9cf81..92ba29fa13ecaecfb684287e56426c4102ecc467 100644
--- a/src/processor/processor_loop_closure_falko.cpp
+++ b/src/processor/processor_loop_closure_falko.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -34,4 +34,4 @@ WOLF_REGISTER_PROCESSOR_AUTO(ProcessorLoopClosureFalkoAhtBsc);
 
 // WOLF_REGISTER_PROCESSOR(ProcessorLoopClosureFalkoAhtCgh);
 // WOLF_REGISTER_PROCESSOR_AUTO(ProcessorLoopClosureFalkoAhtCgh);
-} // namespace wolf
\ No newline at end of file
+} // namespace wolf
diff --git a/src/processor/processor_loop_closure_falko_icp.cpp b/src/processor/processor_loop_closure_falko_icp.cpp
index 1312f27b3353bed70570c0615a31e61acac3bf19..b59063b17e2c5aecf7e7ebcb00c4a7efb6a7ae4f 100644
--- a/src/processor/processor_loop_closure_falko_icp.cpp
+++ b/src/processor/processor_loop_closure_falko_icp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -35,4 +35,4 @@ namespace wolf {
     WOLF_REGISTER_PROCESSOR(ProcessorLoopClosureFalkoIcpAhtCgh);
     WOLF_REGISTER_PROCESSOR_AUTO(ProcessorLoopClosureFalkoIcpAhtCgh);
 
-} // namespace wolf
\ No newline at end of file
+} // namespace wolf
diff --git a/src/processor/processor_loop_closure_icp.cpp b/src/processor/processor_loop_closure_icp.cpp
index d962983064fd578e3687503e7428fa71d1f3ff4e..a57559753b2cd4cf8503ab1f10a422ba18b52dfc 100644
--- a/src/processor/processor_loop_closure_icp.cpp
+++ b/src/processor/processor_loop_closure_icp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp
index 12838dd0cc239a7c24a62bd5a487b79abd068545..100dd66185496d1c923ba4e1ba48fe24f549a7b4 100644
--- a/src/processor/processor_odom_icp.cpp
+++ b/src/processor/processor_odom_icp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_tracker_feature_polyline_2d.cpp b/src/processor/processor_tracker_feature_polyline_2d.cpp
index 7727ba96418c0b951d57e869e59540a02de76c4a..be4e0ad864a4d5ec1aafd8d9b71aa6f5bf90f3a8 100644
--- a/src/processor/processor_tracker_feature_polyline_2d.cpp
+++ b/src/processor/processor_tracker_feature_polyline_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_laser_2d.cpp b/src/sensor/sensor_laser_2d.cpp
index cca8b28df535d7ee7ae6db98e09db4e304524118..55740c1a7ee57533e1b55d35e785d77f48ba89f5 100644
--- a/src/sensor/sensor_laser_2d.cpp
+++ b/src/sensor/sensor_laser_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/state_block/local_parametrization_polyline_extreme.cpp b/src/state_block/local_parametrization_polyline_extreme.cpp
index bceb83518edecd44a2d955bb36c4455382945414..6f5a6e89b9ec1e3ef295697e222a333c0aeda596 100644
--- a/src/state_block/local_parametrization_polyline_extreme.cpp
+++ b/src/state_block/local_parametrization_polyline_extreme.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/processor_odom_icp_yaml.cpp b/src/yaml/processor_odom_icp_yaml.cpp
index a21e86bd2cbbd83aa3192870ca738609c52f661f..0d4d68b039b94e7d5b0f7ff879cb6b3826bb158a 100644
--- a/src/yaml/processor_odom_icp_yaml.cpp
+++ b/src/yaml/processor_odom_icp_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/sensor_laser_2d_yaml.cpp b/src/yaml/sensor_laser_2d_yaml.cpp
index 9f35975f927716eb9f72cdbf6f2fb55df3f23b45..cc1329162cc0f9bb3f5859fab1fe711c99fbac67 100644
--- a/src/yaml/sensor_laser_2d_yaml.cpp
+++ b/src/yaml/sensor_laser_2d_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/data/scan_data.h b/test/data/scan_data.h
index bb09376965e24d8f448cd2e8f5e96d0886850d35..9fea58fea0ce8aa47431f15afe9d5ea0314652dd 100644
--- a/test/data/scan_data.h
+++ b/test/data/scan_data.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -2926,4 +2926,4 @@ std::vector<float> testRanges2 = {250,
 std::vector<float> reference_scan_1 ={3.64145,3.66544,3.62545,3.62945,3.61945,3.61545,2.81157,2.77558,2.77758,2.74958,2.73158,2.72159,2.73358,2.75158,2.78158,2.78558,2.80757,2.83557,2.87756,3.2835,3.2935,3.2995,3.2955,3.2915,3.2915,3.2775,3.2835,3.2635,3.2755,3.2655,3.2535,3.2595,3.20351,3.04754,3.04354,4.01539,3.08353,3.07153,3.07753,3.06953,3.06553,3.06753,3.05553,3.06353,3.04354,3.03154,3.00954,3.00554,3.02954,250,2.99354,2.99554,4.01739,4.03539,4.03339,3.84741,3.61545,3.56346,3.35149,3.2675,3.2695,3.2815,3.2795,3.2955,3.2995,3.2955,3.3155,3.3155,3.33149,3.32349,3.32349,3.35149,3.33549,3.36549,4.08338,4.07138,4.10937,4.01539,3.86741,3.71343,3.47947,3.48547,3.48747,3.43148,3.48547,3.48147,4.22736,4.22936,4.25335,4.24735,4.24735,4.26935,4.27135,3.51946,4.27735,3.43148,3.40348,3.39148,3.39548,3.38948,3.38548,3.39748,3.40148,3.41148,3.45347,3.47147,3.51946,250,3.84541,4.37333,4.51931,4.53131,4.54331,3.9414,2.94555,2.91956,2.93555,2.21166,2.17767,2.18167,2.16767,2.17767,2.04769,1.91971,1.85572,1.9917,250,250,250,250,1.9917,1.9917,1.9917,1.9917,2.03169,1.9917,1.9517,1.9597,1.90771,1.86772,1.87971,1.87971,1.85972,1.85172,1.82772,1.79173,1.53977,1.52777,1.50777,1.50777,1.47977,1.47977,1.47977,1.45178,1.43978,1.46778,1.46778,1.42378,250,250,1.59576,250,1.59576,250,1.59576,1.52377,1.51577,1.48377,1.49577,1.47977,1.48377,1.48377,1.46778,1.44778,1.44378,1.41978,1.44778,1.41978,1.41179,1.43978,1.39579,1.40379,1.26781,1.21581,1.22381,1.20382,1.23181,1.19582,1.20382,1.18382,1.16382,1.16982,1.15582,1.16182,1.16782,1.14583,1.13983,1.13983,1.14183,1.14183,1.13183,1.12383,1.13583,1.11583,1.12383,1.13983,1.09983,1.09583,1.09983,1.09583,1.13183,1.19582,250,250,1.3158,1.27181,1.2838,1.27181,1.27181,1.27981,1.25181,1.27581,1.27781,1.26381,1.26781,1.25781,1.25781,1.25781,1.25781,1.26781,1.26781,1.25181,1.27781,1.27581,1.2958,250,250,250,1.23581,1.17982,1.16582,1.19582,1.23581,250,250,250,1.9617,1.9537,1.9397,1.9657,1.9617,1.9517,1.9597,250,4.47732,4.45932,4.45532,4.45732,4.45332,4.45532,4.45332,4.44732,4.45532,4.44332,4.44932,4.43932,4.43932,4.43932,4.43532,4.86526,4.95725,6.575,6.551,6.543,6.555,6.559,250,250,250,250,250,7.58685,8.64468,8.64468,8.65868,8.66468,8.66268,8.68068,8.69068,8.70467,8.70867,8.71067,8.73867,8.73067,4.98324,4.99124,4.98724,5.01124,5.00324,5.00924,5.01524,5.01724,5.04323,5.03923,5.04323,4.99924,4.88326,4.67129,4.6093,4.6213,4.6313,4.63329,4.64729,4.66729,4.65929,4.68129,4.69129,4.71128,4.72328,4.72928,4.75328,4.74928,4.77127,4.77527,4.78727,4.81127,4.81527,4.82726,4.84726,4.85326,4.88326,4.88126,4.90925,4.91725,4.92725,4.96124,3.09553,3.10153,3.04554,2.98755,2.94555,2.91556,2.87756,2.83157,2.79557,2.77558,2.43763,2.13767,2.13368,2.10168,2.11168,2.10368,2.13567,2.13168,2.14567,2.28165,2.31565,2.39164,2.40163,2.38564,2.36164,2.32165,2.30965,2.26566,2.22366,2.23366,2.24166,2.27765,2.29165,2.30165,2.31965,2.32165,2.33964,2.36564,2.36564,2.38764,2.39763,2.40963,2.41763,2.42563,2.44963,2.45563,2.47162,2.48962,2.50562,2.54361,2.54561,2.56361,2.58561,2.59361,2.6296,2.6456,2.6576,2.67759,2.67359,7.15891,7.17091,7.2349,7.29889,7.35888,9.08062,8.99263,8.91664,8.85065,8.76867,8.71067,8.64268,8.74867,8.58669,8.65868,8.75467,8.84265,8.91464,9.04262,9.10661,9.23859,9.33058,9.44656,9.55455,9.65853,9.77851,9.88649,10.0185,10.1425,10.2704,10.4224,10.5384,10.6944,10.8423,10.9863,11.1423,11.3983,11.5582,11.7342,11.9262,12.0302,3.76743,3.74743,3.74543,3.72543,3.73343,3.70944,3.70744,3.68944,3.68144,3.68744,3.67544,3.66144,3.66544,3.64944,3.63745,3.63545,3.61745,3.62145,3.60945,3.59745,3.59345,3.58145,3.58545,3.56746,3.57146,3.55346,3.54546,3.55746,3.53746,3.53546,3.53746,3.52546,3.52746,3.51546,3.50747,3.50747,3.48947,3.49547,3.49147,3.47547,3.48347,3.48147,3.48147,3.47747,3.46147,3.47147,3.46347,3.47147,3.45947,1.86972,1.87771,2.33164,2.37564,3.44548,3.44548,3.46347,3.45147,3.46547,3.46547,3.44148,3.45747,3.43148,3.45947,3.45747,3.44947,3.46147,3.44947,3.46547,3.45147,3.45347,3.46347,2.36564,2.37564,2.34364,1.87771,1.87971,1.87371,250,4.19936,4.01939,3.83942,3.63945,3.58545,4.16936,4.16337,3.32349,2.99154,2.82357,2.75958,2.75558,2.78558,2.80357,2.80757,2.81757,2.79957,250,250,250,2.01169,250,250,250,2.87356,2.87156,2.86556,2.88756,2.88156,2.88156,2.89556,2.90356,2.91756,2.92355,4.41333,4.43532,4.43532,4.45932,4.46932,4.46932,4.50331,4.50731,1.42378,1.40379,1.36379,1.37179,1.3378,1.3318,1.3018,1.2978,1.2858,1.26781,1.2998,1.43978,1.45178,1.48177,1.47178,1.49977,1.49377,1.50577,1.51177,1.50977,1.53177,1.53177,1.52377,1.55376,1.55176,1.56976,1.57176,1.57176,1.59576,1.59176,1.60376,1.61375,1.61175,1.62575,1.62975,1.64575,1.65175,1.64975,1.66775,1.67375,1.69374,1.70974,1.70374,1.71974,1.71774,1.72374,1.74973,1.75173,1.77573,1.77373,1.78773,1.80972,1.80972,1.82972,1.83772,1.84772,1.86572,1.86972,1.89771,1.91371,1.92171,1.9457,1.9557,1.9777,1.9917,2.00569,2.01969,2.02769,2.06769,2.07968,2.08768,2.11568,2.13168,2.16367,2.17167,2.17967,2.22366,2.23566,2.26765,2.27565,2.29565,2.28965,2.25566,2.26765,2.24366,2.23366,2.21966,2.22366,2.22566,2.22166,4.43133,4.41933,4.39133,4.35934,4.35534,4.32734,4.33134,4.29135,4.29935,4.29135,4.27535,4.27935,4.24335,4.23935,4.20336,4.19136,4.18336,4.16337,4.16737,4.13537,4.11537,4.08738,3.83142,3.86741,3.89141,4.04338,4.11137,4.47332,4.45732,4.45332,4.43532,4.43932,4.42133,4.40933,4.40333,4.38333,3.10353,3.09153,3.07153,3.08353,3.09553,3.09753,3.02154,2.98755,3.15552,3.39148,3.10553,3.09753,2.93955,2.87156,2.87156,2.89156,2.95155,3.02354,3.06753,3.04954,3.06353,3.04354,3.03954,2.97955,2.94955,3.2835,4.21536,3.00354,2.99954,2.96755,2.97155,2.96755,2.97955,2.98555,3.03154,3.57546,4.21136,4.21536,4.22336,4.21136,4.23535,2.86356,2.92755,2.99354,3.03154,3.06753,3.08553,3.09553,3.12752,3.13552,3.15752,3.16152,3.15752,3.18152,3.17152,3.85341,3.86341,3.87941,250,2.20766,2.12768,2.07168,2.05969,2.04369,1.9877,1.9557,1.85372,1.77973,1.72174,1.68174,1.65975,1.65175,1.65375,1.66375,1.65975,1.66575,1.68374,1.67574,1.71174,1.76373,1.82372,1.84372,1.84372,1.84972,1.85572,1.86372,1.87971,1.87371,1.88571,1.90171,1.86972,1.80572,1.78173,1.79373,1.78573,1.78173,1.79373,1.78373,1.79773,1.79773,1.79773,1.81172,1.86372,4.67129,4.67529,4.69129,4.71528,4.71928,4.75928,4.76727,4.36733,4.46732,4.46732,4.09938,4.06338,4.03738,4.03339,4.01339,4.00139,1.75373,1.70974,1.70774,1.68174,1.67175,1.66975,1.65375,1.66775,1.65575,1.63975,1.64775,1.62975,1.64175,1.63975,1.64775,1.64175,1.64175,1.65175,1.65375,1.66375,1.66775,1.66775,1.68974,1.68974,1.69974,1.71774,1.72574,1.73574,1.73774,1.78173,1.79573,1.81172,1.85572,1.88971,250,250,250,250,5.19121,5.2252,5.20121,5.16921,5.14122,5.09522,5.07923,5.07123,5.02723,5.01724,4.98524,4.96524,4.94725,4.90725,4.90125,4.86126,4.84526,4.82127,4.79527,4.77927,4.76327,4.73528,4.72928,4.69129,4.64329,4.48532,4.47732,4.6153,4.5973,4.5893,4.5633,4.54531,4.53731,4.51131,4.50731,4.48932,4.46932,4.45932,3.99139,3.85941,3.84341,3.82742,3.82742,3.80342,3.81142,3.78742,3.77742,3.76543,3.74343,3.74743,3.72143,3.70544,3.69744,3.67344,3.66744,3.67744,3.66344,3.67144};
 std::vector<float> target_scan_1 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
-std::vector<float> reference_scan_2 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\ No newline at end of file
+std::vector<float> reference_scan_2 ={4.86126,4.82527,4.84126,4.83326,4.85326,250,250,4.43932,4.43332,5.68313,5.04523,4.74728,4.80527,5.59715,5.01724,5.44117,5.54915,5.54516,5.51716,4.96524,5.16921,5.47317,4.28935,4.27335,5.46517,4.5893,5.43117,5.42317,5.41318,5.40318,4.68529,4.67329,5.36718,5.36518,5.36118,5.30319,5.33719,5.31519,5.38718,5.39518,5.45717,5.43317,5.44117,5.41718,5.39318,5.42117,5.39318,5.36118,5.34919,5.33719,5.35718,5.32919,5.33719,5.30519,5.32919,5.30519,5.32119,5.29319,5.30519,5.32119,5.30119,5.32119,5.2772,5.30519,5.30519,5.29319,5.2812,5.2732,5.29319,13.6039,13.5939,13.6079,13.6119,13.6159,13.6299,13.6099,13.6299,13.6179,13.6259,13.6419,11.5742,11.5642,6.51301,6.549,6.553,6.52101,6.45702,250,250,250,250,250,250,250,250,5.43317,5.38718,5.37118,5.30519,5.32519,5.31519,3.2655,3.11153,2.98155,2.78558,2.81157,2.73358,2.71359,2.6276,2.55361,2.49762,2.44163,2.37364,2.33564,2.27365,2.22766,2.17967,2.12768,2.08768,2.05369,2.01969,1.9757,1.93371,1.87971,1.86772,1.84372,1.81572,1.77573,1.76373,1.72574,1.70174,1.67575,1.65975,1.62975,1.61775,1.59176,1.57176,1.53977,1.52777,1.49577,1.48777,1.44778,1.43578,1.41578,1.39779,1.38779,1.36579,1.37579,1.35979,1.35579,1.35579,1.38179,1.39379,1.38779,1.39379,1.40779,1.40579,1.42178,1.42178,1.42178,1.43178,1.43578,1.44378,1.45178,1.45578,1.47178,1.48377,1.48977,1.48977,1.50377,1.52777,1.52577,1.55176,1.54976,1.55176,1.58176,1.57976,1.61175,1.59976,1.62775,1.62575,1.63775,1.63775,1.62975,1.64775,1.67575,1.67974,1.91571,1.82372,1.72174,1.68974,1.67774,1.69974,1.70774,1.74773,1.78373,1.79173,1.82372,1.84772,1.89371,1.91771,1.9477,1.9897,2.01769,2.05969,2.09568,2.11968,2.17167,2.20966,2.25966,2.30365,2.33564,2.40563,2.77558,2.13767,2.17167,2.23366,2.27365,2.31765,2.37764,2.78158,2.80957,2.84157,2.86556,2.90956,2.93755,2.98954,3.01754,3.04754,3.10353,3.14352,3.18352,3.19351,250,250,250,250,250,250,250,250,250,250,250,250,250,250,250,250,250,250,250,250,250,250,3.07353,2.97755,2.96755,3.03754,3.11353,3.18951,3.2615,250,1.21781,1.21981,1.21382,1.22581,1.22381,1.22381,1.21182,1.20382,1.21581,1.20382,1.20582,1.20582,1.19982,1.20582,1.20382,1.21382,1.20582,1.18982,1.18982,1.18982,1.20182,1.19782,1.18782,1.19582,1.18182,1.19982,1.19582,1.18182,1.19582,1.18182,1.20382,1.18982,1.18182,1.19582,1.19382,1.19382,1.18582,1.18382,1.19182,1.19182,1.19382,1.18782,1.18382,1.18982,1.19382,1.19382,1.16782,1.10983,0.751886,0.761884,0.761884,0.735888,0.731889,0.735888,0.731889,0.743887,0.743887,0.735888,0.751886,0.739887,0.747886,0.749886,0.743887,0.751886,0.743887,0.759884,0.753885,0.743887,0.751886,0.751886,0.749886,0.759884,0.757885,0.763884,0.763884,0.773882,0.759884,0.773882,0.763884,0.763884,0.777882,0.763884,0.777882,0.779881,0.775882,0.78788,0.775882,0.791879,0.78988,0.791879,0.791879,0.791879,0.797879,0.791879,0.795879,0.807877,0.803878,0.811876,0.811876,0.811876,0.823875,0.815876,0.831873,0.811876,0.823875,0.835873,0.831873,0.835873,0.839872,0.839872,0.85587,0.85187,0.863868,0.85587,0.85587,0.865868,0.85587,0.871867,0.867868,0.871867,0.883865,0.879866,0.897863,0.893864,0.897863,0.909861,0.901863,0.91986,0.91786,0.923859,0.931858,0.931858,0.939857,0.943856,0.953855,0.959854,0.959854,0.977851,0.971852,0.999848,0.991849,0.995848,1.00785,1.00585,1.02784,1.01984,1.02984,1.03984,1.04584,1.06384,1.06584,1.06784,1.08384,1.07984,1.10383,1.10783,1.10783,1.12383,1.12783,1.14383,1.15582,1.15582,1.17982,1.17982,1.20382,1.20982,1.21981,1.23181,1.23381,1.24981,1.26381,1.27581,1.3098,1.3078,1.3358,1.3358,1.35179,1.36579,1.37379,1.40179,1.41378,1.41778,1.44178,1.45378,1.48977,1.49177,1.50977,1.53377,1.54976,1.58176,1.59776,1.60975,1.63775,1.65375,1.68974,1.71374,1.73374,1.77573,1.79173,1.82772,1.83972,1.88771,1.90771,1.9577,1.9877,2.01569,2.05569,2.08768,2.12368,2.16567,2.25766,2.39364,2.32365,2.33764,2.39364,2.39364,250,2.46762,2.55361,250,250,250,3.40748,3.39748,3.39748,3.39548,3.40348,3.47347,3.58145,4.28535,4.45532,4.5973,4.72128,250,250,250,250,7.8888,250,250,9.11661,9.8685,10.0405,9.98848,250,12.3841,13.8739,13.8639,13.8519,17.6173,19.1251,25.3661,25.7701,25.7561,25.8161,13.8179,13.8239,13.8299,13.8359,250,9.93649,9.94449,7.56485,9.95848,9.96648,9.94849,9.98448,8.29874,8.30474,8.31273,250,250,250,250,250,250,250,250,10.1125,10.0445,250,8.18875,8.22875,250,7.34888,7.32488,7.34088,7.34888,7.37288,7.37688,7.38488,7.40887,10.2564,10.2604,250,250,10.3024,10.3844,250,10.3544,7.63684,250,7.18891,250,5.2652,5.2212,5.2332,5.19321,5.19721,5.08123,5.20521,5.19321,7.58884,4.13337,4.10138,4.08738,4.08738,4.11137,4.12137,3.9734,3.9374,3.9094,3.9294,5.12122,4.69329,4.66929,4.5933,4.54131,4.46932,4.84526,4.85726,4.86926,4.89325,4.89325,4.92125,4.98124,5.00524,4.15937,4.12537,4.04538,4.01339,3.9694,3.9214,3.88541,3.83342,3.79542,3.75143,3.70944,3.67144,3.63545,3.61745,3.57346,3.55146,3.52146,3.48347,3.45547,3.41948,3.40948,3.37749,3.32549,3.3175,3.2815,3.2695,3.24151,3.24151,3.22151,3.19351,3.21751,3.22751,3.24151,1.3118,1.2978,1.3038,1.2918,1.2958,1.2978,1.27381,1.26781,1.26181,1.24381,1.24781,1.23781,1.24181,1.21382,1.21981,1.20582,1.19582,1.19582,1.18582,1.17982,1.16582,1.15582,1.15982,1.14783,1.15382,1.14583,1.12783,1.13183,1.11983,1.12583,1.11383,1.10183,1.10183,1.09183,1.10183,1.09183,1.07784,1.07984,1.06384,1.07784,1.06384,1.05384,1.06384,1.03784,1.05384,1.04384,1.03184,1.04984,1.02784,1.03784,1.03384,1.01585,1.01984,1.00185,1.01585,1.00985,0.999848,1.00785,0.993849,1.00185,0.995848,0.993849,0.989849,0.98585,0.98585,0.977851,0.98385,0.961854,0.971852,0.963853,0.939857,0.975851,0.965853,0.953855,1.00385,1.02984,1.07784,1.10583,1.11783,1.16582,1.20182,1.23781,1.2978,1.36979,1.44978,1.50977,1.58176,1.60975,1.64375,1.70174,1.70574,1.77773,1.86572,1.73774,1.70374,1.67774,1.68774,1.68974,1.67574,1.68974,1.68974,1.70574,1.70374,1.75773,1.84172,1.82172,1.81772,1.79573,1.79573,1.80573,1.79773,1.80173,1.79373,1.81972,1.81972,1.82972,1.88171,7.93879,7.95679,7.95879,7.17291,6.68498,6.70498,6.74097,6.69698,6.73897,6.71498,6.70098,6.60899,6.64099,8.02078,8.02478,8.02078,8.04877,8.04278,7.71683,7.67083,7.40487,7.69083,7.69683,7.70083,7.72282,250,8.14876,8.15476,6.10507,6.04908,5.84111,5.73313,5.62714,5.52916,5.50916,5.53716,5.85911,5.82511,5.78112,5.73313,5.65314,5.65314,5.63714,8.45471,8.46071,8.48071,8.5087,8.5207,8.5567,5.54516,5.50916,5.48317,5.45517,5.46717,5.46317,5.46717,5.47117,5.47317,5.47717,5.50916,5.58115,5.64914,8.95664,8.99063,8.97663,250,250,2.89356,2.86556,2.85157,2.85756,2.79357,2.79357,2.79357,2.69359,2.74158,2.59361,2.59361,2.59361,2.59361,2.53361,2.49362,2.43363,2.47762,2.43363,2.46562,2.41763,2.32165,2.21366,2.18567,2.19767,2.17967,2.16967,2.22166,2.24566,2.39364,2.35764,2.39364,2.39364,2.49362,2.49362,2.59361,250,2.59361,2.59361,250,250,250,250,250,250,250,250,2.89356,2.79357,2.89356,250,250,2.91956,2.90356,2.92156,250,2.99354,3.07353,3.00554,3.01354,3.03754,3.41748,3.47747,3.43748,250,3.50947,3.42348,3.44148,3.66544,3.79342,250,3.56146,3.50147,3.59345,3.56346,5.42117,4.42133,4.38733,4.37133,4.38933,4.99324};
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 979fabb18a7fc70dff93e5d91e02be065a05b753..c73292612597de2fb22c677ffd5bedf92c62daa4 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_landmark_polyline.cpp b/test/gtest_landmark_polyline.cpp
index 9b6ec1f578ff1df8a32aab429a1afe3c2dc23f6f..d84c18d1ac15c24aac47545cae3513561b823aca 100644
--- a/test/gtest_landmark_polyline.cpp
+++ b/test/gtest_landmark_polyline.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_polyline_2d.cpp b/test/gtest_polyline_2d.cpp
index b3c4eb31a13e4ee7ed94a6d1dfa3704a2a06cec2..d332da1dee3f59d4d4df231fcfe855dfe8531df4 100644
--- a/test/gtest_polyline_2d.cpp
+++ b/test/gtest_polyline_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_loop_closure_falko.cpp b/test/gtest_processor_loop_closure_falko.cpp
index 0fd43107dd4ee5240a1f6304406043e09a52f821..87d7868972e2be0f9e4c88e5a9ab869a0907408b 100644
--- a/test/gtest_processor_loop_closure_falko.cpp
+++ b/test/gtest_processor_loop_closure_falko.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_loop_closure_falko_icp.cpp b/test/gtest_processor_loop_closure_falko_icp.cpp
index f061bb06f13eddcec2ac6159d4b493fef74380bc..a12e6ecd45e89bc7f6e92021e28a5800d14e97b0 100644
--- a/test/gtest_processor_loop_closure_falko_icp.cpp
+++ b/test/gtest_processor_loop_closure_falko_icp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_loop_closure_icp.cpp b/test/gtest_processor_loop_closure_icp.cpp
index 9c60e1481de880f30994f609325fbddcbb792504..491e22aafa5e22ebab10eaf7d436fc615a366889 100644
--- a/test/gtest_processor_loop_closure_icp.cpp
+++ b/test/gtest_processor_loop_closure_icp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_odom_icp.cpp b/test/gtest_processor_odom_icp.cpp
index 64ee03ad44502ba5e5752a5cb13ff89a17d1fa12..4b09cad83ef2e1200bd9c14503b1f6d093fa8f58 100644
--- a/test/gtest_processor_odom_icp.cpp
+++ b/test/gtest_processor_odom_icp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //