diff --git a/demos/demo_2_lasers_offline.cpp b/demos/demo_2_lasers_offline.cpp
index dcaf0da1d28e1a681128e939fcc5423cdc4e89e9..c890d00b326e67d8357ab3970765a14661d81c1d 100644
--- a/demos/demo_2_lasers_offline.cpp
+++ b/demos/demo_2_lasers_offline.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 756fd0eea126eb6451e9827e8cd86b79caf55531..e729e80190197386753d691ec20278c25401012e 100644
--- a/demos/demo_capture_laser_2d.cpp
+++ b/demos/demo_capture_laser_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 9f2cced24f1d952b41343c2358947fe2fe6fba48..45b6b6ac468d1605df8bc0c37ebd053455c7dbed 100644
--- a/demos/demo_ceres_2_lasers.cpp
+++ b/demos/demo_ceres_2_lasers.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 0632ad90a0562b258c4e20a93a17c7e019a8464c..d69b9827d9af7b66a91d0b7668ded21bbc4f808b 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 fca364b7234505008a311b93ebbe60007ed4c4a6..4ef7eccea90da7fdceac8b7344106d996dc7a7c4 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 15d6ee7185659a0e5068388748140d09993ce02b..6c5cacdef93c1e5ef29946ab70c8ede0ff2ac792 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 f2035e32e3f84b8ff44c1bae60b95ecb6636f4e4..8833321877b80f5ad780222e899fba5ffd8cf7d5 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 1c292c3ddba48e852cba83dbde21fc14a3a93a6a..cb54c01cd829f37b53269800170f64999189ee0b 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 8142b25477de8ace40e2c372264204e62e76238e..63c490181db40aaa8707e9f3dda3262b803fd04f 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 c5cd36350ff9757a9dcbc058ae65d2292e8ada64..a256fdb30785548baea203e92580ab382505e7c4 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 1d584c999059ad60385ef51476dd6ae1d8cdde17..70ab50df32e7dc2a6ba5e3f0def0022f1534e579 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 d5d10114faa6c9865f3ca75166f1f5f92fbc0ab2..cfc8d77642049828f23f9d5ea6066821c41f2429 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 4d930a8edcc460bf117d9f4fd38fdde6c1bb4da0..eaacab4d4590ef62bfddf1d66031abe46ab8e7f5 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 6e5ae69aecf741a05b5025dcb39c18183cb683b7..8714e486100e9b95027334a73ecce1970d1b1000 100644
--- a/include/laser/math/laser_tools.h
+++ b/include/laser/math/laser_tools.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 fe3e1ed7c92efdcf5a4f66ce8418a8c7afa34e1d..fb2be632999074de580e03642e9463eabcd25748 100644
--- a/include/laser/processor/params_icp.h
+++ b/include/laser/processor/params_icp.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 29e10d1f2252e797afdf492f6228d8d8f65e28ac..1ad5d5421cb1b31474bc5278f86d2acca9bc7cfb 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 c320e7e9ca1deb58a8b51357f2fd914a5be54594..53ada454d1c76c9b7da76a2936b5784e61d2f6e5 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 5f195111f88a206b41e973d040a7c3651c00ad01..3a21118ac603b00effd0c7acf63ed63e02172645 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 f2324d07117dfc842aefd4c02befd2c9f7f47cbc..07d03e22efd64c58b0a039cc4e7ec448bd0036fa 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 516f8c2efda39777a672a5eb8ac4560bcb620500..ce672b84a4d1660c1d8335f1a84f19be6e2cd070 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 c35a574f9979cd99e37e358d32e62607010f7295..b6bf8ddf64ff49bf498ee3edb8fceb32f3632826 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 047de263741d3b3de6321ed0f337b7f13b4f7914..e53b40e619ecf770c4185e0d1ab2719e17e4036a 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 f1857ce7b8877f5db0d1ac146803b76c6b180b01..a060ad7da0c75d77b01b2b1d8b88c4132bb52034 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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/state_polyline_point_2d.h b/include/laser/state_block/state_polyline_point_2d.h
index dd7b9eb516bdadb5536947c850b59ee1b2f5f5bd..f1d4e25c7cc4f06f6430247733d1fa71e2ee7c4e 100644
--- a/include/laser/state_block/state_polyline_point_2d.h
+++ b/include/laser/state_block/state_polyline_point_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -46,4 +46,4 @@ inline StatePolylinePoint2d::StatePolylinePoint2d(const Vector2d &_point,
     if (_reference_point) local_param_ptr_ = std::make_shared<LocalParametrizationPolylineExtreme>(_reference_point);
 }
 
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/license_header_2022.txt b/license_header_2023.txt
similarity index 88%
rename from license_header_2022.txt
rename to license_header_2023.txt
index 0c987025f9dba3e7af993051b9bdf4b5ff400e0d..2ddae24c37e894a9a46e58afd6db8ebf8ff14b92 100644
--- a/license_header_2022.txt
+++ b/license_header_2023.txt
@@ -1,4 +1,4 @@
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 407b9a845abfd2d280be5495baf35753e4383803..c8f4cbf8638d218d870c82f2dc9915ac5247c44b 100644
--- a/src/capture/capture_laser_2d.cpp
+++ b/src/capture/capture_laser_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 82a38d2d93d0ef8ef38084fd54b7604c1c592a8b..33dffa9292b8a57417b4af90f47ecf0ddf7339b5 100644
--- a/src/feature/feature_icp_align.cpp
+++ b/src/feature/feature_icp_align.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 9c748f8ea9816d94e27a81b207a43df74e62a4fe..bdecec80e52d8cb858be856f72e6aaebc8e36d33 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 2afe6b82bcbfdb7594666e5e1d19bdc44e82a92e..b41b72ea17046758bc99bbfc44974bee33000b09 100644
--- a/src/feature/feature_polyline_2d.cpp
+++ b/src/feature/feature_polyline_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 39e6b054fd48a379dfc6abc1ceadb7bd0f9e3de4..ac9c87bb5848d3b2f823c53b41bf29788999f508 100644
--- a/src/feature/feature_scene_falko.cpp
+++ b/src/feature/feature_scene_falko.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 cfb48ee32589cb60d305085440493577b3cbfa27..d0f8f31e52f49b2445ccc42d33fb3393bce1fc17 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 1755556a42f0492a2528f83db190ee323fdaceec..2b2fe1ee0e70c0eb989ef2e28bcf27418ca30c4e 100644
--- a/src/landmark/landmark_polyline_2d.cpp
+++ b/src/landmark/landmark_polyline_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 d935ec63d985d40d5c3a2729256a9b7e3c5e90d4..422bcc69039f267d4859c9d0969ea30fa180f647 100644
--- a/src/processor/polyline_2d_utils.cpp
+++ b/src/processor/polyline_2d_utils.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 91259910eba66e2baf445fa5a01a26d7b3ff0db5..f0cde41829d41bd6c30988235bf80fdfb7c5ee63 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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_icp.cpp b/src/processor/processor_loop_closure_falko_icp.cpp
index b59063b17e2c5aecf7e7ebcb00c4a7efb6a7ae4f..f59cc05aaa56a4defa8bc54b14b7e14cdce5d8c8 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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_icp.cpp b/src/processor/processor_loop_closure_icp.cpp
index 09d35ccdf3fcc2eb75ced42a97da1d4844b798db..c4ac84f77347f1849b1be5dfd58d43e778bd03ea 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 c9d40a28e705bfd6e5bb4ce43cd13188498a8313..db69f0fe732cd45320f7dbddeb474842db1a41cd 100644
--- a/src/processor/processor_odom_icp.cpp
+++ b/src/processor/processor_odom_icp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 7bceb852bb19fc51932e66a854e240513b22bd5b..c57b86497839081dcea26fa68e6d39c3fe54e8de 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 9e25cf73563090b6f4ee03ecb7a00a15173fd688..bb51b866126c6f88cc2bac81a39331f04993e9e9 100644
--- a/src/sensor/sensor_laser_2d.cpp
+++ b/src/sensor/sensor_laser_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 6f5a6e89b9ec1e3ef295697e222a333c0aeda596..c07cab6468c68d3622837e3e6e351af252d588dc 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 5bc41cbcb5bad2e4761f86050c6c4850c0a63ba2..0c467920ee151e2d6d492f90508b74f4b3a61704 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 eecb788cf782145a7f67e0d7ae2e805a0f71d82a..5f6ca1c0297f67b2d97c6a401e9bfcddb7dec53b 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 9fea58fea0ce8aa47431f15afe9d5ea0314652dd..81c9fd7f505478616b074dd4aed05aeb4e339afd 100644
--- a/test/data/scan_data.h
+++ b/test/data/scan_data.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index c73292612597de2fb22c677ffd5bedf92c62daa4..c4e1c576511647b978db39fffcc02f57c1d3a4e4 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 091cdd323484ee5c90d17b542eabbfe415ed7524..fd5f6dd742812973a56213057f44012d07630c68 100644
--- a/test/gtest_landmark_polyline.cpp
+++ b/test/gtest_landmark_polyline.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 d332da1dee3f59d4d4df231fcfe855dfe8531df4..7e4f15c3553490a294ca8c6ec9a4da6ddaf11254 100644
--- a/test/gtest_polyline_2d.cpp
+++ b/test/gtest_polyline_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 153af5af437b4a0088582a33491b9b5dce04f71a..d9f87346dbf4b193b15a8aac6ef41c0d518333ef 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 2755d46ffa948bbd32da6740cb0836407647f4c5..b693e3b582c99c26fa4650d21dd588746b195a6f 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 a2d911e224c7414b8f051a9c2e06501b34ed4cbe..db828d540c1134149e86609a7fbc8e1d9f7a959d 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) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 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 93fc7cf2ab8d5fa881e137b5d4c827b0891bb85d..e6523a6a539d81965a05e472f601459b4bbe975b 100644
--- a/test/gtest_processor_odom_icp.cpp
+++ b/test/gtest_processor_odom_icp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //