From 0a4856d39f76547d557ba64c73295c058de1b85c Mon Sep 17 00:00:00 2001
From: cont-integration <CI@iri.upc.edu>
Date: Sat, 1 Jan 2022 21:26:26 +0000
Subject: [PATCH] [skip ci] license headers added or modified

---
 demos/demo_analytic_autodiff_factor.cpp                         | 2 +-
 demos/demo_wolf_imported_graph.cpp                              | 2 +-
 demos/hello_wolf/capture_range_bearing.cpp                      | 2 +-
 demos/hello_wolf/capture_range_bearing.h                        | 2 +-
 demos/hello_wolf/factor_bearing.h                               | 2 +-
 demos/hello_wolf/factor_range_bearing.h                         | 2 +-
 demos/hello_wolf/feature_range_bearing.cpp                      | 2 +-
 demos/hello_wolf/feature_range_bearing.h                        | 2 +-
 demos/hello_wolf/hello_wolf.cpp                                 | 2 +-
 demos/hello_wolf/hello_wolf_autoconf.cpp                        | 2 +-
 demos/hello_wolf/landmark_point_2d.cpp                          | 2 +-
 demos/hello_wolf/landmark_point_2d.h                            | 2 +-
 demos/hello_wolf/processor_range_bearing.cpp                    | 2 +-
 demos/hello_wolf/processor_range_bearing.h                      | 2 +-
 demos/hello_wolf/sensor_range_bearing.cpp                       | 2 +-
 demos/hello_wolf/sensor_range_bearing.h                         | 2 +-
 demos/solver/test_SPQR.cpp                                      | 2 +-
 demos/solver/test_ccolamd.cpp                                   | 2 +-
 demos/solver/test_ccolamd_blocks.cpp                            | 2 +-
 demos/solver/test_iQR.cpp                                       | 2 +-
 demos/solver/test_iQR_wolf.cpp                                  | 2 +-
 demos/solver/test_iQR_wolf2.cpp                                 | 2 +-
 demos/solver/test_incremental_ccolamd_blocks.cpp                | 2 +-
 demos/solver/test_permutations.cpp                              | 2 +-
 include/core/capture/capture_base.h                             | 2 +-
 include/core/capture/capture_diff_drive.h                       | 2 +-
 include/core/capture/capture_motion.h                           | 2 +-
 include/core/capture/capture_odom_2d.h                          | 2 +-
 include/core/capture/capture_odom_3d.h                          | 2 +-
 include/core/capture/capture_pose.h                             | 2 +-
 include/core/capture/capture_void.h                             | 2 +-
 include/core/ceres_wrapper/cost_function_wrapper.h              | 2 +-
 include/core/ceres_wrapper/create_numeric_diff_cost_function.h  | 2 +-
 include/core/ceres_wrapper/iteration_update_callback.h          | 2 +-
 include/core/ceres_wrapper/local_parametrization_wrapper.h      | 2 +-
 include/core/ceres_wrapper/qr_manager.h                         | 2 +-
 include/core/ceres_wrapper/solver_ceres.h                       | 2 +-
 include/core/ceres_wrapper/sparse_utils.h                       | 2 +-
 include/core/common/factory.h                                   | 2 +-
 include/core/common/node_base.h                                 | 2 +-
 include/core/common/params_base.h                               | 2 +-
 include/core/common/time_stamp.h                                | 2 +-
 include/core/common/wolf.h                                      | 2 +-
 include/core/factor/factor_analytic.h                           | 2 +-
 include/core/factor/factor_autodiff.h                           | 2 +-
 include/core/factor/factor_base.h                               | 2 +-
 include/core/factor/factor_block_absolute.h                     | 2 +-
 include/core/factor/factor_block_difference.h                   | 2 +-
 include/core/factor/factor_diff_drive.h                         | 2 +-
 include/core/factor/factor_distance_3d.h                        | 2 +-
 include/core/factor/factor_pose_2d.h                            | 2 +-
 include/core/factor/factor_pose_3d.h                            | 2 +-
 include/core/factor/factor_pose_3d_with_extrinsics.h            | 2 +-
 include/core/factor/factor_quaternion_absolute.h                | 2 +-
 include/core/factor/factor_relative_pose_2d.h                   | 2 +-
 include/core/factor/factor_relative_pose_2d_with_extrinsics.h   | 2 +-
 include/core/factor/factor_relative_pose_3d.h                   | 2 +-
 include/core/factor/factor_velocity_local_direction_3d.h        | 2 +-
 include/core/feature/feature_base.h                             | 2 +-
 include/core/feature/feature_diff_drive.h                       | 2 +-
 include/core/feature/feature_match.h                            | 2 +-
 include/core/feature/feature_motion.h                           | 2 +-
 include/core/feature/feature_odom_2d.h                          | 2 +-
 include/core/feature/feature_pose.h                             | 2 +-
 include/core/frame/frame_base.h                                 | 2 +-
 include/core/hardware/hardware_base.h                           | 2 +-
 include/core/landmark/landmark_base.h                           | 2 +-
 include/core/landmark/landmark_match.h                          | 2 +-
 include/core/map/map_base.h                                     | 2 +-
 include/core/math/SE2.h                                         | 2 +-
 include/core/math/SE3.h                                         | 2 +-
 include/core/math/covariance.h                                  | 2 +-
 include/core/math/rotations.h                                   | 2 +-
 include/core/problem/problem.h                                  | 2 +-
 include/core/processor/factory_processor.h                      | 2 +-
 include/core/processor/motion_buffer.h                          | 2 +-
 include/core/processor/motion_provider.h                        | 2 +-
 include/core/processor/processor_base.h                         | 2 +-
 include/core/processor/processor_diff_drive.h                   | 2 +-
 include/core/processor/processor_fix_wing_model.h               | 2 +-
 include/core/processor/processor_logging.h                      | 2 +-
 include/core/processor/processor_loop_closure.h                 | 2 +-
 include/core/processor/processor_motion.h                       | 2 +-
 include/core/processor/processor_odom_2d.h                      | 2 +-
 include/core/processor/processor_odom_3d.h                      | 2 +-
 include/core/processor/processor_pose.h                         | 2 +-
 include/core/processor/processor_tracker.h                      | 2 +-
 include/core/processor/processor_tracker_feature.h              | 2 +-
 include/core/processor/processor_tracker_landmark.h             | 2 +-
 include/core/processor/track_matrix.h                           | 2 +-
 include/core/sensor/factory_sensor.h                            | 2 +-
 include/core/sensor/sensor_base.h                               | 2 +-
 include/core/sensor/sensor_diff_drive.h                         | 2 +-
 include/core/sensor/sensor_model.h                              | 2 +-
 include/core/sensor/sensor_odom_2d.h                            | 2 +-
 include/core/sensor/sensor_odom_3d.h                            | 2 +-
 include/core/sensor/sensor_pose.h                               | 2 +-
 include/core/solver/factory_solver.h                            | 2 +-
 include/core/solver/solver_manager.h                            | 2 +-
 include/core/solver_suitesparse/ccolamd_ordering.h              | 2 +-
 include/core/solver_suitesparse/cost_function_base.h            | 2 +-
 include/core/solver_suitesparse/cost_function_sparse.h          | 2 +-
 include/core/solver_suitesparse/cost_function_sparse_base.h     | 2 +-
 include/core/solver_suitesparse/qr_solver.h                     | 2 +-
 include/core/solver_suitesparse/solver_QR.h                     | 2 +-
 include/core/solver_suitesparse/solver_manager.h                | 2 +-
 include/core/solver_suitesparse/sparse_utils.h                  | 2 +-
 include/core/state_block/factory_state_block.h                  | 2 +-
 include/core/state_block/has_state_blocks.h                     | 2 +-
 include/core/state_block/local_parametrization_angle.h          | 2 +-
 include/core/state_block/local_parametrization_base.h           | 2 +-
 include/core/state_block/local_parametrization_homogeneous.h    | 2 +-
 include/core/state_block/local_parametrization_quaternion.h     | 2 +-
 include/core/state_block/state_angle.h                          | 2 +-
 include/core/state_block/state_block.h                          | 2 +-
 include/core/state_block/state_composite.h                      | 2 +-
 include/core/state_block/state_homogeneous_3d.h                 | 2 +-
 include/core/state_block/state_quaternion.h                     | 2 +-
 include/core/trajectory/trajectory_base.h                       | 2 +-
 include/core/tree_manager/factory_tree_manager.h                | 2 +-
 include/core/tree_manager/tree_manager_base.h                   | 2 +-
 include/core/tree_manager/tree_manager_sliding_window.h         | 2 +-
 .../core/tree_manager/tree_manager_sliding_window_dual_rate.h   | 2 +-
 include/core/utils/check_log.h                                  | 2 +-
 include/core/utils/converter.h                                  | 2 +-
 include/core/utils/converter_utils.h                            | 2 +-
 include/core/utils/eigen_assert.h                               | 2 +-
 include/core/utils/eigen_predicates.h                           | 2 +-
 include/core/utils/graph_search.h                               | 2 +-
 include/core/utils/loader.h                                     | 2 +-
 include/core/utils/logging.h                                    | 2 +-
 include/core/utils/make_unique.h                                | 2 +-
 include/core/utils/params_server.h                              | 2 +-
 include/core/utils/singleton.h                                  | 2 +-
 include/core/utils/utils_gtest.h                                | 2 +-
 include/core/yaml/parser_yaml.h                                 | 2 +-
 include/core/yaml/yaml_conversion.h                             | 2 +-
 src/capture/capture_base.cpp                                    | 2 +-
 src/capture/capture_diff_drive.cpp                              | 2 +-
 src/capture/capture_motion.cpp                                  | 2 +-
 src/capture/capture_odom_2d.cpp                                 | 2 +-
 src/capture/capture_odom_3d.cpp                                 | 2 +-
 src/capture/capture_pose.cpp                                    | 2 +-
 src/capture/capture_void.cpp                                    | 2 +-
 src/ceres_wrapper/local_parametrization_wrapper.cpp             | 2 +-
 src/ceres_wrapper/qr_manager.cpp                                | 2 +-
 src/ceres_wrapper/solver_ceres.cpp                              | 2 +-
 src/common/node_base.cpp                                        | 2 +-
 src/common/time_stamp.cpp                                       | 2 +-
 src/factor/factor_analytic.cpp                                  | 2 +-
 src/factor/factor_base.cpp                                      | 2 +-
 src/feature/feature_base.cpp                                    | 2 +-
 src/feature/feature_diff_drive.cpp                              | 2 +-
 src/feature/feature_motion.cpp                                  | 2 +-
 src/feature/feature_odom_2d.cpp                                 | 2 +-
 src/feature/feature_pose.cpp                                    | 2 +-
 src/frame/frame_base.cpp                                        | 2 +-
 src/hardware/hardware_base.cpp                                  | 2 +-
 src/landmark/landmark_base.cpp                                  | 2 +-
 src/map/map_base.cpp                                            | 2 +-
 src/problem/problem.cpp                                         | 2 +-
 src/processor/motion_buffer.cpp                                 | 2 +-
 src/processor/motion_provider.cpp                               | 2 +-
 src/processor/processor_base.cpp                                | 2 +-
 src/processor/processor_diff_drive.cpp                          | 2 +-
 src/processor/processor_fix_wing_model.cpp                      | 2 +-
 src/processor/processor_loop_closure.cpp                        | 2 +-
 src/processor/processor_motion.cpp                              | 2 +-
 src/processor/processor_odom_2d.cpp                             | 2 +-
 src/processor/processor_odom_3d.cpp                             | 2 +-
 src/processor/processor_pose.cpp                                | 2 +-
 src/processor/processor_tracker.cpp                             | 2 +-
 src/processor/processor_tracker_feature.cpp                     | 2 +-
 src/processor/processor_tracker_landmark.cpp                    | 2 +-
 src/processor/track_matrix.cpp                                  | 2 +-
 src/sensor/sensor_base.cpp                                      | 2 +-
 src/sensor/sensor_diff_drive.cpp                                | 2 +-
 src/sensor/sensor_model.cpp                                     | 2 +-
 src/sensor/sensor_odom_2d.cpp                                   | 2 +-
 src/sensor/sensor_odom_3d.cpp                                   | 2 +-
 src/sensor/sensor_pose.cpp                                      | 2 +-
 src/solver/solver_manager.cpp                                   | 2 +-
 src/solver_suitesparse/solver_manager.cpp                       | 2 +-
 src/state_block/has_state_blocks.cpp                            | 2 +-
 src/state_block/local_parametrization_base.cpp                  | 2 +-
 src/state_block/local_parametrization_homogeneous.cpp           | 2 +-
 src/state_block/local_parametrization_quaternion.cpp            | 2 +-
 src/state_block/state_block.cpp                                 | 2 +-
 src/state_block/state_composite.cpp                             | 2 +-
 src/trajectory/trajectory_base.cpp                              | 2 +-
 src/tree_manager/tree_manager_sliding_window.cpp                | 2 +-
 src/tree_manager/tree_manager_sliding_window_dual_rate.cpp      | 2 +-
 src/utils/check_log.cpp                                         | 2 +-
 src/utils/converter_utils.cpp                                   | 2 +-
 src/utils/graph_search.cpp                                      | 2 +-
 src/utils/loader.cpp                                            | 2 +-
 src/utils/params_server.cpp                                     | 2 +-
 src/yaml/parser_yaml.cpp                                        | 2 +-
 src/yaml/processor_odom_3d_yaml.cpp                             | 2 +-
 src/yaml/sensor_odom_2d_yaml.cpp                                | 2 +-
 src/yaml/sensor_odom_3d_yaml.cpp                                | 2 +-
 src/yaml/sensor_pose_yaml.cpp                                   | 2 +-
 test/dummy/factor_dummy_zero_1.h                                | 2 +-
 test/dummy/factor_dummy_zero_12.h                               | 2 +-
 test/dummy/factor_feature_dummy.h                               | 2 +-
 test/dummy/factor_landmark_dummy.h                              | 2 +-
 test/dummy/factor_odom_2d_autodiff.h                            | 2 +-
 test/dummy/processor_loop_closure_dummy.h                       | 2 +-
 test/dummy/processor_motion_provider_dummy.h                    | 2 +-
 test/dummy/processor_tracker_feature_dummy.cpp                  | 2 +-
 test/dummy/processor_tracker_feature_dummy.h                    | 2 +-
 test/dummy/processor_tracker_landmark_dummy.cpp                 | 2 +-
 test/dummy/processor_tracker_landmark_dummy.h                   | 2 +-
 test/dummy/solver_manager_dummy.h                               | 2 +-
 test/dummy/tree_manager_dummy.h                                 | 2 +-
 test/gtest_SE3.cpp                                              | 2 +-
 test/gtest_buffer_frame.cpp                                     | 2 +-
 test/gtest_capture_base.cpp                                     | 2 +-
 test/gtest_converter.cpp                                        | 2 +-
 test/gtest_eigen_predicates.cpp                                 | 2 +-
 test/gtest_emplace.cpp                                          | 2 +-
 test/gtest_example.cpp                                          | 2 +-
 test/gtest_factor_absolute.cpp                                  | 2 +-
 test/gtest_factor_autodiff.cpp                                  | 2 +-
 test/gtest_factor_autodiff_distance_3d.cpp                      | 2 +-
 test/gtest_factor_base.cpp                                      | 2 +-
 test/gtest_factor_block_difference.cpp                          | 2 +-
 test/gtest_factor_diff_drive.cpp                                | 2 +-
 test/gtest_factor_odom_2d_autodiff.cpp                          | 2 +-
 test/gtest_factor_pose_2d.cpp                                   | 2 +-
 test/gtest_factor_pose_3d.cpp                                   | 2 +-
 test/gtest_factor_relative_pose_2d.cpp                          | 2 +-
 test/gtest_factor_relative_pose_2d_with_extrinsics.cpp          | 2 +-
 test/gtest_factor_relative_pose_3d.cpp                          | 2 +-
 test/gtest_factor_velocity_local_direction_3d.cpp               | 2 +-
 test/gtest_factory_state_block.cpp                              | 2 +-
 test/gtest_feature_base.cpp                                     | 2 +-
 test/gtest_frame_base.cpp                                       | 2 +-
 test/gtest_graph_search.cpp                                     | 2 +-
 test/gtest_has_state_blocks.cpp                                 | 2 +-
 test/gtest_local_param.cpp                                      | 2 +-
 test/gtest_logging.cpp                                          | 2 +-
 test/gtest_make_posdef.cpp                                      | 2 +-
 test/gtest_map_yaml.cpp                                         | 2 +-
 test/gtest_motion_buffer.cpp                                    | 2 +-
 test/gtest_motion_provider.cpp                                  | 2 +-
 test/gtest_odom_2d.cpp                                          | 2 +-
 test/gtest_param_prior.cpp                                      | 2 +-
 test/gtest_param_server.cpp                                     | 2 +-
 test/gtest_parser_yaml.cpp                                      | 2 +-
 test/gtest_problem.cpp                                          | 2 +-
 test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp     | 2 +-
 test/gtest_processor_base.cpp                                   | 2 +-
 test/gtest_processor_diff_drive.cpp                             | 2 +-
 test/gtest_processor_fix_wing_model.cpp                         | 2 +-
 test/gtest_processor_loop_closure.cpp                           | 2 +-
 test/gtest_processor_motion.cpp                                 | 2 +-
 test/gtest_processor_odom_3d.cpp                                | 2 +-
 test/gtest_processor_tracker_feature_dummy.cpp                  | 2 +-
 test/gtest_processor_tracker_landmark_dummy.cpp                 | 2 +-
 test/gtest_rotation.cpp                                         | 2 +-
 test/gtest_sensor_base.cpp                                      | 2 +-
 test/gtest_sensor_diff_drive.cpp                                | 2 +-
 test/gtest_sensor_pose.cpp                                      | 2 +-
 test/gtest_shared_from_this.cpp                                 | 2 +-
 test/gtest_solver_ceres.cpp                                     | 2 +-
 test/gtest_solver_ceres_multithread.cpp                         | 2 +-
 test/gtest_solver_manager.cpp                                   | 2 +-
 test/gtest_solver_manager_multithread.cpp                       | 2 +-
 test/gtest_state_block.cpp                                      | 2 +-
 test/gtest_state_composite.cpp                                  | 2 +-
 test/gtest_time_stamp.cpp                                       | 2 +-
 test/gtest_track_matrix.cpp                                     | 2 +-
 test/gtest_trajectory.cpp                                       | 2 +-
 test/gtest_tree_manager.cpp                                     | 2 +-
 test/gtest_tree_manager_sliding_window.cpp                      | 2 +-
 test/gtest_tree_manager_sliding_window_dual_rate.cpp            | 2 +-
 test/gtest_yaml_conversions.cpp                                 | 2 +-
 .../{license_header_2021.txt => license_header_2022.txt}        | 2 +-
 wolf_scripts/templates/class_template.cpp                       | 2 +-
 wolf_scripts/templates/class_template.h                         | 2 +-
 wolf_scripts/templates/gtest_template.cpp                       | 2 +-
 282 files changed, 282 insertions(+), 282 deletions(-)
 rename wolf_scripts/{license_header_2021.txt => license_header_2022.txt} (89%)

diff --git a/demos/demo_analytic_autodiff_factor.cpp b/demos/demo_analytic_autodiff_factor.cpp
index 28af73ebe..0625a61b5 100644
--- a/demos/demo_analytic_autodiff_factor.cpp
+++ b/demos/demo_analytic_autodiff_factor.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_wolf_imported_graph.cpp b/demos/demo_wolf_imported_graph.cpp
index b832978c1..037ff094a 100644
--- a/demos/demo_wolf_imported_graph.cpp
+++ b/demos/demo_wolf_imported_graph.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/capture_range_bearing.cpp b/demos/hello_wolf/capture_range_bearing.cpp
index 71857529f..f5756924b 100644
--- a/demos/hello_wolf/capture_range_bearing.cpp
+++ b/demos/hello_wolf/capture_range_bearing.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/capture_range_bearing.h b/demos/hello_wolf/capture_range_bearing.h
index f6f4d4ff4..03803089d 100644
--- a/demos/hello_wolf/capture_range_bearing.h
+++ b/demos/hello_wolf/capture_range_bearing.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/factor_bearing.h b/demos/hello_wolf/factor_bearing.h
index 8045908af..d06ace3a7 100644
--- a/demos/hello_wolf/factor_bearing.h
+++ b/demos/hello_wolf/factor_bearing.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/factor_range_bearing.h b/demos/hello_wolf/factor_range_bearing.h
index c23ac9af8..449568264 100644
--- a/demos/hello_wolf/factor_range_bearing.h
+++ b/demos/hello_wolf/factor_range_bearing.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/feature_range_bearing.cpp b/demos/hello_wolf/feature_range_bearing.cpp
index 884200b01..5ae7e031e 100644
--- a/demos/hello_wolf/feature_range_bearing.cpp
+++ b/demos/hello_wolf/feature_range_bearing.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/feature_range_bearing.h b/demos/hello_wolf/feature_range_bearing.h
index 55ebaf7a8..24123e4df 100644
--- a/demos/hello_wolf/feature_range_bearing.h
+++ b/demos/hello_wolf/feature_range_bearing.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/hello_wolf.cpp b/demos/hello_wolf/hello_wolf.cpp
index 4eebf156e..5500b724a 100644
--- a/demos/hello_wolf/hello_wolf.cpp
+++ b/demos/hello_wolf/hello_wolf.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/hello_wolf_autoconf.cpp b/demos/hello_wolf/hello_wolf_autoconf.cpp
index de2bf5f14..db934ca13 100644
--- a/demos/hello_wolf/hello_wolf_autoconf.cpp
+++ b/demos/hello_wolf/hello_wolf_autoconf.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/landmark_point_2d.cpp b/demos/hello_wolf/landmark_point_2d.cpp
index 3c83c8a8a..c2c11187e 100644
--- a/demos/hello_wolf/landmark_point_2d.cpp
+++ b/demos/hello_wolf/landmark_point_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/landmark_point_2d.h b/demos/hello_wolf/landmark_point_2d.h
index f377b1a87..78aeafe9b 100644
--- a/demos/hello_wolf/landmark_point_2d.h
+++ b/demos/hello_wolf/landmark_point_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/processor_range_bearing.cpp b/demos/hello_wolf/processor_range_bearing.cpp
index 1cb86165f..06469b0b1 100644
--- a/demos/hello_wolf/processor_range_bearing.cpp
+++ b/demos/hello_wolf/processor_range_bearing.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/processor_range_bearing.h b/demos/hello_wolf/processor_range_bearing.h
index a5d78948a..ffd8b9b9c 100644
--- a/demos/hello_wolf/processor_range_bearing.h
+++ b/demos/hello_wolf/processor_range_bearing.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/sensor_range_bearing.cpp b/demos/hello_wolf/sensor_range_bearing.cpp
index 738762b04..7073082e3 100644
--- a/demos/hello_wolf/sensor_range_bearing.cpp
+++ b/demos/hello_wolf/sensor_range_bearing.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/hello_wolf/sensor_range_bearing.h b/demos/hello_wolf/sensor_range_bearing.h
index ff3880fe2..80f55753b 100644
--- a/demos/hello_wolf/sensor_range_bearing.h
+++ b/demos/hello_wolf/sensor_range_bearing.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solver/test_SPQR.cpp b/demos/solver/test_SPQR.cpp
index 5cb7894d1..b5f159c73 100644
--- a/demos/solver/test_SPQR.cpp
+++ b/demos/solver/test_SPQR.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solver/test_ccolamd.cpp b/demos/solver/test_ccolamd.cpp
index 30b2b5d1c..98f496f26 100644
--- a/demos/solver/test_ccolamd.cpp
+++ b/demos/solver/test_ccolamd.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solver/test_ccolamd_blocks.cpp b/demos/solver/test_ccolamd_blocks.cpp
index 6c0e20c95..14bb17428 100644
--- a/demos/solver/test_ccolamd_blocks.cpp
+++ b/demos/solver/test_ccolamd_blocks.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solver/test_iQR.cpp b/demos/solver/test_iQR.cpp
index 58ced939c..53a37cef1 100644
--- a/demos/solver/test_iQR.cpp
+++ b/demos/solver/test_iQR.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solver/test_iQR_wolf.cpp b/demos/solver/test_iQR_wolf.cpp
index 6e45b7f7b..a8df23723 100644
--- a/demos/solver/test_iQR_wolf.cpp
+++ b/demos/solver/test_iQR_wolf.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solver/test_iQR_wolf2.cpp b/demos/solver/test_iQR_wolf2.cpp
index e5eff2dda..821ffefeb 100644
--- a/demos/solver/test_iQR_wolf2.cpp
+++ b/demos/solver/test_iQR_wolf2.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solver/test_incremental_ccolamd_blocks.cpp b/demos/solver/test_incremental_ccolamd_blocks.cpp
index 818db6bbf..740407a9a 100644
--- a/demos/solver/test_incremental_ccolamd_blocks.cpp
+++ b/demos/solver/test_incremental_ccolamd_blocks.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/solver/test_permutations.cpp b/demos/solver/test_permutations.cpp
index 9c855b583..0765d8ae7 100644
--- a/demos/solver/test_permutations.cpp
+++ b/demos/solver/test_permutations.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index 9a32069c1..d73f17d8e 100644
--- a/include/core/capture/capture_base.h
+++ b/include/core/capture/capture_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/capture/capture_diff_drive.h b/include/core/capture/capture_diff_drive.h
index 281f91515..a41e7dec7 100644
--- a/include/core/capture/capture_diff_drive.h
+++ b/include/core/capture/capture_diff_drive.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index 09dc573ec..a70a54b2a 100644
--- a/include/core/capture/capture_motion.h
+++ b/include/core/capture/capture_motion.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/capture/capture_odom_2d.h b/include/core/capture/capture_odom_2d.h
index 8646848bc..8bc18706d 100644
--- a/include/core/capture/capture_odom_2d.h
+++ b/include/core/capture/capture_odom_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/capture/capture_odom_3d.h b/include/core/capture/capture_odom_3d.h
index 07037bd8f..0b6deb6a8 100644
--- a/include/core/capture/capture_odom_3d.h
+++ b/include/core/capture/capture_odom_3d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/capture/capture_pose.h b/include/core/capture/capture_pose.h
index 33665ea5b..15b32f85e 100644
--- a/include/core/capture/capture_pose.h
+++ b/include/core/capture/capture_pose.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/capture/capture_void.h b/include/core/capture/capture_void.h
index 060a83578..1adb08e43 100644
--- a/include/core/capture/capture_void.h
+++ b/include/core/capture/capture_void.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/ceres_wrapper/cost_function_wrapper.h b/include/core/ceres_wrapper/cost_function_wrapper.h
index 438c1d505..9bca9394f 100644
--- a/include/core/ceres_wrapper/cost_function_wrapper.h
+++ b/include/core/ceres_wrapper/cost_function_wrapper.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/ceres_wrapper/create_numeric_diff_cost_function.h b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
index 095649ed2..42bf8a7a9 100644
--- a/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
+++ b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/ceres_wrapper/iteration_update_callback.h b/include/core/ceres_wrapper/iteration_update_callback.h
index e3e82bc76..6cf6179ff 100644
--- a/include/core/ceres_wrapper/iteration_update_callback.h
+++ b/include/core/ceres_wrapper/iteration_update_callback.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/ceres_wrapper/local_parametrization_wrapper.h b/include/core/ceres_wrapper/local_parametrization_wrapper.h
index 1a34f5436..51d10c497 100644
--- a/include/core/ceres_wrapper/local_parametrization_wrapper.h
+++ b/include/core/ceres_wrapper/local_parametrization_wrapper.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/ceres_wrapper/qr_manager.h b/include/core/ceres_wrapper/qr_manager.h
index c9eab5d10..d859b6a65 100644
--- a/include/core/ceres_wrapper/qr_manager.h
+++ b/include/core/ceres_wrapper/qr_manager.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/ceres_wrapper/solver_ceres.h b/include/core/ceres_wrapper/solver_ceres.h
index ccb51c65e..e638c0850 100644
--- a/include/core/ceres_wrapper/solver_ceres.h
+++ b/include/core/ceres_wrapper/solver_ceres.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/ceres_wrapper/sparse_utils.h b/include/core/ceres_wrapper/sparse_utils.h
index e209f0263..e0d70f26f 100644
--- a/include/core/ceres_wrapper/sparse_utils.h
+++ b/include/core/ceres_wrapper/sparse_utils.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/common/factory.h b/include/core/common/factory.h
index da61a510b..d533ff0da 100644
--- a/include/core/common/factory.h
+++ b/include/core/common/factory.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/common/node_base.h b/include/core/common/node_base.h
index 423cebbd8..f450b60de 100644
--- a/include/core/common/node_base.h
+++ b/include/core/common/node_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/common/params_base.h b/include/core/common/params_base.h
index 5c1d2ea0d..4760d1cdd 100644
--- a/include/core/common/params_base.h
+++ b/include/core/common/params_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/common/time_stamp.h b/include/core/common/time_stamp.h
index 8c9d34276..c327ab2d0 100644
--- a/include/core/common/time_stamp.h
+++ b/include/core/common/time_stamp.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/common/wolf.h b/include/core/common/wolf.h
index eb1a73e99..7a7f9eeae 100644
--- a/include/core/common/wolf.h
+++ b/include/core/common/wolf.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_analytic.h b/include/core/factor/factor_analytic.h
index 849668e39..b2c0d0e4f 100644
--- a/include/core/factor/factor_analytic.h
+++ b/include/core/factor/factor_analytic.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_autodiff.h b/include/core/factor/factor_autodiff.h
index 9c7fe4e25..0b8f9e111 100644
--- a/include/core/factor/factor_autodiff.h
+++ b/include/core/factor/factor_autodiff.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index 88412275f..05508895c 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_block_absolute.h b/include/core/factor/factor_block_absolute.h
index 8d6262535..3b9e464a0 100644
--- a/include/core/factor/factor_block_absolute.h
+++ b/include/core/factor/factor_block_absolute.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_block_difference.h b/include/core/factor/factor_block_difference.h
index 12de04ac4..503ace5dd 100644
--- a/include/core/factor/factor_block_difference.h
+++ b/include/core/factor/factor_block_difference.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_diff_drive.h b/include/core/factor/factor_diff_drive.h
index feb04435a..9606e23b1 100644
--- a/include/core/factor/factor_diff_drive.h
+++ b/include/core/factor/factor_diff_drive.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_distance_3d.h b/include/core/factor/factor_distance_3d.h
index bbcb846f6..d4207b254 100644
--- a/include/core/factor/factor_distance_3d.h
+++ b/include/core/factor/factor_distance_3d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_pose_2d.h b/include/core/factor/factor_pose_2d.h
index 412b2cb20..2d3f40ed2 100644
--- a/include/core/factor/factor_pose_2d.h
+++ b/include/core/factor/factor_pose_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_pose_3d.h b/include/core/factor/factor_pose_3d.h
index 92a0813ef..04f7f7b17 100644
--- a/include/core/factor/factor_pose_3d.h
+++ b/include/core/factor/factor_pose_3d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_pose_3d_with_extrinsics.h b/include/core/factor/factor_pose_3d_with_extrinsics.h
index 2b7d52d1d..2daacba6d 100644
--- a/include/core/factor/factor_pose_3d_with_extrinsics.h
+++ b/include/core/factor/factor_pose_3d_with_extrinsics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h
index f5ccff2aa..5e93a1538 100644
--- a/include/core/factor/factor_quaternion_absolute.h
+++ b/include/core/factor/factor_quaternion_absolute.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_relative_pose_2d.h b/include/core/factor/factor_relative_pose_2d.h
index 398c3acbd..4a608feb0 100644
--- a/include/core/factor/factor_relative_pose_2d.h
+++ b/include/core/factor/factor_relative_pose_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_relative_pose_2d_with_extrinsics.h b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
index 692dd2978..2247a898b 100644
--- a/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_relative_pose_3d.h b/include/core/factor/factor_relative_pose_3d.h
index 632097b3b..a132c3c0a 100644
--- a/include/core/factor/factor_relative_pose_3d.h
+++ b/include/core/factor/factor_relative_pose_3d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/factor/factor_velocity_local_direction_3d.h b/include/core/factor/factor_velocity_local_direction_3d.h
index 450e5d5ef..89d8cb126 100644
--- a/include/core/factor/factor_velocity_local_direction_3d.h
+++ b/include/core/factor/factor_velocity_local_direction_3d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index 9300b71a8..5259e5c51 100644
--- a/include/core/feature/feature_base.h
+++ b/include/core/feature/feature_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/feature/feature_diff_drive.h b/include/core/feature/feature_diff_drive.h
index dd58371c5..f3c937999 100644
--- a/include/core/feature/feature_diff_drive.h
+++ b/include/core/feature/feature_diff_drive.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/feature/feature_match.h b/include/core/feature/feature_match.h
index 4ff5cd134..36b5b2ca1 100644
--- a/include/core/feature/feature_match.h
+++ b/include/core/feature/feature_match.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/feature/feature_motion.h b/include/core/feature/feature_motion.h
index 57cde4f75..535acdfe9 100644
--- a/include/core/feature/feature_motion.h
+++ b/include/core/feature/feature_motion.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/feature/feature_odom_2d.h b/include/core/feature/feature_odom_2d.h
index 4c1a7b534..e83d964e0 100644
--- a/include/core/feature/feature_odom_2d.h
+++ b/include/core/feature/feature_odom_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/feature/feature_pose.h b/include/core/feature/feature_pose.h
index 351c80e55..bd30ee739 100644
--- a/include/core/feature/feature_pose.h
+++ b/include/core/feature/feature_pose.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 6a9488e68..c7ab25754 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/hardware/hardware_base.h b/include/core/hardware/hardware_base.h
index d4e27f642..59f423f42 100644
--- a/include/core/hardware/hardware_base.h
+++ b/include/core/hardware/hardware_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index 1d35ac503..7984e6773 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/landmark/landmark_match.h b/include/core/landmark/landmark_match.h
index 1543e08d5..a7fbe5cc3 100644
--- a/include/core/landmark/landmark_match.h
+++ b/include/core/landmark/landmark_match.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/map/map_base.h b/include/core/map/map_base.h
index 802f2917f..13c870269 100644
--- a/include/core/map/map_base.h
+++ b/include/core/map/map_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/math/SE2.h b/include/core/math/SE2.h
index fba682976..4ce5ab465 100644
--- a/include/core/math/SE2.h
+++ b/include/core/math/SE2.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/math/SE3.h b/include/core/math/SE3.h
index ee5c33f4a..9eb2e5fd9 100644
--- a/include/core/math/SE3.h
+++ b/include/core/math/SE3.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/math/covariance.h b/include/core/math/covariance.h
index 5e9c80208..acb4c0862 100644
--- a/include/core/math/covariance.h
+++ b/include/core/math/covariance.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/math/rotations.h b/include/core/math/rotations.h
index c4b008b76..f33c18fcb 100644
--- a/include/core/math/rotations.h
+++ b/include/core/math/rotations.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index aa13d1ede..3affe6faa 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/factory_processor.h b/include/core/processor/factory_processor.h
index 0b670916c..74f01419e 100644
--- a/include/core/processor/factory_processor.h
+++ b/include/core/processor/factory_processor.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/motion_buffer.h b/include/core/processor/motion_buffer.h
index 7d02139bb..4763d0bc4 100644
--- a/include/core/processor/motion_buffer.h
+++ b/include/core/processor/motion_buffer.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/motion_provider.h b/include/core/processor/motion_provider.h
index da27ccb6e..9a6e84d9c 100644
--- a/include/core/processor/motion_provider.h
+++ b/include/core/processor/motion_provider.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 03d028854..b2e0f6fdb 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index d61b4abd6..e9cf00b45 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/processor_fix_wing_model.h b/include/core/processor/processor_fix_wing_model.h
index 4d3287ceb..97c8ad6f3 100644
--- a/include/core/processor/processor_fix_wing_model.h
+++ b/include/core/processor/processor_fix_wing_model.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/processor_logging.h b/include/core/processor/processor_logging.h
index 57e00ecc7..52eab893a 100644
--- a/include/core/processor/processor_logging.h
+++ b/include/core/processor/processor_logging.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/processor_loop_closure.h b/include/core/processor/processor_loop_closure.h
index 12d090eef..b6e4d965b 100644
--- a/include/core/processor/processor_loop_closure.h
+++ b/include/core/processor/processor_loop_closure.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 06d1d08f7..66f40e6e6 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index bb6a2ebf0..f3a50080d 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/processor_odom_3d.h b/include/core/processor/processor_odom_3d.h
index 0095ca160..83baf370b 100644
--- a/include/core/processor/processor_odom_3d.h
+++ b/include/core/processor/processor_odom_3d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/processor_pose.h b/include/core/processor/processor_pose.h
index 38cf14684..ca5cd69cd 100644
--- a/include/core/processor/processor_pose.h
+++ b/include/core/processor/processor_pose.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 370421716..f03ed4ea4 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/processor_tracker_feature.h b/include/core/processor/processor_tracker_feature.h
index 83727d71a..f9c954bf2 100644
--- a/include/core/processor/processor_tracker_feature.h
+++ b/include/core/processor/processor_tracker_feature.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/processor_tracker_landmark.h b/include/core/processor/processor_tracker_landmark.h
index 6f375eba1..bbccccf95 100644
--- a/include/core/processor/processor_tracker_landmark.h
+++ b/include/core/processor/processor_tracker_landmark.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/processor/track_matrix.h b/include/core/processor/track_matrix.h
index 175a9c26b..87511440e 100644
--- a/include/core/processor/track_matrix.h
+++ b/include/core/processor/track_matrix.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/sensor/factory_sensor.h b/include/core/sensor/factory_sensor.h
index c39e20a84..3a77700e8 100644
--- a/include/core/sensor/factory_sensor.h
+++ b/include/core/sensor/factory_sensor.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index 61b8f4392..0fdcac98b 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index f7174ace4..5d1f2bb0c 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/sensor/sensor_model.h b/include/core/sensor/sensor_model.h
index ebce64b1c..7070ff1c7 100644
--- a/include/core/sensor/sensor_model.h
+++ b/include/core/sensor/sensor_model.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/sensor/sensor_odom_2d.h b/include/core/sensor/sensor_odom_2d.h
index c0e7a5125..a734043ce 100644
--- a/include/core/sensor/sensor_odom_2d.h
+++ b/include/core/sensor/sensor_odom_2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/sensor/sensor_odom_3d.h b/include/core/sensor/sensor_odom_3d.h
index fcc75dd89..2b94194e2 100644
--- a/include/core/sensor/sensor_odom_3d.h
+++ b/include/core/sensor/sensor_odom_3d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/sensor/sensor_pose.h b/include/core/sensor/sensor_pose.h
index d37d51269..e653fe458 100644
--- a/include/core/sensor/sensor_pose.h
+++ b/include/core/sensor/sensor_pose.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/solver/factory_solver.h b/include/core/solver/factory_solver.h
index 1bf632f8a..fc8e51070 100644
--- a/include/core/solver/factory_solver.h
+++ b/include/core/solver/factory_solver.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h
index 394e2b623..40575577f 100644
--- a/include/core/solver/solver_manager.h
+++ b/include/core/solver/solver_manager.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/solver_suitesparse/ccolamd_ordering.h b/include/core/solver_suitesparse/ccolamd_ordering.h
index 70902c982..468337355 100644
--- a/include/core/solver_suitesparse/ccolamd_ordering.h
+++ b/include/core/solver_suitesparse/ccolamd_ordering.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/solver_suitesparse/cost_function_base.h b/include/core/solver_suitesparse/cost_function_base.h
index 1093c599b..fb094beed 100644
--- a/include/core/solver_suitesparse/cost_function_base.h
+++ b/include/core/solver_suitesparse/cost_function_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/solver_suitesparse/cost_function_sparse.h b/include/core/solver_suitesparse/cost_function_sparse.h
index e64d67924..43e367f4f 100644
--- a/include/core/solver_suitesparse/cost_function_sparse.h
+++ b/include/core/solver_suitesparse/cost_function_sparse.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/solver_suitesparse/cost_function_sparse_base.h b/include/core/solver_suitesparse/cost_function_sparse_base.h
index ca3b50276..8c752208b 100644
--- a/include/core/solver_suitesparse/cost_function_sparse_base.h
+++ b/include/core/solver_suitesparse/cost_function_sparse_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/solver_suitesparse/qr_solver.h b/include/core/solver_suitesparse/qr_solver.h
index a89131f10..83c392894 100644
--- a/include/core/solver_suitesparse/qr_solver.h
+++ b/include/core/solver_suitesparse/qr_solver.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/solver_suitesparse/solver_QR.h b/include/core/solver_suitesparse/solver_QR.h
index cc6e55dbf..3f0f689fe 100644
--- a/include/core/solver_suitesparse/solver_QR.h
+++ b/include/core/solver_suitesparse/solver_QR.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/solver_suitesparse/solver_manager.h b/include/core/solver_suitesparse/solver_manager.h
index 2038ad8d9..f3baf950f 100644
--- a/include/core/solver_suitesparse/solver_manager.h
+++ b/include/core/solver_suitesparse/solver_manager.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/solver_suitesparse/sparse_utils.h b/include/core/solver_suitesparse/sparse_utils.h
index 91539edca..393a2fb27 100644
--- a/include/core/solver_suitesparse/sparse_utils.h
+++ b/include/core/solver_suitesparse/sparse_utils.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/state_block/factory_state_block.h b/include/core/state_block/factory_state_block.h
index 2445fba72..c440584c0 100644
--- a/include/core/state_block/factory_state_block.h
+++ b/include/core/state_block/factory_state_block.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/state_block/has_state_blocks.h b/include/core/state_block/has_state_blocks.h
index a2ca07fae..f1bcd4519 100644
--- a/include/core/state_block/has_state_blocks.h
+++ b/include/core/state_block/has_state_blocks.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/state_block/local_parametrization_angle.h b/include/core/state_block/local_parametrization_angle.h
index c6e563e8b..62833a8b4 100644
--- a/include/core/state_block/local_parametrization_angle.h
+++ b/include/core/state_block/local_parametrization_angle.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/state_block/local_parametrization_base.h b/include/core/state_block/local_parametrization_base.h
index 5436a8f61..435489cd3 100644
--- a/include/core/state_block/local_parametrization_base.h
+++ b/include/core/state_block/local_parametrization_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/state_block/local_parametrization_homogeneous.h b/include/core/state_block/local_parametrization_homogeneous.h
index cf91acb87..476aceb79 100644
--- a/include/core/state_block/local_parametrization_homogeneous.h
+++ b/include/core/state_block/local_parametrization_homogeneous.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/state_block/local_parametrization_quaternion.h b/include/core/state_block/local_parametrization_quaternion.h
index be9e2eee6..70f4c3018 100644
--- a/include/core/state_block/local_parametrization_quaternion.h
+++ b/include/core/state_block/local_parametrization_quaternion.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/state_block/state_angle.h b/include/core/state_block/state_angle.h
index 2957da476..3cc093665 100644
--- a/include/core/state_block/state_angle.h
+++ b/include/core/state_block/state_angle.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/state_block/state_block.h b/include/core/state_block/state_block.h
index 3a8dcb4f4..8f4b0468b 100644
--- a/include/core/state_block/state_block.h
+++ b/include/core/state_block/state_block.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/state_block/state_composite.h b/include/core/state_block/state_composite.h
index 65bc3d8bd..e3569b5b4 100644
--- a/include/core/state_block/state_composite.h
+++ b/include/core/state_block/state_composite.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/state_block/state_homogeneous_3d.h b/include/core/state_block/state_homogeneous_3d.h
index 5715440e9..6ee8a85c2 100644
--- a/include/core/state_block/state_homogeneous_3d.h
+++ b/include/core/state_block/state_homogeneous_3d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/state_block/state_quaternion.h b/include/core/state_block/state_quaternion.h
index 1df192ac8..4200f81f7 100644
--- a/include/core/state_block/state_quaternion.h
+++ b/include/core/state_block/state_quaternion.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index c96b8d4ab..46cce552c 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/tree_manager/factory_tree_manager.h b/include/core/tree_manager/factory_tree_manager.h
index 62d234e63..ae4782088 100644
--- a/include/core/tree_manager/factory_tree_manager.h
+++ b/include/core/tree_manager/factory_tree_manager.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/tree_manager/tree_manager_base.h b/include/core/tree_manager/tree_manager_base.h
index a074eee39..8aa2ac43d 100644
--- a/include/core/tree_manager/tree_manager_base.h
+++ b/include/core/tree_manager/tree_manager_base.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/tree_manager/tree_manager_sliding_window.h b/include/core/tree_manager/tree_manager_sliding_window.h
index 515aaab1b..46eedc0f2 100644
--- a/include/core/tree_manager/tree_manager_sliding_window.h
+++ b/include/core/tree_manager/tree_manager_sliding_window.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
index 63de6a834..6df971b5b 100644
--- a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
+++ b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/utils/check_log.h b/include/core/utils/check_log.h
index 4dda3d020..947a53175 100644
--- a/include/core/utils/check_log.h
+++ b/include/core/utils/check_log.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/utils/converter.h b/include/core/utils/converter.h
index db647b9d6..1c53906c6 100644
--- a/include/core/utils/converter.h
+++ b/include/core/utils/converter.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/utils/converter_utils.h b/include/core/utils/converter_utils.h
index 8502b278e..36d67b012 100644
--- a/include/core/utils/converter_utils.h
+++ b/include/core/utils/converter_utils.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/utils/eigen_assert.h b/include/core/utils/eigen_assert.h
index 7fb57ab95..fcd44023d 100644
--- a/include/core/utils/eigen_assert.h
+++ b/include/core/utils/eigen_assert.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/utils/eigen_predicates.h b/include/core/utils/eigen_predicates.h
index ae674baed..3a83601e8 100644
--- a/include/core/utils/eigen_predicates.h
+++ b/include/core/utils/eigen_predicates.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/utils/graph_search.h b/include/core/utils/graph_search.h
index e2ee31693..549c1f1de 100644
--- a/include/core/utils/graph_search.h
+++ b/include/core/utils/graph_search.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/utils/loader.h b/include/core/utils/loader.h
index f5fd0e47d..7dee3b5e1 100644
--- a/include/core/utils/loader.h
+++ b/include/core/utils/loader.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/utils/logging.h b/include/core/utils/logging.h
index 6087a5548..b34ceccb1 100644
--- a/include/core/utils/logging.h
+++ b/include/core/utils/logging.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/utils/make_unique.h b/include/core/utils/make_unique.h
index 708cba224..0bfdbb837 100644
--- a/include/core/utils/make_unique.h
+++ b/include/core/utils/make_unique.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/utils/params_server.h b/include/core/utils/params_server.h
index a84d4b794..e5283ccd5 100644
--- a/include/core/utils/params_server.h
+++ b/include/core/utils/params_server.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/utils/singleton.h b/include/core/utils/singleton.h
index 387a393af..edbaa1b54 100644
--- a/include/core/utils/singleton.h
+++ b/include/core/utils/singleton.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/utils/utils_gtest.h b/include/core/utils/utils_gtest.h
index 7c49ba548..b89b9102a 100644
--- a/include/core/utils/utils_gtest.h
+++ b/include/core/utils/utils_gtest.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/yaml/parser_yaml.h b/include/core/yaml/parser_yaml.h
index 25cd50e8b..d5f948961 100644
--- a/include/core/yaml/parser_yaml.h
+++ b/include/core/yaml/parser_yaml.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/core/yaml/yaml_conversion.h b/include/core/yaml/yaml_conversion.h
index 96b39f850..76991419a 100644
--- a/include/core/yaml/yaml_conversion.h
+++ b/include/core/yaml/yaml_conversion.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index 811f1b3bb..8e91f7e75 100644
--- a/src/capture/capture_base.cpp
+++ b/src/capture/capture_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_diff_drive.cpp b/src/capture/capture_diff_drive.cpp
index d0d13e1bc..f4f159345 100644
--- a/src/capture/capture_diff_drive.cpp
+++ b/src/capture/capture_diff_drive.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_motion.cpp b/src/capture/capture_motion.cpp
index 994c12996..3f925fd62 100644
--- a/src/capture/capture_motion.cpp
+++ b/src/capture/capture_motion.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_odom_2d.cpp b/src/capture/capture_odom_2d.cpp
index 38bfaa55c..c7f394fdc 100644
--- a/src/capture/capture_odom_2d.cpp
+++ b/src/capture/capture_odom_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_odom_3d.cpp b/src/capture/capture_odom_3d.cpp
index 6a68661b8..ba1ab7408 100644
--- a/src/capture/capture_odom_3d.cpp
+++ b/src/capture/capture_odom_3d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_pose.cpp b/src/capture/capture_pose.cpp
index 243577412..113ac5710 100644
--- a/src/capture/capture_pose.cpp
+++ b/src/capture/capture_pose.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_void.cpp b/src/capture/capture_void.cpp
index c8c83593d..304e56273 100644
--- a/src/capture/capture_void.cpp
+++ b/src/capture/capture_void.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/ceres_wrapper/local_parametrization_wrapper.cpp b/src/ceres_wrapper/local_parametrization_wrapper.cpp
index 9d0ce54a6..c6623d4f5 100644
--- a/src/ceres_wrapper/local_parametrization_wrapper.cpp
+++ b/src/ceres_wrapper/local_parametrization_wrapper.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/ceres_wrapper/qr_manager.cpp b/src/ceres_wrapper/qr_manager.cpp
index 2c918eb77..297b041be 100644
--- a/src/ceres_wrapper/qr_manager.cpp
+++ b/src/ceres_wrapper/qr_manager.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/ceres_wrapper/solver_ceres.cpp b/src/ceres_wrapper/solver_ceres.cpp
index aa7b57ff2..aaf0c0970 100644
--- a/src/ceres_wrapper/solver_ceres.cpp
+++ b/src/ceres_wrapper/solver_ceres.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/common/node_base.cpp b/src/common/node_base.cpp
index c9d661314..af4db4552 100644
--- a/src/common/node_base.cpp
+++ b/src/common/node_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/common/time_stamp.cpp b/src/common/time_stamp.cpp
index 1f634da34..5ea454b0a 100644
--- a/src/common/time_stamp.cpp
+++ b/src/common/time_stamp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/factor/factor_analytic.cpp b/src/factor/factor_analytic.cpp
index 89aadab23..bf7fb3d02 100644
--- a/src/factor/factor_analytic.cpp
+++ b/src/factor/factor_analytic.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp
index 007508fb6..46151eba6 100644
--- a/src/factor/factor_base.cpp
+++ b/src/factor/factor_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_base.cpp b/src/feature/feature_base.cpp
index 0773a2af3..11db6b079 100644
--- a/src/feature/feature_base.cpp
+++ b/src/feature/feature_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_diff_drive.cpp b/src/feature/feature_diff_drive.cpp
index 2e0028337..62dcff2cc 100644
--- a/src/feature/feature_diff_drive.cpp
+++ b/src/feature/feature_diff_drive.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_motion.cpp b/src/feature/feature_motion.cpp
index 88c297471..6d0260b07 100644
--- a/src/feature/feature_motion.cpp
+++ b/src/feature/feature_motion.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_odom_2d.cpp b/src/feature/feature_odom_2d.cpp
index f5a596119..c0d2083ca 100644
--- a/src/feature/feature_odom_2d.cpp
+++ b/src/feature/feature_odom_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_pose.cpp b/src/feature/feature_pose.cpp
index 1c8790985..bcf4e2b48 100644
--- a/src/feature/feature_pose.cpp
+++ b/src/feature/feature_pose.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 9511b531f..951d544ea 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/hardware/hardware_base.cpp b/src/hardware/hardware_base.cpp
index 8ab0df817..9db6b0c37 100644
--- a/src/hardware/hardware_base.cpp
+++ b/src/hardware/hardware_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp
index 61e9d1f8f..09d317544 100644
--- a/src/landmark/landmark_base.cpp
+++ b/src/landmark/landmark_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/map/map_base.cpp b/src/map/map_base.cpp
index f529ecaba..f736ce180 100644
--- a/src/map/map_base.cpp
+++ b/src/map/map_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index c14e06fe5..67f619b0e 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/motion_buffer.cpp b/src/processor/motion_buffer.cpp
index 0d54deaf4..f61c1b1f9 100644
--- a/src/processor/motion_buffer.cpp
+++ b/src/processor/motion_buffer.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/motion_provider.cpp b/src/processor/motion_provider.cpp
index 2ffbe2d2b..e2723db61 100644
--- a/src/processor/motion_provider.cpp
+++ b/src/processor/motion_provider.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 2673eb246..adeac3db5 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index d56e96fa7..1f6397874 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_fix_wing_model.cpp b/src/processor/processor_fix_wing_model.cpp
index d25f2c971..4c75926cc 100644
--- a/src/processor/processor_fix_wing_model.cpp
+++ b/src/processor/processor_fix_wing_model.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_loop_closure.cpp b/src/processor/processor_loop_closure.cpp
index 51001cdae..2c8e16ce6 100644
--- a/src/processor/processor_loop_closure.cpp
+++ b/src/processor/processor_loop_closure.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 5751ac804..7beb21e5e 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index 01513427a..d090a5071 100644
--- a/src/processor/processor_odom_2d.cpp
+++ b/src/processor/processor_odom_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_odom_3d.cpp b/src/processor/processor_odom_3d.cpp
index 73c7c000a..f3eae8987 100644
--- a/src/processor/processor_odom_3d.cpp
+++ b/src/processor/processor_odom_3d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_pose.cpp b/src/processor/processor_pose.cpp
index 21a1a5624..727a49d74 100644
--- a/src/processor/processor_pose.cpp
+++ b/src/processor/processor_pose.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index f8f6c598c..c707c37ea 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_tracker_feature.cpp b/src/processor/processor_tracker_feature.cpp
index 2b1ec1f33..d55a2666c 100644
--- a/src/processor/processor_tracker_feature.cpp
+++ b/src/processor/processor_tracker_feature.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_tracker_landmark.cpp b/src/processor/processor_tracker_landmark.cpp
index 877cd844f..bab09ac82 100644
--- a/src/processor/processor_tracker_landmark.cpp
+++ b/src/processor/processor_tracker_landmark.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/track_matrix.cpp b/src/processor/track_matrix.cpp
index 17b48c6dc..1830270b1 100644
--- a/src/processor/track_matrix.cpp
+++ b/src/processor/track_matrix.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 23b4c4fba..7c9732d76 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index 3f5819484..4620caea4 100644
--- a/src/sensor/sensor_diff_drive.cpp
+++ b/src/sensor/sensor_diff_drive.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_model.cpp b/src/sensor/sensor_model.cpp
index 187e608c4..292f1a05e 100644
--- a/src/sensor/sensor_model.cpp
+++ b/src/sensor/sensor_model.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_odom_2d.cpp b/src/sensor/sensor_odom_2d.cpp
index a7d7b7f0a..711545f66 100644
--- a/src/sensor/sensor_odom_2d.cpp
+++ b/src/sensor/sensor_odom_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_odom_3d.cpp b/src/sensor/sensor_odom_3d.cpp
index afa9dcd25..b44561ff4 100644
--- a/src/sensor/sensor_odom_3d.cpp
+++ b/src/sensor/sensor_odom_3d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_pose.cpp b/src/sensor/sensor_pose.cpp
index 3d582e561..87f2880b8 100644
--- a/src/sensor/sensor_pose.cpp
+++ b/src/sensor/sensor_pose.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/solver/solver_manager.cpp b/src/solver/solver_manager.cpp
index aa78082c0..1dc258b88 100644
--- a/src/solver/solver_manager.cpp
+++ b/src/solver/solver_manager.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/solver_suitesparse/solver_manager.cpp b/src/solver_suitesparse/solver_manager.cpp
index 057bd44c4..0f4d82837 100644
--- a/src/solver_suitesparse/solver_manager.cpp
+++ b/src/solver_suitesparse/solver_manager.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/state_block/has_state_blocks.cpp b/src/state_block/has_state_blocks.cpp
index e8e411ce7..bd800ab2e 100644
--- a/src/state_block/has_state_blocks.cpp
+++ b/src/state_block/has_state_blocks.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/state_block/local_parametrization_base.cpp b/src/state_block/local_parametrization_base.cpp
index a8fead1bb..93f906091 100644
--- a/src/state_block/local_parametrization_base.cpp
+++ b/src/state_block/local_parametrization_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/state_block/local_parametrization_homogeneous.cpp b/src/state_block/local_parametrization_homogeneous.cpp
index b9af7158a..c6e90d7a5 100644
--- a/src/state_block/local_parametrization_homogeneous.cpp
+++ b/src/state_block/local_parametrization_homogeneous.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/state_block/local_parametrization_quaternion.cpp b/src/state_block/local_parametrization_quaternion.cpp
index 1486af32c..601a93c54 100644
--- a/src/state_block/local_parametrization_quaternion.cpp
+++ b/src/state_block/local_parametrization_quaternion.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/state_block/state_block.cpp b/src/state_block/state_block.cpp
index e576f5c06..513d6d462 100644
--- a/src/state_block/state_block.cpp
+++ b/src/state_block/state_block.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/state_block/state_composite.cpp b/src/state_block/state_composite.cpp
index 7afeef2eb..9f3e729ea 100644
--- a/src/state_block/state_composite.cpp
+++ b/src/state_block/state_composite.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp
index fff1f47f2..4bf0282fd 100644
--- a/src/trajectory/trajectory_base.cpp
+++ b/src/trajectory/trajectory_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/tree_manager/tree_manager_sliding_window.cpp b/src/tree_manager/tree_manager_sliding_window.cpp
index ed86a8d86..5d6f1345e 100644
--- a/src/tree_manager/tree_manager_sliding_window.cpp
+++ b/src/tree_manager/tree_manager_sliding_window.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
index 760497fb3..b2ab0e2fd 100644
--- a/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
+++ b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/utils/check_log.cpp b/src/utils/check_log.cpp
index d6ed04a60..830073ea7 100644
--- a/src/utils/check_log.cpp
+++ b/src/utils/check_log.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/utils/converter_utils.cpp b/src/utils/converter_utils.cpp
index 082a63f8d..f77008e1b 100644
--- a/src/utils/converter_utils.cpp
+++ b/src/utils/converter_utils.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/utils/graph_search.cpp b/src/utils/graph_search.cpp
index f25f359d7..20dc65e0e 100644
--- a/src/utils/graph_search.cpp
+++ b/src/utils/graph_search.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/utils/loader.cpp b/src/utils/loader.cpp
index 5f90d801a..00590ccda 100644
--- a/src/utils/loader.cpp
+++ b/src/utils/loader.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/utils/params_server.cpp b/src/utils/params_server.cpp
index 4c59d6791..ce4a79743 100644
--- a/src/utils/params_server.cpp
+++ b/src/utils/params_server.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/parser_yaml.cpp b/src/yaml/parser_yaml.cpp
index 9900f2a6c..b4c830bd5 100644
--- a/src/yaml/parser_yaml.cpp
+++ b/src/yaml/parser_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/processor_odom_3d_yaml.cpp b/src/yaml/processor_odom_3d_yaml.cpp
index 30787cd53..a8dd748ea 100644
--- a/src/yaml/processor_odom_3d_yaml.cpp
+++ b/src/yaml/processor_odom_3d_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/sensor_odom_2d_yaml.cpp b/src/yaml/sensor_odom_2d_yaml.cpp
index 3e49ea53a..68a44ff61 100644
--- a/src/yaml/sensor_odom_2d_yaml.cpp
+++ b/src/yaml/sensor_odom_2d_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/sensor_odom_3d_yaml.cpp b/src/yaml/sensor_odom_3d_yaml.cpp
index f07f25d44..02e0ff3d8 100644
--- a/src/yaml/sensor_odom_3d_yaml.cpp
+++ b/src/yaml/sensor_odom_3d_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/sensor_pose_yaml.cpp b/src/yaml/sensor_pose_yaml.cpp
index af067d2f3..102729bd9 100644
--- a/src/yaml/sensor_pose_yaml.cpp
+++ b/src/yaml/sensor_pose_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/factor_dummy_zero_1.h b/test/dummy/factor_dummy_zero_1.h
index 9ed1f00f8..5a52d9c47 100644
--- a/test/dummy/factor_dummy_zero_1.h
+++ b/test/dummy/factor_dummy_zero_1.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/factor_dummy_zero_12.h b/test/dummy/factor_dummy_zero_12.h
index 4d70ca4d2..707a99908 100644
--- a/test/dummy/factor_dummy_zero_12.h
+++ b/test/dummy/factor_dummy_zero_12.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/factor_feature_dummy.h b/test/dummy/factor_feature_dummy.h
index 38b4aed03..c04043d85 100644
--- a/test/dummy/factor_feature_dummy.h
+++ b/test/dummy/factor_feature_dummy.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/factor_landmark_dummy.h b/test/dummy/factor_landmark_dummy.h
index 4a0c373b1..f4c53fa10 100644
--- a/test/dummy/factor_landmark_dummy.h
+++ b/test/dummy/factor_landmark_dummy.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/factor_odom_2d_autodiff.h b/test/dummy/factor_odom_2d_autodiff.h
index 395441e58..9d09f97ae 100644
--- a/test/dummy/factor_odom_2d_autodiff.h
+++ b/test/dummy/factor_odom_2d_autodiff.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/processor_loop_closure_dummy.h b/test/dummy/processor_loop_closure_dummy.h
index 79a598790..a0e456eec 100644
--- a/test/dummy/processor_loop_closure_dummy.h
+++ b/test/dummy/processor_loop_closure_dummy.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/processor_motion_provider_dummy.h b/test/dummy/processor_motion_provider_dummy.h
index 186b40185..c94013296 100644
--- a/test/dummy/processor_motion_provider_dummy.h
+++ b/test/dummy/processor_motion_provider_dummy.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/processor_tracker_feature_dummy.cpp b/test/dummy/processor_tracker_feature_dummy.cpp
index 7bcdfad57..ab58e3e0e 100644
--- a/test/dummy/processor_tracker_feature_dummy.cpp
+++ b/test/dummy/processor_tracker_feature_dummy.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index aa0306a2c..d68a55e03 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/processor_tracker_landmark_dummy.cpp b/test/dummy/processor_tracker_landmark_dummy.cpp
index 4f97bd830..54525c868 100644
--- a/test/dummy/processor_tracker_landmark_dummy.cpp
+++ b/test/dummy/processor_tracker_landmark_dummy.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index 21f38ac91..22060c82d 100644
--- a/test/dummy/processor_tracker_landmark_dummy.h
+++ b/test/dummy/processor_tracker_landmark_dummy.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/solver_manager_dummy.h b/test/dummy/solver_manager_dummy.h
index d16ab798e..d718fc955 100644
--- a/test/dummy/solver_manager_dummy.h
+++ b/test/dummy/solver_manager_dummy.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/dummy/tree_manager_dummy.h b/test/dummy/tree_manager_dummy.h
index 1ae6d5c5a..1f115ace8 100644
--- a/test/dummy/tree_manager_dummy.h
+++ b/test/dummy/tree_manager_dummy.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_SE3.cpp b/test/gtest_SE3.cpp
index dc91b7c2c..be07e9804 100644
--- a/test/gtest_SE3.cpp
+++ b/test/gtest_SE3.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_buffer_frame.cpp b/test/gtest_buffer_frame.cpp
index 5c5fadc4c..ebc17ca13 100644
--- a/test/gtest_buffer_frame.cpp
+++ b/test/gtest_buffer_frame.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp
index 769902b8c..aa3607810 100644
--- a/test/gtest_capture_base.cpp
+++ b/test/gtest_capture_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_converter.cpp b/test/gtest_converter.cpp
index 2b938cfa0..9be8c838f 100644
--- a/test/gtest_converter.cpp
+++ b/test/gtest_converter.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_eigen_predicates.cpp b/test/gtest_eigen_predicates.cpp
index 304c797cf..6dc7184ec 100644
--- a/test/gtest_eigen_predicates.cpp
+++ b/test/gtest_eigen_predicates.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index 77c738a6a..0aa294035 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 5925a6671..e50f8c4fd 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_absolute.cpp b/test/gtest_factor_absolute.cpp
index e1bbffa81..2a98cc7a3 100644
--- a/test/gtest_factor_absolute.cpp
+++ b/test/gtest_factor_absolute.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_autodiff.cpp b/test/gtest_factor_autodiff.cpp
index 34a7351fe..7a1a33091 100644
--- a/test/gtest_factor_autodiff.cpp
+++ b/test/gtest_factor_autodiff.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_autodiff_distance_3d.cpp b/test/gtest_factor_autodiff_distance_3d.cpp
index e9356933e..2134768da 100644
--- a/test/gtest_factor_autodiff_distance_3d.cpp
+++ b/test/gtest_factor_autodiff_distance_3d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_base.cpp b/test/gtest_factor_base.cpp
index b5a40e3e3..c8a04dcd1 100644
--- a/test/gtest_factor_base.cpp
+++ b/test/gtest_factor_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_block_difference.cpp b/test/gtest_factor_block_difference.cpp
index 067a7a1dc..14724df23 100644
--- a/test/gtest_factor_block_difference.cpp
+++ b/test/gtest_factor_block_difference.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index 031bc0404..4f280a6ff 100644
--- a/test/gtest_factor_diff_drive.cpp
+++ b/test/gtest_factor_diff_drive.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_odom_2d_autodiff.cpp b/test/gtest_factor_odom_2d_autodiff.cpp
index 42c67ba72..fd8aebb18 100644
--- a/test/gtest_factor_odom_2d_autodiff.cpp
+++ b/test/gtest_factor_odom_2d_autodiff.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_pose_2d.cpp b/test/gtest_factor_pose_2d.cpp
index 32d6eebdb..498df49f2 100644
--- a/test/gtest_factor_pose_2d.cpp
+++ b/test/gtest_factor_pose_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_pose_3d.cpp b/test/gtest_factor_pose_3d.cpp
index 34a76c27c..544ed5127 100644
--- a/test/gtest_factor_pose_3d.cpp
+++ b/test/gtest_factor_pose_3d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_relative_pose_2d.cpp b/test/gtest_factor_relative_pose_2d.cpp
index 4348bbbea..cc4030a9e 100644
--- a/test/gtest_factor_relative_pose_2d.cpp
+++ b/test/gtest_factor_relative_pose_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
index ab04a9cf4..ee2bc076d 100644
--- a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_relative_pose_3d.cpp b/test/gtest_factor_relative_pose_3d.cpp
index 301c8eddb..9369c090e 100644
--- a/test/gtest_factor_relative_pose_3d.cpp
+++ b/test/gtest_factor_relative_pose_3d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_velocity_local_direction_3d.cpp b/test/gtest_factor_velocity_local_direction_3d.cpp
index 88fe9c317..be2eb8584 100644
--- a/test/gtest_factor_velocity_local_direction_3d.cpp
+++ b/test/gtest_factor_velocity_local_direction_3d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factory_state_block.cpp b/test/gtest_factory_state_block.cpp
index 32fcd741c..33b358362 100644
--- a/test/gtest_factory_state_block.cpp
+++ b/test/gtest_factory_state_block.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_feature_base.cpp b/test/gtest_feature_base.cpp
index 1c7e5e38d..1aa20b956 100644
--- a/test/gtest_feature_base.cpp
+++ b/test/gtest_feature_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 61a9d40bf..26c9b3cc0 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_graph_search.cpp b/test/gtest_graph_search.cpp
index 2530f201e..43d4b5724 100644
--- a/test/gtest_graph_search.cpp
+++ b/test/gtest_graph_search.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_has_state_blocks.cpp b/test/gtest_has_state_blocks.cpp
index f673cb6b2..e60bc8753 100644
--- a/test/gtest_has_state_blocks.cpp
+++ b/test/gtest_has_state_blocks.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_local_param.cpp b/test/gtest_local_param.cpp
index 14ed748da..a709195a5 100644
--- a/test/gtest_local_param.cpp
+++ b/test/gtest_local_param.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_logging.cpp b/test/gtest_logging.cpp
index c9e55d982..d67ab498b 100644
--- a/test/gtest_logging.cpp
+++ b/test/gtest_logging.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_make_posdef.cpp b/test/gtest_make_posdef.cpp
index dd5e99b36..92d97edcb 100644
--- a/test/gtest_make_posdef.cpp
+++ b/test/gtest_make_posdef.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_map_yaml.cpp b/test/gtest_map_yaml.cpp
index 990fdef91..5c4b2b789 100644
--- a/test/gtest_map_yaml.cpp
+++ b/test/gtest_map_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_motion_buffer.cpp b/test/gtest_motion_buffer.cpp
index 1540569f8..108147b82 100644
--- a/test/gtest_motion_buffer.cpp
+++ b/test/gtest_motion_buffer.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_motion_provider.cpp b/test/gtest_motion_provider.cpp
index a4a76f7b6..982bc05a3 100644
--- a/test/gtest_motion_provider.cpp
+++ b/test/gtest_motion_provider.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_odom_2d.cpp b/test/gtest_odom_2d.cpp
index 0a6deee8d..225a49326 100644
--- a/test/gtest_odom_2d.cpp
+++ b/test/gtest_odom_2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_param_prior.cpp b/test/gtest_param_prior.cpp
index ee5306ebd..194671976 100644
--- a/test/gtest_param_prior.cpp
+++ b/test/gtest_param_prior.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_param_server.cpp b/test/gtest_param_server.cpp
index 09c8b7dee..e8116c8ff 100644
--- a/test/gtest_param_server.cpp
+++ b/test/gtest_param_server.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_parser_yaml.cpp b/test/gtest_parser_yaml.cpp
index f20a3e625..bb37da59d 100644
--- a/test/gtest_parser_yaml.cpp
+++ b/test/gtest_parser_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 887c9612f..d5fa0054e 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp b/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp
index bd3627fc3..7e1e8624e 100644
--- a/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp
+++ b/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index af5b15e84..893418156 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_diff_drive.cpp b/test/gtest_processor_diff_drive.cpp
index d317c0a95..0fcf73467 100644
--- a/test/gtest_processor_diff_drive.cpp
+++ b/test/gtest_processor_diff_drive.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_fix_wing_model.cpp b/test/gtest_processor_fix_wing_model.cpp
index fd759a4c0..41eaed71f 100644
--- a/test/gtest_processor_fix_wing_model.cpp
+++ b/test/gtest_processor_fix_wing_model.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_loop_closure.cpp b/test/gtest_processor_loop_closure.cpp
index b5e61e640..9623ecbaa 100644
--- a/test/gtest_processor_loop_closure.cpp
+++ b/test/gtest_processor_loop_closure.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index 8eb1c8bc1..a0d840d11 100644
--- a/test/gtest_processor_motion.cpp
+++ b/test/gtest_processor_motion.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_odom_3d.cpp b/test/gtest_processor_odom_3d.cpp
index 407a2a19e..a5e0beabb 100644
--- a/test/gtest_processor_odom_3d.cpp
+++ b/test/gtest_processor_odom_3d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp
index 6768e90b7..7a142212a 100644
--- a/test/gtest_processor_tracker_feature_dummy.cpp
+++ b/test/gtest_processor_tracker_feature_dummy.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_tracker_landmark_dummy.cpp b/test/gtest_processor_tracker_landmark_dummy.cpp
index c21841bc9..8017ad604 100644
--- a/test/gtest_processor_tracker_landmark_dummy.cpp
+++ b/test/gtest_processor_tracker_landmark_dummy.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_rotation.cpp b/test/gtest_rotation.cpp
index 82c24171f..bdc5e696b 100644
--- a/test/gtest_rotation.cpp
+++ b/test/gtest_rotation.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_sensor_base.cpp b/test/gtest_sensor_base.cpp
index 7dff6665e..ac13388e2 100644
--- a/test/gtest_sensor_base.cpp
+++ b/test/gtest_sensor_base.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_sensor_diff_drive.cpp b/test/gtest_sensor_diff_drive.cpp
index aea6dcb3e..a28d52df1 100644
--- a/test/gtest_sensor_diff_drive.cpp
+++ b/test/gtest_sensor_diff_drive.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_sensor_pose.cpp b/test/gtest_sensor_pose.cpp
index dd8438e92..4294d2ab6 100644
--- a/test/gtest_sensor_pose.cpp
+++ b/test/gtest_sensor_pose.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_shared_from_this.cpp b/test/gtest_shared_from_this.cpp
index 3ec15e497..f8521e4f9 100644
--- a/test/gtest_shared_from_this.cpp
+++ b/test/gtest_shared_from_this.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_solver_ceres.cpp b/test/gtest_solver_ceres.cpp
index 88dff13b6..89bf93042 100644
--- a/test/gtest_solver_ceres.cpp
+++ b/test/gtest_solver_ceres.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_solver_ceres_multithread.cpp b/test/gtest_solver_ceres_multithread.cpp
index 292be8c0d..c0004ad39 100644
--- a/test/gtest_solver_ceres_multithread.cpp
+++ b/test/gtest_solver_ceres_multithread.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp
index fdbcd9117..e66342ba4 100644
--- a/test/gtest_solver_manager.cpp
+++ b/test/gtest_solver_manager.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_solver_manager_multithread.cpp b/test/gtest_solver_manager_multithread.cpp
index fa929e0ef..8c21ca410 100644
--- a/test/gtest_solver_manager_multithread.cpp
+++ b/test/gtest_solver_manager_multithread.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_state_block.cpp b/test/gtest_state_block.cpp
index 0a126b216..9bce46a48 100644
--- a/test/gtest_state_block.cpp
+++ b/test/gtest_state_block.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_state_composite.cpp b/test/gtest_state_composite.cpp
index 9a90b2f74..74dfe643a 100644
--- a/test/gtest_state_composite.cpp
+++ b/test/gtest_state_composite.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_time_stamp.cpp b/test/gtest_time_stamp.cpp
index fe7a3a30e..9a3281350 100644
--- a/test/gtest_time_stamp.cpp
+++ b/test/gtest_time_stamp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp
index a9acd34f7..130a3495c 100644
--- a/test/gtest_track_matrix.cpp
+++ b/test/gtest_track_matrix.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index 22edeea40..12b8d2a1a 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_tree_manager.cpp b/test/gtest_tree_manager.cpp
index 97f43682e..914b8a7c3 100644
--- a/test/gtest_tree_manager.cpp
+++ b/test/gtest_tree_manager.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_tree_manager_sliding_window.cpp b/test/gtest_tree_manager_sliding_window.cpp
index 916428c86..e4b1c92bb 100644
--- a/test/gtest_tree_manager_sliding_window.cpp
+++ b/test/gtest_tree_manager_sliding_window.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_tree_manager_sliding_window_dual_rate.cpp b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
index 1c6636ffd..e394a7c59 100644
--- a/test/gtest_tree_manager_sliding_window_dual_rate.cpp
+++ b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_yaml_conversions.cpp b/test/gtest_yaml_conversions.cpp
index cdd36ea33..21a4f8978 100644
--- a/test/gtest_yaml_conversions.cpp
+++ b/test/gtest_yaml_conversions.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/wolf_scripts/license_header_2021.txt b/wolf_scripts/license_header_2022.txt
similarity index 89%
rename from wolf_scripts/license_header_2021.txt
rename to wolf_scripts/license_header_2022.txt
index c75a6f243..0c987025f 100644
--- a/wolf_scripts/license_header_2021.txt
+++ b/wolf_scripts/license_header_2022.txt
@@ -1,4 +1,4 @@
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/wolf_scripts/templates/class_template.cpp b/wolf_scripts/templates/class_template.cpp
index 6112ab670..035249b8f 100644
--- a/wolf_scripts/templates/class_template.cpp
+++ b/wolf_scripts/templates/class_template.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/wolf_scripts/templates/class_template.h b/wolf_scripts/templates/class_template.h
index a0e35fb35..a86b1d70c 100644
--- a/wolf_scripts/templates/class_template.h
+++ b/wolf_scripts/templates/class_template.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/wolf_scripts/templates/gtest_template.cpp b/wolf_scripts/templates/gtest_template.cpp
index a9481a977..9fc9750ab 100644
--- a/wolf_scripts/templates/gtest_template.cpp
+++ b/wolf_scripts/templates/gtest_template.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022 Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
-- 
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