diff --git a/.license_template_ci.yml b/.license_template_ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..9c2e94316dc5b5e371c6ec8e9788c1a1ce8afa69
--- /dev/null
+++ b/.license_template_ci.yml
@@ -0,0 +1,47 @@
+.license_header_template: &license_header_definition
+  - cd $CI_PROJECT_DIR
+
+  # create 'ci_deps' folder (if not exists)
+  - mkdir -pv ci_deps
+
+  # configure git
+  - export CI_NEW_BRANCH=ci_processing$RANDOM
+  - echo creating new temporary branch... $CI_NEW_BRANCH
+  - git config --global user.email "${CI_EMAIL}"
+  - git config --global user.name "${CI_USERNAME}"
+  - git checkout -b $CI_NEW_BRANCH # temporary branch
+
+  # download license script
+  - if [ -f /ci_deps/license_manager.sh ]; then
+  -   echo "File license_manager.sh already exists."
+  - else
+  -   echo "Downloading file license_manager.sh..."
+  -   wget -P /ci_deps  https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf/-/raw/$WOLF_CORE_BRANCH/wolf_scripts/license_manager.sh
+  - fi
+
+  # license headers
+  - export CURRENT_YEAR=$( date +'%Y' )
+  - echo "current year:" ${CURRENT_YEAR}
+  - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
+      # add license headers to new files
+  -   echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
+  -   source /ci_deps/license_manager.sh --add --path=. --config-path=. --exclude=ci_deps
+  - else
+      # remove license headers of all files
+  -   source /ci_deps/license_manager.sh --remove --path=. --config-path=. --exclude=ci_deps
+      # update license header
+  -   export PREV_YEAR=$(( CURRENT_YEAR-1 ))
+  -   echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
+  -   git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
+  -   sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
+      # add new license headers to all files
+  -   source /ci_deps/license_manager.sh --add --path=. --config-path=. --exclude=ci_deps
+  - fi
+
+  # push changes (if any)
+  - if git commit -a -m "[skip ci] license headers added or modified" ; then
+  -   git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
+  -   git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
+  - else
+  -   echo "No changes, nothing to commit!"
+  - fi
\ No newline at end of file
diff --git a/demos/demo_analytic_autodiff_factor.cpp b/demos/demo_analytic_autodiff_factor.cpp
index 14cd2b38be327d1a1c1c98af12607a1a4238de77..6634ee62a512fa0de5b16e1d413944e15976bfd8 100644
--- a/demos/demo_analytic_autodiff_factor.cpp
+++ b/demos/demo_analytic_autodiff_factor.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 // Testing creating wolf tree from imported .graph file
 
 //C includes for sleep, time and main args
diff --git a/demos/demo_wolf_imported_graph.cpp b/demos/demo_wolf_imported_graph.cpp
index 2927f59146b2040e6d95df36f533c6259ce73f35..73b85134081a8d71320ebf7f32914a1a792817bc 100644
--- a/demos/demo_wolf_imported_graph.cpp
+++ b/demos/demo_wolf_imported_graph.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,7 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
+
 // Testing creating wolf tree from imported .graph file
 
 //C includes for sleep, time and main args
diff --git a/demos/hello_wolf/capture_range_bearing.cpp b/demos/hello_wolf/capture_range_bearing.cpp
index 04bb1115696a04fcd44f65694e7e692253c9ec8a..ec9b2d36558a12790e96ec66c1a6fa694b456871 100644
--- a/demos/hello_wolf/capture_range_bearing.cpp
+++ b/demos/hello_wolf/capture_range_bearing.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * CaptureRangeBearing2d.cpp
  *
diff --git a/demos/hello_wolf/capture_range_bearing.h b/demos/hello_wolf/capture_range_bearing.h
index 34728e4fa1021e42de349279c0b3c5db1bafe24b..efd1d1178ed0e6ae13a254d19757338e528d60f7 100644
--- a/demos/hello_wolf/capture_range_bearing.h
+++ b/demos/hello_wolf/capture_range_bearing.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/capture/capture_base.h"
diff --git a/demos/hello_wolf/factor_bearing.h b/demos/hello_wolf/factor_bearing.h
index 0799f3881876a560929132152dd884e50507d445..d716c0f29e4a8cb79511c4a5168178a7b95a245a 100644
--- a/demos/hello_wolf/factor_bearing.h
+++ b/demos/hello_wolf/factor_bearing.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/factor/factor_autodiff.h"
diff --git a/demos/hello_wolf/factor_range_bearing.h b/demos/hello_wolf/factor_range_bearing.h
index 47bcb85312d7bd0553639cd5e223ba0d9cd6cc50..d6c0c20c69cc8ff2394d8132c42fe8d3a1686586 100644
--- a/demos/hello_wolf/factor_range_bearing.h
+++ b/demos/hello_wolf/factor_range_bearing.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/factor/factor_autodiff.h"
diff --git a/demos/hello_wolf/feature_range_bearing.cpp b/demos/hello_wolf/feature_range_bearing.cpp
index 280423a8d5a2feee372b1e93f061f5e98a46736b..f57b9ac8e0598a93d03852d8988138153999077b 100644
--- a/demos/hello_wolf/feature_range_bearing.cpp
+++ b/demos/hello_wolf/feature_range_bearing.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * FeatureRangeBearing2d.cpp
  *
diff --git a/demos/hello_wolf/feature_range_bearing.h b/demos/hello_wolf/feature_range_bearing.h
index d02ad0fcf066f3022f4ecb963528f74ffa5dd140..5490f6f64974cdbe0c6920e6a160de0032f38c3a 100644
--- a/demos/hello_wolf/feature_range_bearing.h
+++ b/demos/hello_wolf/feature_range_bearing.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/feature/feature_base.h"
diff --git a/demos/hello_wolf/hello_wolf.cpp b/demos/hello_wolf/hello_wolf.cpp
index a049713d4b530bf96e5a01cb586dea521fa29c5d..7a276674ed0139bb7ee08f0f5744b41d924a5d39 100644
--- a/demos/hello_wolf/hello_wolf.cpp
+++ b/demos/hello_wolf/hello_wolf.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 // wolf core includes
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/demos/hello_wolf/hello_wolf_autoconf.cpp b/demos/hello_wolf/hello_wolf_autoconf.cpp
index c2b654b9c505858cca944d081508e5f932b5807e..26bbee4e0168053af052040cf6d200562d78f7c2 100644
--- a/demos/hello_wolf/hello_wolf_autoconf.cpp
+++ b/demos/hello_wolf/hello_wolf_autoconf.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 // wolf core includes
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/demos/hello_wolf/landmark_point_2d.cpp b/demos/hello_wolf/landmark_point_2d.cpp
index ad6f0d105727c3247da64631a795ab34cd309972..caca4548ef4dc4a86db47eef1ade6d775ca70cec 100644
--- a/demos/hello_wolf/landmark_point_2d.cpp
+++ b/demos/hello_wolf/landmark_point_2d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "landmark_point_2d.h"
 #include "core/state_block/state_block_derived.h"
diff --git a/demos/hello_wolf/landmark_point_2d.h b/demos/hello_wolf/landmark_point_2d.h
index f3516eb1d64831f444f4e9a9a37849704f96dbfb..ff76e68d84ff1e180bd5af964a73ee650ac03a52 100644
--- a/demos/hello_wolf/landmark_point_2d.h
+++ b/demos/hello_wolf/landmark_point_2d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/landmark/landmark_base.h"
diff --git a/demos/hello_wolf/processor_range_bearing.cpp b/demos/hello_wolf/processor_range_bearing.cpp
index 095619fee654086c070cf16aeb78b79dd96594ed..fec68b6dcf7aed8542da5359246935b676e84c43 100644
--- a/demos/hello_wolf/processor_range_bearing.cpp
+++ b/demos/hello_wolf/processor_range_bearing.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * processor_range_bearing.cpp
  *
diff --git a/demos/hello_wolf/processor_range_bearing.h b/demos/hello_wolf/processor_range_bearing.h
index 236f624db6d9c12310b3fb47c788e80bad483cc3..e543ea06936801fb93b4d9098f09533c1e83e20a 100644
--- a/demos/hello_wolf/processor_range_bearing.h
+++ b/demos/hello_wolf/processor_range_bearing.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/processor/processor_base.h"
diff --git a/demos/hello_wolf/sensor_range_bearing.cpp b/demos/hello_wolf/sensor_range_bearing.cpp
index 8ac328c9945cef5d09d9d38f59e60936d18a171e..facf212f4f190b7e5455b88598db7a245f7c5e13 100644
--- a/demos/hello_wolf/sensor_range_bearing.cpp
+++ b/demos/hello_wolf/sensor_range_bearing.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "sensor_range_bearing.h"
 
 namespace wolf{
diff --git a/demos/hello_wolf/sensor_range_bearing.h b/demos/hello_wolf/sensor_range_bearing.h
index 396dc5e2771e513fa068b9a9092293d5dfc5c609..02fa24694951e7d142256995c3d9205d856565b8 100644
--- a/demos/hello_wolf/sensor_range_bearing.h
+++ b/demos/hello_wolf/sensor_range_bearing.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/sensor/sensor_base.h"
diff --git a/demos/solver/test_SPQR.cpp b/demos/solver/test_SPQR.cpp
index aceb9ffdddb33fd2d059b4bfa8d3561bb0d1ecee..e4a78d4659b0bbd9c2be9a9e44e678c45a24e1b8 100644
--- a/demos/solver/test_SPQR.cpp
+++ b/demos/solver/test_SPQR.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * test_SPQR.cpp
  *
diff --git a/demos/solver/test_ccolamd.cpp b/demos/solver/test_ccolamd.cpp
index 83940c3f5c68d09f31f4734d529cdf8a7d69fbe0..509e981642d87f59e3a19f57795134440b02e602 100644
--- a/demos/solver/test_ccolamd.cpp
+++ b/demos/solver/test_ccolamd.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * test_ccolamd.cpp
  *
diff --git a/demos/solver/test_ccolamd_blocks.cpp b/demos/solver/test_ccolamd_blocks.cpp
index 28aa5695081ef64120ed762b85d50a20c04d1c94..1ce2d09a15ab0138c25f490c6645e07a922d3a0e 100644
--- a/demos/solver/test_ccolamd_blocks.cpp
+++ b/demos/solver/test_ccolamd_blocks.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * test_ccolamd_blocks.cpp
  *
diff --git a/demos/solver/test_iQR.cpp b/demos/solver/test_iQR.cpp
index d137aef0ce3b9eb9bf87971cefd9e36ebbb6c802..6c43cfe15ce1adb415467a06fe7668b73b7984c7 100644
--- a/demos/solver/test_iQR.cpp
+++ b/demos/solver/test_iQR.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * test_iQR.cpp
  *
diff --git a/demos/solver/test_iQR_wolf.cpp b/demos/solver/test_iQR_wolf.cpp
index 4942f9b87a4c9fa9203e22ee001bf2ab550ac006..59114a87130b80dd0ef59ee19646f842c9baf87d 100644
--- a/demos/solver/test_iQR_wolf.cpp
+++ b/demos/solver/test_iQR_wolf.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * test_iQR_wolf.cpp
  *
diff --git a/demos/solver/test_iQR_wolf2.cpp b/demos/solver/test_iQR_wolf2.cpp
index e40f030ef4648d09bfe156bcbd4bdb307afe437c..f867e2b49f84cc0b0976e5219a66ab44f3c97d10 100644
--- a/demos/solver/test_iQR_wolf2.cpp
+++ b/demos/solver/test_iQR_wolf2.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * test_iQR_wolf.cpp
  *
diff --git a/demos/solver/test_incremental_ccolamd_blocks.cpp b/demos/solver/test_incremental_ccolamd_blocks.cpp
index dcd91fc5192611939fec5fb577bf9eb8eee012b5..97e98da0bb9e357da512f53f0987ce4a62e44bc1 100644
--- a/demos/solver/test_incremental_ccolamd_blocks.cpp
+++ b/demos/solver/test_incremental_ccolamd_blocks.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * test_ccolamd_blocks.cpp
  *
diff --git a/demos/solver/test_permutations.cpp b/demos/solver/test_permutations.cpp
index 72ce307e5d905d5579bb62e3f23bc2830e4f2ba8..ccc653b9a4bcc17338e20b1b1dbdbeb08bd640c8 100644
--- a/demos/solver/test_permutations.cpp
+++ b/demos/solver/test_permutations.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * test_permutations.cpp
  *
diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index ba0605341058d0a233d71c3df3d50a3666062647..176ae3c5c9803fc489d29044daae2b340f7f59a9 100644
--- a/include/core/capture/capture_base.h
+++ b/include/core/capture/capture_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Forward declarations for node templates
diff --git a/include/core/capture/capture_diff_drive.h b/include/core/capture/capture_diff_drive.h
index f046fad5a7b1b8e5c0e3a8d82047b381e05622e1..45b3f235f9fe2cb7c24ab4fe3561ee381f158353 100644
--- a/include/core/capture/capture_diff_drive.h
+++ b/include/core/capture/capture_diff_drive.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //wolf includes
diff --git a/include/core/capture/capture_landmarks_external.h b/include/core/capture/capture_landmarks_external.h
index 58fa079d4a533e64c28f140edee703d72954feca..c187840f7c3fd0aee50161293f44b4a80c5d5321 100644
--- a/include/core/capture/capture_landmarks_external.h
+++ b/include/core/capture/capture_landmarks_external.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //Wolf includes
diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index d68347954821d79b4e10c7a8dd5fd225d2fdf58c..f1ff1d2c75eb0d7b24e4ab42e6860a219242afa7 100644
--- a/include/core/capture/capture_motion.h
+++ b/include/core/capture/capture_motion.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/capture/capture_odom_2d.h b/include/core/capture/capture_odom_2d.h
index 7d918ce4d9e2ae2f4157e270be71acfd18fea2c1..e789d95d74a1ea50e5bf075c47afb3ede28443a6 100644
--- a/include/core/capture/capture_odom_2d.h
+++ b/include/core/capture/capture_odom_2d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/capture/capture_motion.h"
diff --git a/include/core/capture/capture_odom_3d.h b/include/core/capture/capture_odom_3d.h
index 43ad8b434db304b8665446bd72628c5099758476..c5ae5dec32048f85204e28bbaef41919f8b2c562 100644
--- a/include/core/capture/capture_odom_3d.h
+++ b/include/core/capture/capture_odom_3d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/capture/capture_motion.h"
diff --git a/include/core/capture/capture_pose.h b/include/core/capture/capture_pose.h
index 0c536f3f6d754cf70fbadd8ba79478f3aa719405..3e8ff2bf153b575d56f06908f6158b473b74f525 100644
--- a/include/core/capture/capture_pose.h
+++ b/include/core/capture/capture_pose.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //Wolf includes
diff --git a/include/core/capture/capture_void.h b/include/core/capture/capture_void.h
index c7592db16b260628cd0123e6d218cfc114bbb9b3..40fd68623060a6bc474528e1c1e3f09efcfb1da7 100644
--- a/include/core/capture/capture_void.h
+++ b/include/core/capture/capture_void.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //Wolf includes
diff --git a/include/core/ceres_wrapper/cost_function_wrapper.h b/include/core/ceres_wrapper/cost_function_wrapper.h
index 8d097bfc494d4d2aba500bfb4b00c5bd94eab54c..32306becb3bfc0abe7083c6e60dd79a0a783068e 100644
--- a/include/core/ceres_wrapper/cost_function_wrapper.h
+++ b/include/core/ceres_wrapper/cost_function_wrapper.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // WOLF
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 9662dbf10dae4ceb471ed7d5c8e79ee235dd4f45..cea0140bae25c6ee59770754b5d08869d8356e18 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 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "ceres/cost_function.h"
diff --git a/include/core/ceres_wrapper/iteration_update_callback.h b/include/core/ceres_wrapper/iteration_update_callback.h
index 638c0213e661c4bcc483eac9d9415b60ace5fa73..b0b6c17d3943240e1d1c9a3824c0b8ea3a5221fa 100644
--- a/include/core/ceres_wrapper/iteration_update_callback.h
+++ b/include/core/ceres_wrapper/iteration_update_callback.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/problem/problem.h"
diff --git a/include/core/ceres_wrapper/local_parametrization_wrapper.h b/include/core/ceres_wrapper/local_parametrization_wrapper.h
index e84edb7dec3e009f6f127b8aa20508d156f87f69..e9c3f311ce09db67be565ef7b065b5a983e795b1 100644
--- a/include/core/ceres_wrapper/local_parametrization_wrapper.h
+++ b/include/core/ceres_wrapper/local_parametrization_wrapper.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Fwd refs
diff --git a/include/core/ceres_wrapper/qr_manager.h b/include/core/ceres_wrapper/qr_manager.h
index e6cf20c00d436267641b78ac61903086917e0997..0b723ea41e78adb96386f249a6f08ace0f56b8f8 100644
--- a/include/core/ceres_wrapper/qr_manager.h
+++ b/include/core/ceres_wrapper/qr_manager.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/solver/solver_manager.h"
diff --git a/include/core/ceres_wrapper/solver_ceres.h b/include/core/ceres_wrapper/solver_ceres.h
index b9b6d46c47db51a452d8276b840ff88d71e6d0b7..e31d8c71053b3edab68b3ef00394bb4d53d0a1db 100644
--- a/include/core/ceres_wrapper/solver_ceres.h
+++ b/include/core/ceres_wrapper/solver_ceres.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //Ceres includes
diff --git a/include/core/ceres_wrapper/sparse_utils.h b/include/core/ceres_wrapper/sparse_utils.h
index dc9566390351036aaee274b8fb86b3cba0d26087..af1c5d6c7b1bea74b7ad1adb65d199b7daf70955 100644
--- a/include/core/ceres_wrapper/sparse_utils.h
+++ b/include/core/ceres_wrapper/sparse_utils.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // eigen includes
diff --git a/include/core/ceres_wrapper/wolf_jet.h b/include/core/ceres_wrapper/wolf_jet.h
index 5b17704c2af47626872f87516875944202ef8eb6..07c1c84af914a41a2f9288036932545e2df51ddd 100644
--- a/include/core/ceres_wrapper/wolf_jet.h
+++ b/include/core/ceres_wrapper/wolf_jet.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #pragma once
 
diff --git a/include/core/common/factory.h b/include/core/common/factory.h
index 80eea81f5235fac42f25ae52a9149abe387b310d..258c3012d2d25d23ff263959153a6c5fc15c8eed 100644
--- a/include/core/common/factory.h
+++ b/include/core/common/factory.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // wolf
diff --git a/include/core/common/node_base.h b/include/core/common/node_base.h
index c4fd609f9e1470b23f81f968e9ec172ab107fc9e..5cb77d9eed5f60467e5d8d7d8709549fc4d4bd5d 100644
--- a/include/core/common/node_base.h
+++ b/include/core/common/node_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/common/node_state_blocks.h b/include/core/common/node_state_blocks.h
index 6bd42e78b6d1429a2653ce957ef094cea86ddb63..ee187bcca8ffea3f4bd9bbe97cfeb3370f56feff 100644
--- a/include/core/common/node_state_blocks.h
+++ b/include/core/common/node_state_blocks.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/common/params_base.h b/include/core/common/params_base.h
index 9c78244bc487b7e83e14ed9204ed1bc65293333c..4331b9709b2f0bdc3dfa6ed68762389802c5c52f 100644
--- a/include/core/common/params_base.h
+++ b/include/core/common/params_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "yaml-cpp/yaml.h"
diff --git a/include/core/common/time_stamp.h b/include/core/common/time_stamp.h
index cb381117bc1cf1274c172e0333e2865bcb21c892..47006742a48efc39046ff90b700b380cbfeffcc7 100644
--- a/include/core/common/time_stamp.h
+++ b/include/core/common/time_stamp.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //wolf includes
diff --git a/include/core/common/wolf.h b/include/core/common/wolf.h
index 1045c79df59beba57e0a7434ff5c0ee80f0835f2..f921b273d84ccfe42b3b063e5ee0880cebdc9ffb 100644
--- a/include/core/common/wolf.h
+++ b/include/core/common/wolf.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Enable project-specific definitions and macros
diff --git a/include/core/composite/composite.h b/include/core/composite/composite.h
index 86c647773832a749c8f446bafe545852a102f0c9..80d87ec7c158b4234d581bb3d9e5740effe4d08c 100644
--- a/include/core/composite/composite.h
+++ b/include/core/composite/composite.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/composite/matrix_composite.h b/include/core/composite/matrix_composite.h
index 6e89b9a83fdd26e1345d7eef5068f1f017662d1b..a470eb23a919961188e360d230b57f45f4f3e413 100644
--- a/include/core/composite/matrix_composite.h
+++ b/include/core/composite/matrix_composite.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/composite/spec_state_composite.h b/include/core/composite/spec_state_composite.h
index 1c91f6d9cce7b6930db2f0676bc6c96b1299c999..1a855ff5f8adb7ecdd9841b997dd728b5134304d 100644
--- a/include/core/composite/spec_state_composite.h
+++ b/include/core/composite/spec_state_composite.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/composite/composite.h"
diff --git a/include/core/composite/spec_state_sensor_composite.h b/include/core/composite/spec_state_sensor_composite.h
index 83c5c3f0dba1009020d118cc521b58565a2162f3..9c96a335493683181d28c8083dd0119d460bb895 100644
--- a/include/core/composite/spec_state_sensor_composite.h
+++ b/include/core/composite/spec_state_sensor_composite.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/composite/spec_state_composite.h"
diff --git a/include/core/composite/state_composite.h b/include/core/composite/state_composite.h
index 55386e1ddd90351feb3936b9a4ec5a0697f7a9ba..61efb4861dac59947fcdee494ac12a25ed2ce76f 100644
--- a/include/core/composite/state_composite.h
+++ b/include/core/composite/state_composite.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/composite/type_composite.h b/include/core/composite/type_composite.h
index 4ce1713eb5f848c8cb3f339e5ef5a524265cf666..e07301f95a4bfbdfb92b91c258fe67d2500eccbf 100644
--- a/include/core/composite/type_composite.h
+++ b/include/core/composite/type_composite.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/composite/vector_composite.h b/include/core/composite/vector_composite.h
index a7ff896054aeabe8b796b3d60c6aafd2c16e6961..6d3006ec1a7f05bd747806090aafd99190402738 100644
--- a/include/core/composite/vector_composite.h
+++ b/include/core/composite/vector_composite.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/factor/factor_analytic.h b/include/core/factor/factor_analytic.h
index 1a3c843529dc1f9e1a95de98d658098ac754aa37..a03e672d6e17ef71f5b6fdc37446f5e049aaa317 100644
--- a/include/core/factor/factor_analytic.h
+++ b/include/core/factor/factor_analytic.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_autodiff.h b/include/core/factor/factor_autodiff.h
index 86fa4bdd97873fd015932e1fc52a0f99b691101c..756761638ab1c47b4497016bda769024bd687125 100644
--- a/include/core/factor/factor_autodiff.h
+++ b/include/core/factor/factor_autodiff.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index 1f4896de4b21f4e235e3120005ebffaf69e60796..cc0f2bf8e3a6733bff80a4d46599d92d99e59a3f 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Forward declarations for node templates
diff --git a/include/core/factor/factor_block_absolute.h b/include/core/factor/factor_block_absolute.h
index c8eb94db68099a3a3f77de0d41f84d9562529b21..698e5dd2d9e3caa0bd3a5d2b4ac5d28473a4b158 100644
--- a/include/core/factor/factor_block_absolute.h
+++ b/include/core/factor/factor_block_absolute.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_block_difference.h b/include/core/factor/factor_block_difference.h
index 23889da8ec92289f261e2aa4e55cbfbd1ca4aae5..affb9e1c16e0428b45810032a589e0c14593832e 100644
--- a/include/core/factor/factor_block_difference.h
+++ b/include/core/factor/factor_block_difference.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_diff_drive.h b/include/core/factor/factor_diff_drive.h
index 83826f25d35b667a8e6c014d539c492744d65b13..81126e52f066b2a1cb6a9528203abbc7edac89c1 100644
--- a/include/core/factor/factor_diff_drive.h
+++ b/include/core/factor/factor_diff_drive.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_distance_3d.h b/include/core/factor/factor_distance_3d.h
index 60839b58136ed4712eb6b485198bdda79a3cda3d..081c647dab34747fc53840e012eaa3b9ffcc1f69 100644
--- a/include/core/factor/factor_distance_3d.h
+++ b/include/core/factor/factor_distance_3d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/factor/factor_autodiff.h"
diff --git a/include/core/factor/factor_pose_2d.h b/include/core/factor/factor_pose_2d.h
index 92770b9d12f924d52441b135488e81bfe8fc9b88..3a31c9d9230d1244a901fce674c42714b6eb1714 100644
--- a/include/core/factor/factor_pose_2d.h
+++ b/include/core/factor/factor_pose_2d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_pose_2d_with_extrinsics.h b/include/core/factor/factor_pose_2d_with_extrinsics.h
index 0b2d57555526466bb0925ecd73eb9632d3311d7d..c04f6a57f67882ae2c32a4ae0f3392d8589d3fee 100644
--- a/include/core/factor/factor_pose_2d_with_extrinsics.h
+++ b/include/core/factor/factor_pose_2d_with_extrinsics.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_pose_3d.h b/include/core/factor/factor_pose_3d.h
index db54bd816851acc01c600bb987ce67afd6999d8e..14dd56b15c683e5f06e9cb45c0ff5009aa71298a 100644
--- a/include/core/factor/factor_pose_3d.h
+++ b/include/core/factor/factor_pose_3d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_pose_3d_with_extrinsics.h b/include/core/factor/factor_pose_3d_with_extrinsics.h
index af93967c1184d7aaa654fe54d1b0983427bbd16e..9335b3879bcdfc836e7faaac7ba3c6fd8a6e3805 100644
--- a/include/core/factor/factor_pose_3d_with_extrinsics.h
+++ b/include/core/factor/factor_pose_3d_with_extrinsics.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h
index 494639dd335cdc300035865cf19c4777a9205279..30ce8772c2ed0733206fc07a784b7fb640dbd10c 100644
--- a/include/core/factor/factor_quaternion_absolute.h
+++ b/include/core/factor/factor_quaternion_absolute.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_relative_pose_2d.h b/include/core/factor/factor_relative_pose_2d.h
index ce3a4fc6ed06a43e5b5ef6656ae742b754a2576c..20d3dca0abaff039151a0f9ba923faee9e1ab5d5 100644
--- a/include/core/factor/factor_relative_pose_2d.h
+++ b/include/core/factor/factor_relative_pose_2d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
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 caeac6ab35f72050f8ecf067458aef34799ded02..427e3c20457a52ed1825f7bd2b2752ad63f3f6e1 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 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_relative_pose_3d.h b/include/core/factor/factor_relative_pose_3d.h
index bff11b104f99602fe6d57efa0065206ed3b519e9..c3afb5087b38bdfef597f252f79c24b127e85ad0 100644
--- a/include/core/factor/factor_relative_pose_3d.h
+++ b/include/core/factor/factor_relative_pose_3d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/factor/factor_autodiff.h"
diff --git a/include/core/factor/factor_relative_pose_3d_with_extrinsics.h b/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
index 624da330616b928a11b83508ce3190e0e614e59f..f212ea86de56d2f43b37dc6a7efeee54ba60b086 100644
--- a/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_relative_position_2d.h b/include/core/factor/factor_relative_position_2d.h
index 53b6c33b743d6ad9c9f22ea08328d26b976ba3bd..91f96cb8ba1b2b816de4c22c521e3836390ddbed 100644
--- a/include/core/factor/factor_relative_position_2d.h
+++ b/include/core/factor/factor_relative_position_2d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_relative_position_2d_with_extrinsics.h b/include/core/factor/factor_relative_position_2d_with_extrinsics.h
index 7e692bcbcd0519cb584960399a5de220678910e8..1107e226d4160ed277aae5bc0ffb912819dac984 100644
--- a/include/core/factor/factor_relative_position_2d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_position_2d_with_extrinsics.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_relative_position_3d.h b/include/core/factor/factor_relative_position_3d.h
index 1352f6f41cdc0dd4aa67cf46d7bd114c6b840a86..2206a7626369a06beb9ac1fa1127ae56e843c214 100644
--- a/include/core/factor/factor_relative_position_3d.h
+++ b/include/core/factor/factor_relative_position_3d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #pragma once
 
diff --git a/include/core/factor/factor_relative_position_3d_with_extrinsics.h b/include/core/factor/factor_relative_position_3d_with_extrinsics.h
index 248db530accb8f96f870dda019ec2925c961e52c..094550681707d6fb12971699f4911d70c3b2864f 100644
--- a/include/core/factor/factor_relative_position_3d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_position_3d_with_extrinsics.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/factor/factor_velocity_local_direction_3d.h b/include/core/factor/factor_velocity_local_direction_3d.h
index b7e66002f94d4af204bf4362a06a50cf479d133e..7bdb5f42f2cbfab7a3d0995f6c6241b30cd92685 100644
--- a/include/core/factor/factor_velocity_local_direction_3d.h
+++ b/include/core/factor/factor_velocity_local_direction_3d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index fc699db24d6983ed5e0d3f14140134f322e2ba50..6dc4248e429c9755a95ab9b404136eeca82e0f45 100644
--- a/include/core/feature/feature_base.h
+++ b/include/core/feature/feature_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Forward declarations for node templates
diff --git a/include/core/feature/feature_diff_drive.h b/include/core/feature/feature_diff_drive.h
index 270bbfe9d82dd64974488f989bdc30224659d3a4..eeb37208d728393cc7f1017c5e8598aecc6f98e2 100644
--- a/include/core/feature/feature_diff_drive.h
+++ b/include/core/feature/feature_diff_drive.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //Wolf includes
diff --git a/include/core/feature/feature_match.h b/include/core/feature/feature_match.h
index 5b6123ebe45f1274978f2c603acee084f894d8e4..5559280585acf131bc38f4e69f043a3c14b1da89 100644
--- a/include/core/feature/feature_match.h
+++ b/include/core/feature/feature_match.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/feature/feature_motion.h b/include/core/feature/feature_motion.h
index 9ae990fc092fbaf7a4e4d3e355949a404013c945..fcf4ed627931b7135eba730c7a2863f41cfdd7bf 100644
--- a/include/core/feature/feature_motion.h
+++ b/include/core/feature/feature_motion.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/feature/feature_base.h"
diff --git a/include/core/feature/feature_odom_2d.h b/include/core/feature/feature_odom_2d.h
index 6238ee177f624449520942445e9d12881381fa2a..4f396f35a27b2c8d06534cad6598f05241912f18 100644
--- a/include/core/feature/feature_odom_2d.h
+++ b/include/core/feature/feature_odom_2d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //Wolf includes
diff --git a/include/core/feature/feature_pose.h b/include/core/feature/feature_pose.h
index e2de87fc65d707160bd6226ae6f40f5ad56ed13b..4db9d20ecfdb48c7f95ce12990f3c42dc3d481c3 100644
--- a/include/core/feature/feature_pose.h
+++ b/include/core/feature/feature_pose.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //Wolf includes
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index c03e1f48825b5178411da0b2069dd6a9b5f5fe09..3a34f406f42a9134c44b85180ad7038cf76337d5 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Fwd refs
diff --git a/include/core/hardware/hardware_base.h b/include/core/hardware/hardware_base.h
index 1ab86bf0361b8fdbbab7e74fde4f815ee2ef6762..787d55610d1ccff250fb524c088299bc8ca15ef6 100644
--- a/include/core/hardware/hardware_base.h
+++ b/include/core/hardware/hardware_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Fwd dependencies
diff --git a/include/core/landmark/factory_landmark.h b/include/core/landmark/factory_landmark.h
index 544b63a11729d568c276bf116fbce150fba51cd9..829430b734dbe3b53e2ecebe470f8702d480b56a 100644
--- a/include/core/landmark/factory_landmark.h
+++ b/include/core/landmark/factory_landmark.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // wolf
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index 5a75624c96f9c5f9e18ca2f66132e2941cc7cc17..6023e854933d09e7438e3b38ec3275eaee65b744 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // // Fwd references
diff --git a/include/core/landmark/landmark_match.h b/include/core/landmark/landmark_match.h
index 86244b30695d0d2e5d3805a442a79084be5a884c..ff36a471e75ec1c8d4b1cdbe429cebaf6b74c0bb 100644
--- a/include/core/landmark/landmark_match.h
+++ b/include/core/landmark/landmark_match.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/map/factory_map.h b/include/core/map/factory_map.h
index 08469a7bbc3791fe2fc14acb936fda39b9c26587..1ab613216766a2499a89534dfec483a0d14a48b4 100644
--- a/include/core/map/factory_map.h
+++ b/include/core/map/factory_map.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // wolf
diff --git a/include/core/map/map_base.h b/include/core/map/map_base.h
index ff62bbaa5121cca1565b88fb9424e8a6e1059860..36120977c5622417d5a7f398a268d18de7e4865f 100644
--- a/include/core/map/map_base.h
+++ b/include/core/map/map_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Fwd refs
diff --git a/include/core/math/SE2.h b/include/core/math/SE2.h
index 613cf19b9364269099b46520c30ba306c72c0ef9..38bdcc56c904293f551184a5e2e03e481ed094a9 100644
--- a/include/core/math/SE2.h
+++ b/include/core/math/SE2.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/math/SE3.h b/include/core/math/SE3.h
index c0631d6d783a8dfdda7f75e3b6d94b26aeaffc74..75d16adb41da61785a412c17840f4584618f7a7d 100644
--- a/include/core/math/SE3.h
+++ b/include/core/math/SE3.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/math/covariance.h b/include/core/math/covariance.h
index 9442e1fff14081269a02a0f4d485bd339b6ccbaf..e2e0aeb3db9ecd051cbff494c2364f104bb4df22 100644
--- a/include/core/math/covariance.h
+++ b/include/core/math/covariance.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include <Eigen/Dense>
diff --git a/include/core/math/rotations.h b/include/core/math/rotations.h
index d4f00827aa2410993a5db9868576008050dcee51..11a9b2bb5b139ad6107bbd0962a507788fa24848 100644
--- a/include/core/math/rotations.h
+++ b/include/core/math/rotations.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index d0cac85e125a2370de4a15dcda85e3e35eb15e2f..c409e48f7a320e3e397b4552222cf4c7593c70e4 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Fwd refs
diff --git a/include/core/processor/factory_processor.h b/include/core/processor/factory_processor.h
index c22c896068965a42e05f31537fcf1bdfa68d9913..be928b37f5fce2b2989dd459573c46619ae9ba3f 100644
--- a/include/core/processor/factory_processor.h
+++ b/include/core/processor/factory_processor.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // wolf
diff --git a/include/core/processor/motion_buffer.h b/include/core/processor/motion_buffer.h
index 0bccc37964f5f5f692637f917adb828cdf633157..379553a21ce519a4b174cf4c4074c1d8b272964a 100644
--- a/include/core/processor/motion_buffer.h
+++ b/include/core/processor/motion_buffer.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/processor/motion_provider.h b/include/core/processor/motion_provider.h
index 6e201e5afaf4ee0294de83767e0287abcd10a1db..69e89b6d089094099c1d6c06a687c404c75c5d32 100644
--- a/include/core/processor/motion_provider.h
+++ b/include/core/processor/motion_provider.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 73bb54e2234c42ed2e4accc859e712a4da7f6f55..62a1d888c9aeb80855a8778fdea4d3f2c3ca2b6a 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Fwd refs
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 19a0ce20791f59559a441545b2bff2ba0dfa7414..9da3f12238d03d5ecbdcd0ea3f782ee04964aaba 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/processor/processor_odom_2d.h"
diff --git a/include/core/processor/processor_fixed_wing_model.h b/include/core/processor/processor_fixed_wing_model.h
index 492cf50a5977ab2259a199e84b54a33acf47e495..0becd8e02d8859d88a2075301c0995560757dfc9 100644
--- a/include/core/processor/processor_fixed_wing_model.h
+++ b/include/core/processor/processor_fixed_wing_model.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/processor/processor_base.h"
diff --git a/include/core/processor/processor_landmark_external.h b/include/core/processor/processor_landmark_external.h
index acd87cc795727e4df627e4b39c18e52e5abebab4..6c2fb7fc0826e2708e93a2b7d6b01fa01a0d4d4e 100644
--- a/include/core/processor/processor_landmark_external.h
+++ b/include/core/processor/processor_landmark_external.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #pragma once
 
diff --git a/include/core/processor/processor_loop_closure.h b/include/core/processor/processor_loop_closure.h
index 72ba7f2765284237dde90e9e364b13760b31aa87..f367a0cdcc000a960ae6736b65be48679e853981 100644
--- a/include/core/processor/processor_loop_closure.h
+++ b/include/core/processor/processor_loop_closure.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf related headers
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 89fcff7c617a216fe412f7ecdf311b8dd66e1872..542d770292866095dae704ab080d6c21b3f0f6b1 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index 83794f99017892685bd83d2b34abb89108e7c7eb..dbc3c4b20f2db7c12a7829eb2ffa1743fbb7b8d6 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/processor/processor_motion.h"
diff --git a/include/core/processor/processor_odom_3d.h b/include/core/processor/processor_odom_3d.h
index 881d7ced2cdec8380feb2edbb4b9e495522b7753..292e9dbdcc9277fc2ad4ef88566efd282f03dfab 100644
--- a/include/core/processor/processor_odom_3d.h
+++ b/include/core/processor/processor_odom_3d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/processor/processor_motion.h"
diff --git a/include/core/processor/processor_pose.h b/include/core/processor/processor_pose.h
index d19b0471d57e4537ad2168f812df694ef18e7239..14dcaa04844db08e14974d69fd7b653c4f12b446 100644
--- a/include/core/processor/processor_pose.h
+++ b/include/core/processor/processor_pose.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 121929774779814de1b1c654488b6d78f1f977f2..bfc858bdcd3ee27e35b377eff858b3147df3273a 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/processor/processor_base.h"
diff --git a/include/core/processor/processor_tracker_feature.h b/include/core/processor/processor_tracker_feature.h
index 1d11969a8d971de925164cab76cc956117acfe43..3180b0e9d00b9bfc387f2795570c1530e7e4bfd3 100644
--- a/include/core/processor/processor_tracker_feature.h
+++ b/include/core/processor/processor_tracker_feature.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //wolf includes
diff --git a/include/core/processor/processor_tracker_landmark.h b/include/core/processor/processor_tracker_landmark.h
index 0cb6f0ba757103b87e5e59a3e236f8affc8c537c..4cd56622f8e3b830dbfb7a22a09dab88d56e63b7 100644
--- a/include/core/processor/processor_tracker_landmark.h
+++ b/include/core/processor/processor_tracker_landmark.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //wolf includes
diff --git a/include/core/processor/track_matrix.h b/include/core/processor/track_matrix.h
index ae81f82f2372d2270d1e0442d1b0343490083039..2d227364543b1a2cbf09fc3afaf57ed3a94484d7 100644
--- a/include/core/processor/track_matrix.h
+++ b/include/core/processor/track_matrix.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/feature/feature_base.h"
diff --git a/include/core/sensor/factory_sensor.h b/include/core/sensor/factory_sensor.h
index 5861c89737b7fba0fe8995532a5b4794adec6242..2ca7104eaeb775f7bced42064c29594cdbfb1505 100644
--- a/include/core/sensor/factory_sensor.h
+++ b/include/core/sensor/factory_sensor.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 namespace wolf
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index 60ac9a8c1b1114886be113053755cfe4e7a1210a..d6995d1fbd3dec53e0c98fb5c0fd7ae28afa9513 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Fwd refs
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index 15d84041d7d84b50085e425cc605d76751d0b29b..89ccf113b0890a4cf4054735d4eaeccff785a9e9 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/sensor/sensor_base.h"
diff --git a/include/core/sensor/sensor_motion_model.h b/include/core/sensor/sensor_motion_model.h
index ce0016370eadc6936824db9586ca7081da5f68c8..86a6751488799ca74df124a63e40e5cab9511e4b 100644
--- a/include/core/sensor/sensor_motion_model.h
+++ b/include/core/sensor/sensor_motion_model.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // wolf includes
diff --git a/include/core/sensor/sensor_odom.h b/include/core/sensor/sensor_odom.h
index 8b2124e6c73b1d3be2a4608b60783e121707bdce..ca710abfb1d9c97cb94c82fdbec3886af9908244 100644
--- a/include/core/sensor/sensor_odom.h
+++ b/include/core/sensor/sensor_odom.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // wolf includes
diff --git a/include/core/sensor/sensor_pose.h b/include/core/sensor/sensor_pose.h
index a549f51824e25302eb744d153ee3b8fbccd5fe35..aab67c08b493967401deec8c45f701f0e633cce8 100644
--- a/include/core/sensor/sensor_pose.h
+++ b/include/core/sensor/sensor_pose.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // wolf includes
diff --git a/include/core/solver/factory_solver.h b/include/core/solver/factory_solver.h
index 538ea43d31171e065c49379f6026c48b37fb0b30..e4aeebe121ee5c13414f59b43ca2229e51698ef8 100644
--- a/include/core/solver/factory_solver.h
+++ b/include/core/solver/factory_solver.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 namespace wolf
diff --git a/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h
index 9408aa1cf9b3775cd8e8b00c9537c2886b3ba13a..93be6784611a5b950eb4026acda2575c79866170 100644
--- a/include/core/solver/solver_manager.h
+++ b/include/core/solver/solver_manager.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //wolf includes
diff --git a/include/core/solver_suitesparse/ccolamd_ordering.h b/include/core/solver_suitesparse/ccolamd_ordering.h
index 7d547b06d6dcdff90e44002d90b40fc513cfc1e5..edcb5724c9b3079e29a010e81382e4d798b601ca 100644
--- a/include/core/solver_suitesparse/ccolamd_ordering.h
+++ b/include/core/solver_suitesparse/ccolamd_ordering.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //std includes
diff --git a/include/core/solver_suitesparse/cost_function_base.h b/include/core/solver_suitesparse/cost_function_base.h
index f41fa4d50e23aa9f4d1cd630b3cb4f8b67ae03a2..20003933c859f4ffe5e5a2d05f1c4e07fac6a977 100644
--- a/include/core/solver_suitesparse/cost_function_base.h
+++ b/include/core/solver_suitesparse/cost_function_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/solver_suitesparse/cost_function_sparse.h b/include/core/solver_suitesparse/cost_function_sparse.h
index 4aa38325c90474bba1e9b6ed812e4a6c7e38b3f8..b84388b951197eeab41576970df1643cdbc8cd75 100644
--- a/include/core/solver_suitesparse/cost_function_sparse.h
+++ b/include/core/solver_suitesparse/cost_function_sparse.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //wolf includes
diff --git a/include/core/solver_suitesparse/cost_function_sparse_base.h b/include/core/solver_suitesparse/cost_function_sparse_base.h
index 282cbf3f2800e2fbe04eae5915d378ff91187e04..13ebf3914c847cd8a601c75fe4e57c82655c250c 100644
--- a/include/core/solver_suitesparse/cost_function_sparse_base.h
+++ b/include/core/solver_suitesparse/cost_function_sparse_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //wolf includes
diff --git a/include/core/solver_suitesparse/qr_solver.h b/include/core/solver_suitesparse/qr_solver.h
index 16787a129bba7b1a0dffa628ddb89c3bb8bb7928..3ae53dedfa99e2b443e48810913a341c5a6a59a1 100644
--- a/include/core/solver_suitesparse/qr_solver.h
+++ b/include/core/solver_suitesparse/qr_solver.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //std includes
diff --git a/include/core/solver_suitesparse/solver_QR.h b/include/core/solver_suitesparse/solver_QR.h
index ca5f67476081b5d7169ef0cad5d9b69a4ddb8f32..eaa3803f55e7f7d3acb7dbb3c6b7b101528bf288 100644
--- a/include/core/solver_suitesparse/solver_QR.h
+++ b/include/core/solver_suitesparse/solver_QR.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 using namespace Eigen;
diff --git a/include/core/solver_suitesparse/solver_manager.h b/include/core/solver_suitesparse/solver_manager.h
index e8ac8a7f90e4c453c3cec18f62c1b0a719127ff7..3a59e7c638409d1976330b2f69b72ea86ea50b6a 100644
--- a/include/core/solver_suitesparse/solver_manager.h
+++ b/include/core/solver_suitesparse/solver_manager.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //wolf includes
diff --git a/include/core/solver_suitesparse/sparse_utils.h b/include/core/solver_suitesparse/sparse_utils.h
index 9f66c313d640f9755324b3ea8cdb9c975a568f29..24e741164813c558d65e07f0ed21ffb13b8f3981 100644
--- a/include/core/solver_suitesparse/sparse_utils.h
+++ b/include/core/solver_suitesparse/sparse_utils.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // eigen includes
diff --git a/include/core/state_block/factory_state_block.h b/include/core/state_block/factory_state_block.h
index 5f29e0b12a4bb0617152cb6088d83aef46d021a1..1f62ca15f2e916c8b098fa06c93c8e3d815e962c 100644
--- a/include/core/state_block/factory_state_block.h
+++ b/include/core/state_block/factory_state_block.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/factory.h"
diff --git a/include/core/state_block/local_parametrization_angle.h b/include/core/state_block/local_parametrization_angle.h
index 5af76c0170365538be7ec986512e034122b8b47e..2f5f68af006b14983d6d51bafc281879af2450a1 100644
--- a/include/core/state_block/local_parametrization_angle.h
+++ b/include/core/state_block/local_parametrization_angle.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/state_block/local_parametrization_base.h"
diff --git a/include/core/state_block/local_parametrization_base.h b/include/core/state_block/local_parametrization_base.h
index b1403505f3d44ee2e2aae790aa4941c7337a41f2..6c63904f74dd50d77cb4a064c3888780d7c97b8e 100644
--- a/include/core/state_block/local_parametrization_base.h
+++ b/include/core/state_block/local_parametrization_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/state_block/local_parametrization_homogeneous.h b/include/core/state_block/local_parametrization_homogeneous.h
index dbb73f1f578a380d740f788805b8f6cbce5ad135..b4a112f34fa3ec2534cf6cb76133f11c1c55efb1 100644
--- a/include/core/state_block/local_parametrization_homogeneous.h
+++ b/include/core/state_block/local_parametrization_homogeneous.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/state_block/local_parametrization_base.h"
diff --git a/include/core/state_block/local_parametrization_quaternion.h b/include/core/state_block/local_parametrization_quaternion.h
index 4c3a370167443476f5016071cbfd68d6a3614b72..cd1aa8fec759ef8980d8cfb0a8410a1bebf6024b 100644
--- a/include/core/state_block/local_parametrization_quaternion.h
+++ b/include/core/state_block/local_parametrization_quaternion.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/state_block/local_parametrization_base.h"
diff --git a/include/core/state_block/state_angle.h b/include/core/state_block/state_angle.h
index 91f3e6a422f557770a9f30abb9c320648848d2f1..ec15263d145c54edf1aec9efa65daac5192c2ce8 100644
--- a/include/core/state_block/state_angle.h
+++ b/include/core/state_block/state_angle.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/state_block/state_block.h"
diff --git a/include/core/state_block/state_block.h b/include/core/state_block/state_block.h
index 610f3d118ebe98be14fce6f6028c250fde2e7a99..1165d904f9babba120f9fb2b3dc40e1019c5ef02 100644
--- a/include/core/state_block/state_block.h
+++ b/include/core/state_block/state_block.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 /*
diff --git a/include/core/state_block/state_block_derived.h b/include/core/state_block/state_block_derived.h
index d35b597a6bcbb9b83f7fa89c279f0f815520f60b..a71538fc68cb2ee02c525b4b6dd72bdfda025952 100644
--- a/include/core/state_block/state_block_derived.h
+++ b/include/core/state_block/state_block_derived.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/state_block/state_block.h"
diff --git a/include/core/state_block/state_homogeneous_3d.h b/include/core/state_block/state_homogeneous_3d.h
index 8890f51cd4ffd5e2fd771f4de430189dacaef274..261fdbb6fc63edc9cd8a70cd50331f1722c941bd 100644
--- a/include/core/state_block/state_homogeneous_3d.h
+++ b/include/core/state_block/state_homogeneous_3d.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/state_block/state_block.h"
diff --git a/include/core/state_block/state_quaternion.h b/include/core/state_block/state_quaternion.h
index 1c0b54f51c6ec067f7817716a60c926b097e1d74..a233a419539c795e6d93780a8c51ff04e120dcc6 100644
--- a/include/core/state_block/state_quaternion.h
+++ b/include/core/state_block/state_quaternion.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/state_block/state_block.h"
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 179b37ccb697a47476693a331252df8c1994c0f5..071ecceb8a3de90f6b3e2addfe4efc381db903a5 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Fwd refs
diff --git a/include/core/tree_manager/factory_tree_manager.h b/include/core/tree_manager/factory_tree_manager.h
index b950beb89ca0c2d55420eec93a22c45f9b36b8fd..ec4ad7d81f4ead5fedb282da622a917ad7e1d675 100644
--- a/include/core/tree_manager/factory_tree_manager.h
+++ b/include/core/tree_manager/factory_tree_manager.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // wolf
diff --git a/include/core/tree_manager/tree_manager_base.h b/include/core/tree_manager/tree_manager_base.h
index f4e0d2037a0b7259bd5adb568b81c3d1e6fc0d34..17846d0155213ef2517d9bd98525cbbc1a77e495 100644
--- a/include/core/tree_manager/tree_manager_base.h
+++ b/include/core/tree_manager/tree_manager_base.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/include/core/tree_manager/tree_manager_sliding_window.h b/include/core/tree_manager/tree_manager_sliding_window.h
index c15ea6184c6ed2a84ba8a2cbc8c38c2e064e52b6..244df6bc9043923d99d396f731ea1fede4324f72 100644
--- a/include/core/tree_manager/tree_manager_sliding_window.h
+++ b/include/core/tree_manager/tree_manager_sliding_window.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/tree_manager/tree_manager_base.h"
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 60562043959567ad2800d5a436db10528d0200fb..64f1c9a9fba6826880d71297f48f1a3dea7e1501 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 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/tree_manager/tree_manager_sliding_window.h"
diff --git a/include/core/utils/check_log.h b/include/core/utils/check_log.h
index a9910f76bf8ad7280866f36e2784da8fbb936c75..1a2c58f9ad29dbdf5621d5d2435bf03ac6075a55 100644
--- a/include/core/utils/check_log.h
+++ b/include/core/utils/check_log.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include <iostream>
diff --git a/include/core/utils/eigen_assert.h b/include/core/utils/eigen_assert.h
index 45a70302d723454940829bcb7515052807506f91..e15df48fec395e1f837250a73c422b289920cb71 100644
--- a/include/core/utils/eigen_assert.h
+++ b/include/core/utils/eigen_assert.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include <Eigen/Dense>
diff --git a/include/core/utils/folder_registry.h b/include/core/utils/folder_registry.h
index 71ebcf6a80324e5428b4965698a001ef2b3bc3d9..fa8182d34d9a1c9c15c2feb91ac64a1a003d5ca1 100644
--- a/include/core/utils/folder_registry.h
+++ b/include/core/utils/folder_registry.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // std
diff --git a/include/core/utils/graph_search.h b/include/core/utils/graph_search.h
index a33fc2c2d8ed3af99f089608e0e241d3360f022e..e68b33a56927322c8c0629f705ff28f301021d2c 100644
--- a/include/core/utils/graph_search.h
+++ b/include/core/utils/graph_search.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/include/core/utils/loader.h b/include/core/utils/loader.h
index a5e39dd960c8beafeadfd67daf0439e72d0fda00..f5b86b31ce1ef1a2958aa3dc777bfd69dbfadd6e 100644
--- a/include/core/utils/loader.h
+++ b/include/core/utils/loader.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include <dlfcn.h>
diff --git a/include/core/utils/logging.h b/include/core/utils/logging.h
index 4766f3541c62a62cc9da29fbad0ceef285364fef..20bd36858956b9957a59d7014ef885362d117b94 100644
--- a/include/core/utils/logging.h
+++ b/include/core/utils/logging.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // third_party include
diff --git a/include/core/utils/singleton.h b/include/core/utils/singleton.h
index f34738a1186bda8b1079e46ee3f06de123aad402..38e2f079ae503b4773c8b07eb8d8db3b89135a4b 100644
--- a/include/core/utils/singleton.h
+++ b/include/core/utils/singleton.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include <memory>
diff --git a/include/core/utils/utils_gtest.h b/include/core/utils/utils_gtest.h
index f22570c12ad39963b423ef6282ef3152be72e5a7..3b845f37230408b579ebdf1048a773df4929ad09 100644
--- a/include/core/utils/utils_gtest.h
+++ b/include/core/utils/utils_gtest.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include <gtest/gtest.h>
diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index bd06ac2a6157852310e459a62a27996cf7c836d6..612e7aefecf212e79967f477a3bc480fa863a623 100644
--- a/src/capture/capture_base.cpp
+++ b/src/capture/capture_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/capture/capture_base.h"
 #include "core/sensor/sensor_base.h"
 
diff --git a/src/capture/capture_diff_drive.cpp b/src/capture/capture_diff_drive.cpp
index 02b2c32fbc5f27fd28dc0f958b40c1ab924e3f79..6833d826a608610c41f68da193529dacca88cf8e 100644
--- a/src/capture/capture_diff_drive.cpp
+++ b/src/capture/capture_diff_drive.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 
 #include "core/capture/capture_diff_drive.h"
diff --git a/src/capture/capture_landmarks_external.cpp b/src/capture/capture_landmarks_external.cpp
index ce850621a88095eb87067c6b172767b77471382b..4afc7a816d175f0e383be9d6a059cded6bec9b57 100644
--- a/src/capture/capture_landmarks_external.cpp
+++ b/src/capture/capture_landmarks_external.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/capture/capture_landmarks_external.h"
 
 namespace wolf{
diff --git a/src/capture/capture_motion.cpp b/src/capture/capture_motion.cpp
index 84554e3e5b99f73e2327b5cfa9e26eff6cb933ee..3d1fe19a1e996c44868585a20727a168fef8ad29 100644
--- a/src/capture/capture_motion.cpp
+++ b/src/capture/capture_motion.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/capture/capture_motion.h"
 
diff --git a/src/capture/capture_odom_2d.cpp b/src/capture/capture_odom_2d.cpp
index d2216b1472e6852a84c7f3d39f6640dd80ede12e..59eff667a500a60944fb159f18fe8c7f9475b8ad 100644
--- a/src/capture/capture_odom_2d.cpp
+++ b/src/capture/capture_odom_2d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * capture_odom_2d.cpp
  *
diff --git a/src/capture/capture_odom_3d.cpp b/src/capture/capture_odom_3d.cpp
index b90ea267387b2cdd7b597b316f18bb44570b117e..ca68cf4b47514d92904602b2ce0cb21e89ac723f 100644
--- a/src/capture/capture_odom_3d.cpp
+++ b/src/capture/capture_odom_3d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * capture_odom_3d.cpp
  *
diff --git a/src/capture/capture_pose.cpp b/src/capture/capture_pose.cpp
index 3600244097d17b0be72c5c76d819b75fd080d466..40a8626c4a0eca5664d205003bced64825c09cd8 100644
--- a/src/capture/capture_pose.cpp
+++ b/src/capture/capture_pose.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/capture/capture_pose.h"
 
 namespace wolf
diff --git a/src/capture/capture_void.cpp b/src/capture/capture_void.cpp
index 8c4a7abc118a4b624fc7255869cb861a3de9935f..d719a8b95b4f423445c42259ba2da9f197497b2f 100644
--- a/src/capture/capture_void.cpp
+++ b/src/capture/capture_void.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/capture/capture_void.h"
 
 namespace wolf {
diff --git a/src/ceres_wrapper/local_parametrization_wrapper.cpp b/src/ceres_wrapper/local_parametrization_wrapper.cpp
index ee0ce1c3f13e89ce9b79b61a287f0f6e2399335f..85ff46cfda3e196987e8ec6984b7bf1185eb560a 100644
--- a/src/ceres_wrapper/local_parametrization_wrapper.cpp
+++ b/src/ceres_wrapper/local_parametrization_wrapper.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/ceres_wrapper/local_parametrization_wrapper.h"
 
 namespace wolf {
diff --git a/src/ceres_wrapper/qr_manager.cpp b/src/ceres_wrapper/qr_manager.cpp
index ae1e943453e5a2449cee92ea54035c97109d48ba..024924ba4b99996ce9033c6c866929509af3e94b 100644
--- a/src/ceres_wrapper/qr_manager.cpp
+++ b/src/ceres_wrapper/qr_manager.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * qr_manager.cpp
  *
diff --git a/src/ceres_wrapper/solver_ceres.cpp b/src/ceres_wrapper/solver_ceres.cpp
index 64d8dd281af2f43a584642d8b585b44e73259ada..1f6a96b42936941fd28bb71763b7c54df043daa7 100644
--- a/src/ceres_wrapper/solver_ceres.cpp
+++ b/src/ceres_wrapper/solver_ceres.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/ceres_wrapper/solver_ceres.h"
 #include "core/ceres_wrapper/create_numeric_diff_cost_function.h"
 #include "core/ceres_wrapper/cost_function_wrapper.h"
diff --git a/src/common/node_base.cpp b/src/common/node_base.cpp
index 16060b2192ded37e2729263cc8b2ebe1b59704c4..45f2bd3dfce579e6f2a721f3519950fc5f97b2b5 100644
--- a/src/common/node_base.cpp
+++ b/src/common/node_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/common/node_base.h"
 
 namespace wolf {
diff --git a/src/common/node_state_blocks.cpp b/src/common/node_state_blocks.cpp
index 56eaf7336b41b6d2683621827398f94db07c1e5a..20d6a413d6dedd4688863c66d24984266b412629 100644
--- a/src/common/node_state_blocks.cpp
+++ b/src/common/node_state_blocks.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/common/node_state_blocks.h"
 #include "core/state_block/factory_state_block.h"
diff --git a/src/common/time_stamp.cpp b/src/common/time_stamp.cpp
index 6c31d16da1918386813bb2ebd3b71f6daa6df461..487485d05bf856e6954065458cdbe1ca229af8e0 100644
--- a/src/common/time_stamp.cpp
+++ b/src/common/time_stamp.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/common/time_stamp.h"
 
diff --git a/src/composite/matrix_composite.cpp b/src/composite/matrix_composite.cpp
index ef0795f71c665253b554a467a6003927d23caaef..77f438f719f4d285f493991da992a1eb62a33a81 100644
--- a/src/composite/matrix_composite.cpp
+++ b/src/composite/matrix_composite.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/composite/matrix_composite.h"
 
diff --git a/src/composite/spec_state_composite.cpp b/src/composite/spec_state_composite.cpp
index 446a640432b5bb832ba412e7593c7825902667c6..1370912fd7c942ad468f82d9b0e620c939394b24 100644
--- a/src/composite/spec_state_composite.cpp
+++ b/src/composite/spec_state_composite.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/composite/spec_state_composite.h"
 #include "core/state_block/factory_state_block.h"
diff --git a/src/composite/spec_state_sensor_composite.cpp b/src/composite/spec_state_sensor_composite.cpp
index 8b742c7eb37a4facc289d755f0f7918894908472..2054cc604a772501f29142381151a445da3ec5d9 100644
--- a/src/composite/spec_state_sensor_composite.cpp
+++ b/src/composite/spec_state_sensor_composite.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/composite/spec_state_sensor_composite.h"
 #include "core/state_block/factory_state_block.h"
diff --git a/src/composite/state_composite.cpp b/src/composite/state_composite.cpp
index 5ab42910f3dec9b4a034db09cd0f90a80c47ee16..0732628eb3ab341e85ffe88a4db9166287218412 100644
--- a/src/composite/state_composite.cpp
+++ b/src/composite/state_composite.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/composite/state_composite.h"
 #include "core/state_block/state_block.h"
diff --git a/src/composite/vector_composite.cpp b/src/composite/vector_composite.cpp
index 7fab00b1da38c70fcbaf72dc61293e6e0fc02d81..b326d4f72868b3e5848081d94370cc5b8a51a21d 100644
--- a/src/composite/vector_composite.cpp
+++ b/src/composite/vector_composite.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/composite/vector_composite.h"
 
diff --git a/src/factor/factor_analytic.cpp b/src/factor/factor_analytic.cpp
index 0ffef98fe1f76b9a47b34a6d39864c2ad3206f91..6cfa21972aa6da3761eb4555272289b5abcb945b 100644
--- a/src/factor/factor_analytic.cpp
+++ b/src/factor/factor_analytic.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/factor/factor_analytic.h"
 #include "core/state_block/state_block.h"
 
diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp
index 0c95393002f8d532679eafb50e923c455a939465..3ff0375464a27dea751b2bedc17114f3180c8334 100644
--- a/src/factor/factor_base.cpp
+++ b/src/factor/factor_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/factor/factor_base.h"
 #include "core/capture/capture_base.h"
 #include "core/frame/frame_base.h"
diff --git a/src/feature/feature_base.cpp b/src/feature/feature_base.cpp
index 72c5b99fd732c41c3e94451f4157867859a62f20..6a77fff27362594d784e514add80d9e2decec09e 100644
--- a/src/feature/feature_base.cpp
+++ b/src/feature/feature_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/feature/feature_base.h"
 #include "core/factor/factor_base.h"
 #include "core/capture/capture_base.h"
diff --git a/src/feature/feature_diff_drive.cpp b/src/feature/feature_diff_drive.cpp
index 5ce1b5035168273d8ca83bcfbb8004f8ce83d980..3280a8dad64fc58b149f42d8967f944b5b759e6d 100644
--- a/src/feature/feature_diff_drive.cpp
+++ b/src/feature/feature_diff_drive.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/feature/feature_diff_drive.h"
 
 namespace wolf
diff --git a/src/feature/feature_motion.cpp b/src/feature/feature_motion.cpp
index b284ceb197c587d4bf2184c0c3eae0638df2340d..f5ad0dfb92a4732b736d0602163d8e6f78a0e23e 100644
--- a/src/feature/feature_motion.cpp
+++ b/src/feature/feature_motion.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * feature_motion.cpp
  *
diff --git a/src/feature/feature_odom_2d.cpp b/src/feature/feature_odom_2d.cpp
index 9c8d264e6c31d8ab9b16b1697f5e6de59b4fc4b5..56600a902990b305db1fd96398958208236f8645 100644
--- a/src/feature/feature_odom_2d.cpp
+++ b/src/feature/feature_odom_2d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/feature/feature_odom_2d.h"
 
 namespace wolf {
diff --git a/src/feature/feature_pose.cpp b/src/feature/feature_pose.cpp
index 0004a943b8ba42052502740a063e4f538aad6298..88fed43b973a7de1abe9ca3154e6fb5563e71126 100644
--- a/src/feature/feature_pose.cpp
+++ b/src/feature/feature_pose.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/feature/feature_pose.h"
 
 namespace wolf {
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 706a7ad12d166480b7d72aec63a9c9d5cafebcf1..13d43f363b87ab77d98b9fd2e6f63a78f4ce32b3 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/frame/frame_base.h"
 #include "core/factor/factor_base.h"
diff --git a/src/hardware/hardware_base.cpp b/src/hardware/hardware_base.cpp
index 115f8a6bac38766358eb8c0432d83b5fbd1ebb23..c575fc57555380234cfa1d5586e3e6e20e29793a 100644
--- a/src/hardware/hardware_base.cpp
+++ b/src/hardware/hardware_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/hardware/hardware_base.h"
 #include "core/sensor/sensor_base.h"
 
diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp
index 6fa21a037a422db78f1297602ce843b7d6468bd3..a1beb36b837e0f2d4114d2ec12e2af89cfe55e36 100644
--- a/src/landmark/landmark_base.cpp
+++ b/src/landmark/landmark_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/landmark/landmark_base.h"
 #include "core/factor/factor_base.h"
diff --git a/src/map/map_base.cpp b/src/map/map_base.cpp
index 247bf92b8859aa14d1f24a2bce04e277acb0d17a..c43e84cf0705a2138552ad374d19392079f74e48 100644
--- a/src/map/map_base.cpp
+++ b/src/map/map_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 // wolf
 #include "core/map/map_base.h"
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 9ed70baacd7513a261868c1af738a5ef21b8a62c..1047f1503d7ff123e9636dee51bc0ac5b8b05de1 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 // wolf includes
 #include "core/problem/problem.h"
 #include "core/internal/config.h"
diff --git a/src/processor/motion_buffer.cpp b/src/processor/motion_buffer.cpp
index b2559d82a702126794049e35854dc9c4fdcdf481..95c9fc741782513d2ce726bcfbc42caac2db95ae 100644
--- a/src/processor/motion_buffer.cpp
+++ b/src/processor/motion_buffer.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/processor/motion_buffer.h"
 namespace wolf
 {
diff --git a/src/processor/motion_provider.cpp b/src/processor/motion_provider.cpp
index 8f304889da651c3e23fa301ac15c8fba3089f3af..5e73ab6a646f947d7c055018adafe8c001a3d0e2 100644
--- a/src/processor/motion_provider.cpp
+++ b/src/processor/motion_provider.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include <core/processor/motion_provider.h>
 #include "core/problem/problem.h"
 
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index ee7698918374fd12b0b3e33fbd4c75a18ffb2db6..42f1095d238bef46eeb4157e1cf241a280149020 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/processor/processor_base.h"
 #include "core/processor/processor_motion.h"
 #include "core/capture/capture_base.h"
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index dbfcea16efde8b9766e7fd131b1532fcdcf2e2b7..8d2b71708de2f30b4d541d79559d48bf68f2699c 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/processor/processor_diff_drive.h"
 
diff --git a/src/processor/processor_fixed_wing_model.cpp b/src/processor/processor_fixed_wing_model.cpp
index d882406000e78962cad6919087398566ed0ddf89..3c0127bdf30b0d4fc354a7f1d32834f62550e9c3 100644
--- a/src/processor/processor_fixed_wing_model.cpp
+++ b/src/processor/processor_fixed_wing_model.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/processor/processor_fixed_wing_model.h"
 
diff --git a/src/processor/processor_landmark_external.cpp b/src/processor/processor_landmark_external.cpp
index 3144a14454a15b843568b325893b82115e0a12e7..936b5078e7740ddb6ad6c6ae0c11cdfa05e1e023 100644
--- a/src/processor/processor_landmark_external.cpp
+++ b/src/processor/processor_landmark_external.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/processor/processor_landmark_external.h"
 #include "core/capture/capture_landmarks_external.h"
diff --git a/src/processor/processor_loop_closure.cpp b/src/processor/processor_loop_closure.cpp
index 493b8691c6dfabcb29cd8ca698b3f7bfab71c83f..113c5b61b104defa274c482824c242b5ca32829f 100644
--- a/src/processor/processor_loop_closure.cpp
+++ b/src/processor/processor_loop_closure.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/processor/processor_loop_closure.h"
 
 namespace wolf
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index ae7fae39f8860d3a9b07acc504fe5f282030645d..f560b23cbb1fdfaf3ff3a6466dacc281c76bd1c3 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/processor/processor_motion.h"
 #include "core/state_block/factory_state_block.h"
diff --git a/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index 68b9f65d70fdf6d51647c62818ab5353c9ce2b76..24ea5f7bea9615ef6759d9d37969948478eb2e4b 100644
--- a/src/processor/processor_odom_2d.cpp
+++ b/src/processor/processor_odom_2d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/processor/processor_odom_2d.h"
 #include "core/sensor/sensor_odom.h"
 #include "core/math/covariance.h"
diff --git a/src/processor/processor_odom_3d.cpp b/src/processor/processor_odom_3d.cpp
index d7f618da667b9b7698b4d9b4f34964f6ad165e9b..9987275a429bb1382d12bc9afc84bfe4ab6fa5b5 100644
--- a/src/processor/processor_odom_3d.cpp
+++ b/src/processor/processor_odom_3d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/processor/processor_odom_3d.h"
 #include "core/sensor/sensor_odom.h"
 #include "core/math/SE3.h"
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 78fef864c6e56c0a57dab7d6a9a7cdad2e0061e7..acd3faf3169843580ec7c0d0d5cda183b710ba94 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * ProcessorTracker.cpp
  *
diff --git a/src/processor/processor_tracker_feature.cpp b/src/processor/processor_tracker_feature.cpp
index 70efc7db098da0dc3d9453f32fba88fdda648cc1..55a31fde27a68fe7d91720ac6fec32d2a7b98e70 100644
--- a/src/processor/processor_tracker_feature.cpp
+++ b/src/processor/processor_tracker_feature.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * \processor_tracker_feature.cpp
  *
diff --git a/src/processor/processor_tracker_landmark.cpp b/src/processor/processor_tracker_landmark.cpp
index 6a18f63c31f146f1adee57e4d8a8bbf5583d3361..16bbcd1bd6eb48f8a7ac52e2c74a962010c5cd6c 100644
--- a/src/processor/processor_tracker_landmark.cpp
+++ b/src/processor/processor_tracker_landmark.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/processor/processor_tracker_landmark.h"
 #include "core/map/map_base.h"
diff --git a/src/processor/track_matrix.cpp b/src/processor/track_matrix.cpp
index 8d84d702dee200fe64aa1d3fbcd3593aaf62b7e3..c3e1dbb0914de9c2b4ff64365e770a5294931b1b 100644
--- a/src/processor/track_matrix.cpp
+++ b/src/processor/track_matrix.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/processor/track_matrix.h"
 
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 7decb4df3418faf17ef47f9b318be5d0d1e27025..71fa162896e89f8552d35e098886f2d1394d7d47 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/sensor/sensor_base.h"
 #include "core/state_block/factory_state_block.h"
 #include "core/state_block/state_block.h"
diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index 1c333d6d0ccd8ea42b400250c71f55cfbb60e2f6..0bd76ab771a393246284473f04d08746e9777b1f 100644
--- a/src/sensor/sensor_diff_drive.cpp
+++ b/src/sensor/sensor_diff_drive.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/sensor/sensor_diff_drive.h"
 #include "core/state_block/state_block_derived.h"
diff --git a/src/sensor/sensor_motion_model.cpp b/src/sensor/sensor_motion_model.cpp
index 34be98ea5eed339f4e53140158279b55c161e893..105676a705163cf15b41a8fcde25aeb7042e69cb 100644
--- a/src/sensor/sensor_motion_model.cpp
+++ b/src/sensor/sensor_motion_model.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/sensor/sensor_motion_model.h"
 
 namespace wolf {
diff --git a/src/solver/solver_manager.cpp b/src/solver/solver_manager.cpp
index d387d91110a88511cf747479835a2fa076eecc58..db59eae64bde865f572a1b910763581cc9217934 100644
--- a/src/solver/solver_manager.cpp
+++ b/src/solver/solver_manager.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/solver/solver_manager.h"
 #include "core/trajectory/trajectory_base.h"
 #include "core/map/map_base.h"
diff --git a/src/solver_suitesparse/solver_manager.cpp b/src/solver_suitesparse/solver_manager.cpp
index a8a7ece0888aa65b686a45f0ed0a0c72fe77cca0..1449d826b0f930a055c0d2c872df6fb1a2152e93 100644
--- a/src/solver_suitesparse/solver_manager.cpp
+++ b/src/solver_suitesparse/solver_manager.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/ceres_wrapper/solver_ceres.h"
 
 SolverManager::SolverManager()
diff --git a/src/state_block/local_parametrization_base.cpp b/src/state_block/local_parametrization_base.cpp
index 08cae93274e2aaccaf5a9fa06ba6f7aaf174f3d2..055be043eaadd8050e5eab4b0f5b9cc12ebc8151 100644
--- a/src/state_block/local_parametrization_base.cpp
+++ b/src/state_block/local_parametrization_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/state_block/local_parametrization_base.h"
 
 namespace wolf {
diff --git a/src/state_block/local_parametrization_homogeneous.cpp b/src/state_block/local_parametrization_homogeneous.cpp
index a2dd88c07d5eca0d78f3659b31ec259ff8f0a757..bee3e56a27c10bdcff01d48342b476bf4773d512 100644
--- a/src/state_block/local_parametrization_homogeneous.cpp
+++ b/src/state_block/local_parametrization_homogeneous.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/state_block/local_parametrization_homogeneous.h"
 #include "iostream"
diff --git a/src/state_block/local_parametrization_quaternion.cpp b/src/state_block/local_parametrization_quaternion.cpp
index 828c026ac7a0297d13d9573d3bc3bd3ba10036aa..1f257d47384558183799d370ceeabc0ca5a130ea 100644
--- a/src/state_block/local_parametrization_quaternion.cpp
+++ b/src/state_block/local_parametrization_quaternion.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/state_block/local_parametrization_quaternion.h"
 #include "core/math/rotations.h"
diff --git a/src/state_block/state_block.cpp b/src/state_block/state_block.cpp
index 6eba184dc192b25e4760d5b4beb240dd801d1fbf..1a41f5673d299e7a148285ee7cfdb1910344a591 100644
--- a/src/state_block/state_block.cpp
+++ b/src/state_block/state_block.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/state_block/state_block.h"
 namespace wolf
 {
diff --git a/src/state_block/state_block_derived.cpp b/src/state_block/state_block_derived.cpp
index ca910b50621a08cf78b4545f15c5737a5212da01..900e9d87b63c202f63d796f54b7d0e1d60574cac 100644
--- a/src/state_block/state_block_derived.cpp
+++ b/src/state_block/state_block_derived.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/state_block/state_block_derived.h"
 #include "core/state_block/factory_state_block.h"
diff --git a/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp
index 5d67207f25f3270ee6ed5e4e4140a0a3f7204efb..d89e7097e6fcb4955600d13862fab0cf0c6f4356 100644
--- a/src/trajectory/trajectory_base.cpp
+++ b/src/trajectory/trajectory_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/trajectory/trajectory_base.h"
 #include "core/frame/frame_base.h"
 #include <iterator>
diff --git a/src/tree_manager/tree_manager_sliding_window.cpp b/src/tree_manager/tree_manager_sliding_window.cpp
index 32f9e02bc09d370ff46854dd184dd974ba38667d..4313abf9a74173b6bdbb385de8e3e1dac84ea02c 100644
--- a/src/tree_manager/tree_manager_sliding_window.cpp
+++ b/src/tree_manager/tree_manager_sliding_window.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/tree_manager/tree_manager_sliding_window.h"
 
 namespace wolf
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 bbdd6e0999ca34c41ab2bfbf3def80ebc2c9eaf6..665c0dce32e0dbddb5cff5c8eddae58bfa39a45d 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 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/tree_manager/tree_manager_sliding_window_dual_rate.h"
 #include "core/capture/capture_motion.h"
 #include "core/processor/processor_motion.h"
diff --git a/src/utils/check_log.cpp b/src/utils/check_log.cpp
index cc6e0372dee3ffd4a606b3bb7ebee5b0189be0b9..6aa2b136daeacec857805f98eea9dc5fe5deaa99 100644
--- a/src/utils/check_log.cpp
+++ b/src/utils/check_log.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/check_log.h"
 
 using namespace wolf;
diff --git a/src/utils/graph_search.cpp b/src/utils/graph_search.cpp
index 82a00780c4b8988964c29dcaea597a1a75eb92ac..344840a0cde7dbed49d6099e7173ac470fc9c41e 100644
--- a/src/utils/graph_search.cpp
+++ b/src/utils/graph_search.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/graph_search.h"
 
 using namespace wolf;
diff --git a/src/utils/loader.cpp b/src/utils/loader.cpp
index 7db0c397f91b9a4e0b73e25f96f149773e384b3e..346e09d706f5bee82b72f3f8d72f62f52499c8da 100644
--- a/src/utils/loader.cpp
+++ b/src/utils/loader.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/loader.h"
 #include <iostream>
 
diff --git a/test/dummy/dummy_object.h b/test/dummy/dummy_object.h
index 243dc011da8533d595541557182f4f3b7c201f0b..32d082d2155d52aa368752ff059a4f8717e4ae24 100644
--- a/test/dummy/dummy_object.h
+++ b/test/dummy/dummy_object.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 /**************************
diff --git a/test/dummy/dummy_object_derived.cpp b/test/dummy/dummy_object_derived.cpp
index f3a100a46061513c2cd9e5468ef454a6df496528..4b695bc4ac485b483392d3efafe0e4d645193db2 100644
--- a/test/dummy/dummy_object_derived.cpp
+++ b/test/dummy/dummy_object_derived.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "dummy_object_derived.h"
 
 namespace wolf
diff --git a/test/dummy/dummy_object_derived.h b/test/dummy/dummy_object_derived.h
index ea0e977ee2a11493ab6ae109849585aebfc6e2cc..1bf2fee30853a0c596f74545bd460137b8422777 100644
--- a/test/dummy/dummy_object_derived.h
+++ b/test/dummy/dummy_object_derived.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 /**************************
diff --git a/test/dummy/dummy_object_derived_derived.cpp b/test/dummy/dummy_object_derived_derived.cpp
index 8b07282b2c4cc5bf11713190bc5db947a700e74e..6d34b0f4f0581368ef5e723c2b2150993599cc7e 100644
--- a/test/dummy/dummy_object_derived_derived.cpp
+++ b/test/dummy/dummy_object_derived_derived.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "dummy_object_derived_derived.h"
 
 namespace wolf
diff --git a/test/dummy/dummy_object_derived_derived.h b/test/dummy/dummy_object_derived_derived.h
index 9a819028a65d70454e204aa2ecfbabd84568dfff..3096ae049fcedaa1982de0f59bcc58c636f59a69 100644
--- a/test/dummy/dummy_object_derived_derived.h
+++ b/test/dummy/dummy_object_derived_derived.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 /**************************
diff --git a/test/dummy/factor_dummy.h b/test/dummy/factor_dummy.h
index dbe3c0b296228588dc2006295fe90481e820aba8..0a8b51c74c8ebdb2d6732efec4bab4e11f66f265 100644
--- a/test/dummy/factor_dummy.h
+++ b/test/dummy/factor_dummy.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/factor/factor_base.h"
diff --git a/test/dummy/factor_dummy_zero_1.h b/test/dummy/factor_dummy_zero_1.h
index 89777e8f3899349e198b7fb41fd99b1bb5461476..79c7e4f4cbae7004acb93cd172a1ed652eee1230 100644
--- a/test/dummy/factor_dummy_zero_1.h
+++ b/test/dummy/factor_dummy_zero_1.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //Wolf includes
diff --git a/test/dummy/factor_dummy_zero_15.h b/test/dummy/factor_dummy_zero_15.h
index 666ebdc1388f5524c38e22471c5e0c2f148f0c12..d09e0f326120d4cb7a3cc00ea155baab5ee2b66b 100644
--- a/test/dummy/factor_dummy_zero_15.h
+++ b/test/dummy/factor_dummy_zero_15.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/test/dummy/factor_feature_dummy.h b/test/dummy/factor_feature_dummy.h
index 78576da47bf20e20baff588443c06e54707a7def..86bcc13df2a9d2220ebf6d69f2c87925e8e5627d 100644
--- a/test/dummy/factor_feature_dummy.h
+++ b/test/dummy/factor_feature_dummy.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/factor/factor_base.h"
diff --git a/test/dummy/factor_landmark_dummy.h b/test/dummy/factor_landmark_dummy.h
index 4c845c9a431d863eac093a8d712e542c0fad01bb..f584e8d538ce27f9dfbe71f0516a46280b17e2e3 100644
--- a/test/dummy/factor_landmark_dummy.h
+++ b/test/dummy/factor_landmark_dummy.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/factor/factor_base.h"
diff --git a/test/dummy/factor_odom_2d_autodiff.h b/test/dummy/factor_odom_2d_autodiff.h
index 1b0e48714bb77227c87e77a2d554f7b124843f53..1d65c32276c955df3ed11d54a5c6f323921dfdbc 100644
--- a/test/dummy/factor_odom_2d_autodiff.h
+++ b/test/dummy/factor_odom_2d_autodiff.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // Wolf includes
diff --git a/test/dummy/factory_dummy_object.h b/test/dummy/factory_dummy_object.h
index 258c34678794ee2b7af64b4d936ffddfe0e13c4d..b03ba51865a18c7481ef0c5b25ef6923cf1381b9 100644
--- a/test/dummy/factory_dummy_object.h
+++ b/test/dummy/factory_dummy_object.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 // wolf
diff --git a/test/dummy/landmark_dummy.h b/test/dummy/landmark_dummy.h
index 0ce73d0a9041f3527eb42166f75fcf3b637bb9b8..018a98503ec9772f3a0351d7af2625a4fe893d1e 100644
--- a/test/dummy/landmark_dummy.h
+++ b/test/dummy/landmark_dummy.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #pragma once
 
diff --git a/test/dummy/node_state_blocks_dummy.h b/test/dummy/node_state_blocks_dummy.h
index 3f319db0d4c7484d2eb3169c72bd23863d4a5a92..8ca92329dd2a29c53f48998248505450392463f4 100644
--- a/test/dummy/node_state_blocks_dummy.h
+++ b/test/dummy/node_state_blocks_dummy.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 /**************************
diff --git a/test/dummy/processor_loop_closure_dummy.h b/test/dummy/processor_loop_closure_dummy.h
index 51fb82710f630eea6febece1bbd79cc0bc7412e1..bbceb52410096844d379113c0d2cb35b82781246 100644
--- a/test/dummy/processor_loop_closure_dummy.h
+++ b/test/dummy/processor_loop_closure_dummy.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/processor/processor_loop_closure.h"
diff --git a/test/dummy/processor_motion_provider_dummy.h b/test/dummy/processor_motion_provider_dummy.h
index 72a143429076e6d2e6fc8ce1dfa9f57e9961328f..587b46f946c2d0919d60a2fdb36574aec2ccb794 100644
--- a/test/dummy/processor_motion_provider_dummy.h
+++ b/test/dummy/processor_motion_provider_dummy.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include <core/processor/motion_provider.h>
diff --git a/test/dummy/processor_tracker_feature_dummy.cpp b/test/dummy/processor_tracker_feature_dummy.cpp
index 5f8af4e27c35aa9df56e96fbb40089e86fe3bc39..d993dcafae61d19a737a3d974de40052960a3b55 100644
--- a/test/dummy/processor_tracker_feature_dummy.cpp
+++ b/test/dummy/processor_tracker_feature_dummy.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "processor_tracker_feature_dummy.h"
 #include "core/feature/feature_base.h"
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index bc701a745c34ffc294a3dae3efd41bf22a913aea..da25d9a32158a681a2502f4bb0942abbbc014ab7 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/common/wolf.h"
diff --git a/test/dummy/processor_tracker_landmark_dummy.cpp b/test/dummy/processor_tracker_landmark_dummy.cpp
index 1d841b360878e84d83409f0379b9635b6488f517..c78c085f3ba5a1b7214c7463e1939891d5195c5b 100644
--- a/test/dummy/processor_tracker_landmark_dummy.cpp
+++ b/test/dummy/processor_tracker_landmark_dummy.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "processor_tracker_landmark_dummy.h"
 #include "core/landmark/landmark_base.h"
diff --git a/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index 9607857f2c5450a087ad89439a22f3a6a8dce090..4c68739d66795a166119a20367e1895aa4f8238e 100644
--- a/test/dummy/processor_tracker_landmark_dummy.h
+++ b/test/dummy/processor_tracker_landmark_dummy.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/processor/processor_tracker_landmark.h"
diff --git a/test/dummy/sensor_dummy.h b/test/dummy/sensor_dummy.h
index 3975cc2472bb50c813a122b1442d1105090a15c0..a91ff65f3adac29e1f4d64e87d936af2c787be52 100644
--- a/test/dummy/sensor_dummy.h
+++ b/test/dummy/sensor_dummy.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 /**************************
diff --git a/test/dummy/solver_manager_dummy.h b/test/dummy/solver_manager_dummy.h
index 551ab8298e2451e4adb5f167fe07c47819ab18fe..ac9aaf9210779a4ea49e32e50747349186482c06 100644
--- a/test/dummy/solver_manager_dummy.h
+++ b/test/dummy/solver_manager_dummy.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/solver/solver_manager.h"
diff --git a/test/dummy/tree_manager_dummy.h b/test/dummy/tree_manager_dummy.h
index a14ef52050367b834697953c4d8a08658525e81c..dfc30e9e6dfc6c32a9a0dbf5e2a938c01ade7a83 100644
--- a/test/dummy/tree_manager_dummy.h
+++ b/test/dummy/tree_manager_dummy.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 #include "core/tree_manager/tree_manager_base.h"
diff --git a/test/gtest_SE2.cpp b/test/gtest_SE2.cpp
index b7d4612356ac6088b9faa5fdff2b28b9837bbdfc..de574eaeac51fca3d93f264b4aaf8875d5dfb3c4 100644
--- a/test/gtest_SE2.cpp
+++ b/test/gtest_SE2.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 
 #include "core/math/SE2.h"
diff --git a/test/gtest_SE3.cpp b/test/gtest_SE3.cpp
index 09e66745caea9e54d260dd5151751c400a808a44..bafe316de3ba52350c67165cebe867b28df5a05b 100644
--- a/test/gtest_SE3.cpp
+++ b/test/gtest_SE3.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/math/SE3.h"
 #include "core/utils/utils_gtest.h"
diff --git a/test/gtest_buffer_frame.cpp b/test/gtest_buffer_frame.cpp
index df4c5367217a4d4ac93d3143c6b5c665ad7a9804..ad12835239248b4b30be800379aa304ec6863580 100644
--- a/test/gtest_buffer_frame.cpp
+++ b/test/gtest_buffer_frame.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp
index 60f1da0c9a0eef8f842af1b8b6d4a9016f165042..db8b1b4d8b7ededdf45c9fdc15892650bd6c455a 100644
--- a/test/gtest_capture_base.cpp
+++ b/test/gtest_capture_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_converter.cpp b/test/gtest_converter.cpp
index d7459e5e6cee71cb9e0898c4d4ae9193c00e2f79..c4cf095f1c6b8726a33af69068462a179afd04fc 100644
--- a/test/gtest_converter.cpp
+++ b/test/gtest_converter.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 #include "core/utils/converter.h"
 
diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index 4be3ed76fbbd1dd7b12f226cff43be8fd722e6f1..9300ec8e0e182be583aecddf151dd266d623165a 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 3f40f848f9cd1774795b1bbcf79872685911405c..08ce67d25bd2f5cb39a4f0d3bad541017fdde3b4 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 TEST(TestTest, DummyTestExample)
diff --git a/test/gtest_factor_absolute.cpp b/test/gtest_factor_absolute.cpp
index 41d543b26574e1e834f5877f3c4178702b3f671c..c6ad19a8112ead6731dd753cb49e74ec1fedc642 100644
--- a/test/gtest_factor_absolute.cpp
+++ b/test/gtest_factor_absolute.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/ceres_wrapper/solver_ceres.h"
 #include "core/utils/utils_gtest.h"
diff --git a/test/gtest_factor_autodiff.cpp b/test/gtest_factor_autodiff.cpp
index 756876fbe3f3a4f4eeb3489f6569ed194668beaf..9e1a48de1105139320cb1066fe6c8324b8435d81 100644
--- a/test/gtest_factor_autodiff.cpp
+++ b/test/gtest_factor_autodiff.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "dummy/factor_odom_2d_autodiff.h"
 #include "dummy/factor_dummy_zero_1.h"
diff --git a/test/gtest_factor_base.cpp b/test/gtest_factor_base.cpp
index 6f41f50c4e7b2d302e748b40984624c8175b2c08..2598d5d7718f2710269699c6e19915cf01ed80c8 100644
--- a/test/gtest_factor_base.cpp
+++ b/test/gtest_factor_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 #include "dummy/factor_dummy.h"
diff --git a/test/gtest_factor_block_difference.cpp b/test/gtest_factor_block_difference.cpp
index 80903815df656f883640c515d766ede35b5de4b5..802b84cb51f099c65898d53bdc390e0c1b7aa7f4 100644
--- a/test/gtest_factor_block_difference.cpp
+++ b/test/gtest_factor_block_difference.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index de9755c6838e972155c472cd4dbbad9e37b25b44..993ff40795d1d6deffb4a318582c83b5847b2e59 100644
--- a/test/gtest_factor_diff_drive.cpp
+++ b/test/gtest_factor_diff_drive.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_factor_distance_3d.cpp b/test/gtest_factor_distance_3d.cpp
index ad8fc5a30588eb938e14496e97c39453c3c2e96b..bf8909b0fbd7dac790c1d618214955a2a483a0cb 100644
--- a/test/gtest_factor_distance_3d.cpp
+++ b/test/gtest_factor_distance_3d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/factor/factor_distance_3d.h"
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/test/gtest_factor_odom_2d_autodiff.cpp b/test/gtest_factor_odom_2d_autodiff.cpp
index b40be3960c80e24c0a235305faf63eaab2436f49..5d90fde1172d78aaa768483a4ce4521d41ce3e61 100644
--- a/test/gtest_factor_odom_2d_autodiff.cpp
+++ b/test/gtest_factor_odom_2d_autodiff.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 #include "dummy/factor_odom_2d_autodiff.h"
 
diff --git a/test/gtest_factor_pose_2d.cpp b/test/gtest_factor_pose_2d.cpp
index e735d0d67cde8bf48de48d770e0c7ee0e56df4e6..141c35cfc29909dab62d28feaf2cf5429c7c57e1 100644
--- a/test/gtest_factor_pose_2d.cpp
+++ b/test/gtest_factor_pose_2d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/ceres_wrapper/solver_ceres.h"
 #include "core/capture/capture_pose.h"
diff --git a/test/gtest_factor_pose_2d_with_extrinsics.cpp b/test/gtest_factor_pose_2d_with_extrinsics.cpp
index 556a640107967b5b275b67099dfbacbd7793a624..c29736a4a7aa268aff060c3c5f39016f280bbb9f 100644
--- a/test/gtest_factor_pose_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_pose_2d_with_extrinsics.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/test/gtest_factor_pose_3d.cpp b/test/gtest_factor_pose_3d.cpp
index d3458f1504def14b76bcfa67c2bedb9f4369012a..e41a3c50c2634466f60034b01f1c0fdd541d2e8e 100644
--- a/test/gtest_factor_pose_3d.cpp
+++ b/test/gtest_factor_pose_3d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/test/gtest_factor_pose_3d_with_extrinsics.cpp b/test/gtest_factor_pose_3d_with_extrinsics.cpp
index 5ed5746c2bf62999ee9d5b842bd8ac0b7b04dbeb..ae8fec1db52a7df471c716fc020822a2a6deee50 100644
--- a/test/gtest_factor_pose_3d_with_extrinsics.cpp
+++ b/test/gtest_factor_pose_3d_with_extrinsics.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/test/gtest_factor_prior.cpp b/test/gtest_factor_prior.cpp
index 12f0f48fd11106771266f77bfd76c4899ba383de..224d646efee0218ad288dd3930504b1d59e2c23f 100644
--- a/test/gtest_factor_prior.cpp
+++ b/test/gtest_factor_prior.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_factor_relative_pose_2d.cpp b/test/gtest_factor_relative_pose_2d.cpp
index b4d802f04f24b1efd4cf925462566f8d4cfaf09a..80666492ee24ad2f448d4d84dc90a8b72f7e44a3 100644
--- a/test/gtest_factor_relative_pose_2d.cpp
+++ b/test/gtest_factor_relative_pose_2d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
index 3d4ba2c4cdf301870e9090ae04a8191fc55ed5af..ae84912e0708ce59010b4fe2397b69d10faa461d 100644
--- a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/test/gtest_factor_relative_pose_3d.cpp b/test/gtest_factor_relative_pose_3d.cpp
index 49976291a79f640cafd33a7260259156e764b183..09809fab66bf7ceccf6f0f5ac10e53b4f36abad2 100644
--- a/test/gtest_factor_relative_pose_3d.cpp
+++ b/test/gtest_factor_relative_pose_3d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
index cfd95932dc457af8801e453b2ce5f25f87796952..f570e980cb4585479a5eb8f47a218d5698a39946 100644
--- a/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/test/gtest_factor_relative_position_2d.cpp b/test/gtest_factor_relative_position_2d.cpp
index a964e76ff6a0f06195142a7aa809f4b8036b83e2..8ddfb229ba6d322c0218d27e4cfe7bdb775950ee 100644
--- a/test/gtest_factor_relative_position_2d.cpp
+++ b/test/gtest_factor_relative_position_2d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/test/gtest_factor_relative_position_2d_with_extrinsics.cpp b/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
index e23b5f636bfc3a655b74c47c9c35a79dd0666aa3..f48bf30b25fe7eff3e6574062d075872f93353b6 100644
--- a/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/test/gtest_factor_relative_position_3d.cpp b/test/gtest_factor_relative_position_3d.cpp
index 1310e84c41b3716dfe0f578bf60279d3f0d07a69..54d49d08a36ba4fc021bbc52a90b18f2f1199265 100644
--- a/test/gtest_factor_relative_position_3d.cpp
+++ b/test/gtest_factor_relative_position_3d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_factor_relative_position_3d_with_extrinsics.cpp b/test/gtest_factor_relative_position_3d_with_extrinsics.cpp
index ce551e20e1adabe866c5a3694b0a3dd82cd16713..cba6bbc237d92a75702c59a53e4c82c4b02790d2 100644
--- a/test/gtest_factor_relative_position_3d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_position_3d_with_extrinsics.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/test/gtest_factor_velocity_local_direction_3d.cpp b/test/gtest_factor_velocity_local_direction_3d.cpp
index ad5375d4651acb3dade271bec4bedcfa8f6938f6..9e93eecd197a230293acb21d76f0379e290312cc 100644
--- a/test/gtest_factor_velocity_local_direction_3d.cpp
+++ b/test/gtest_factor_velocity_local_direction_3d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/test/gtest_factory.cpp b/test/gtest_factory.cpp
index e05647a00a61e3efd0472c133419ac80fd7246a7..1c74b10a99ac78828636e156aaefb17b76713ebd 100644
--- a/test/gtest_factory.cpp
+++ b/test/gtest_factory.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 #include "dummy/factory_dummy_object.h"
 #include "dummy/dummy_object_derived.h"
diff --git a/test/gtest_factory_state_block.cpp b/test/gtest_factory_state_block.cpp
index ff0d086edcf3b5435a8f044a67d2c878acc4e6e8..07a136a6f4997d2314ce36102cc7c04dfe106656 100644
--- a/test/gtest_factory_state_block.cpp
+++ b/test/gtest_factory_state_block.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * gtest_factory_state_block.cpp
  *
diff --git a/test/gtest_feature_base.cpp b/test/gtest_feature_base.cpp
index 86b0a1d31b73e8b4284c37ee23cff60ded0ad95f..6e286ec407848f481ed134018ef83457f7d70de0 100644
--- a/test/gtest_feature_base.cpp
+++ b/test/gtest_feature_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * gtest_feature_base.cpp
  *
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 7ba3a66c1c16b03fd38dc32e4b915a9c6c03b204..179025e5287284f5936dcd93e8223c5e8c15203f 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_graph_search.cpp b/test/gtest_graph_search.cpp
index 0c3e3100cd217d77fc80de3714a359afb200c675..ddac16feacb3839884e50057052ab9b71514e7f0 100644
--- a/test/gtest_graph_search.cpp
+++ b/test/gtest_graph_search.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_local_param.cpp b/test/gtest_local_param.cpp
index 5d2d32ce315d14621bb4014c14323085f309fc44..092eebdc86a0cda0de47a40d393119e62fde8828 100644
--- a/test/gtest_local_param.cpp
+++ b/test/gtest_local_param.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_logging.cpp b/test/gtest_logging.cpp
index b54f12456595d602d69fb735101c1fd80de8772c..f7c9439bbd997192dcfc564fe49d905bfae753c4 100644
--- a/test/gtest_logging.cpp
+++ b/test/gtest_logging.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/common/wolf.h"
 #include "core/utils/utils_gtest.h"
diff --git a/test/gtest_make_posdef.cpp b/test/gtest_make_posdef.cpp
index 0ad55d51b03ece5c1c7654af40c9b353a37d3384..cced5a85c295e528c25b2f939271bc5580ca003d 100644
--- a/test/gtest_make_posdef.cpp
+++ b/test/gtest_make_posdef.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 #include "core/common/wolf.h"
 #include "core/math/covariance.h"
diff --git a/test/gtest_map_yaml.cpp b/test/gtest_map_yaml.cpp
index cfca6669815bf6cedeca9c3960f7197f0b947d12..6b6b8aa3dbee0e2e094e86f178466ff1e52391a6 100644
--- a/test/gtest_map_yaml.cpp
+++ b/test/gtest_map_yaml.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 #include "core/common/wolf.h"
diff --git a/test/gtest_matrix_composite.cpp b/test/gtest_matrix_composite.cpp
index 79f2f8f04d289f607f16994b8841971004e0a759..411f57afe85092f271ae580378ae1fb1d6197c9e 100644
--- a/test/gtest_matrix_composite.cpp
+++ b/test/gtest_matrix_composite.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/composite/matrix_composite.h"
 #include "core/state_block/state_block_derived.h"
diff --git a/test/gtest_motion_buffer.cpp b/test/gtest_motion_buffer.cpp
index b1b74484a6f7c9a189a93712f76f034667613b18..0ea5732161a7f6313a98205281b38f1d4c375049 100644
--- a/test/gtest_motion_buffer.cpp
+++ b/test/gtest_motion_buffer.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * gtest_motion_buffer.cpp
  *
diff --git a/test/gtest_motion_provider.cpp b/test/gtest_motion_provider.cpp
index 30c24a44ebc9a662a20e9c1dedbc2e80e6e8d81a..0303c1422b100630f7526bfa43ffb345462ad542 100644
--- a/test/gtest_motion_provider.cpp
+++ b/test/gtest_motion_provider.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 //Wolf
 #include "dummy/processor_motion_provider_dummy.h"
 
diff --git a/test/gtest_node_state_blocks.cpp b/test/gtest_node_state_blocks.cpp
index 849e7b8abfe32099d677783f92a25f841840c8f9..1bcd30a74cb5e0271c87b2b36be343e12ee525f1 100644
--- a/test/gtest_node_state_blocks.cpp
+++ b/test/gtest_node_state_blocks.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_odom_2d.cpp b/test/gtest_odom_2d.cpp
index 8af022fe0cec060e6087528ee5fc0e71173df0aa..92805a2c17495d5e1e2b227a686bf20bd97636bb 100644
--- a/test/gtest_odom_2d.cpp
+++ b/test/gtest_odom_2d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 // Classes under test
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index f7b772baa950b85c2631cadb10e825697b3c0c14..141ac5bf6b3618a611c3ab7a7e8cd71395593600 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
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 ed0e332bdafb76f910492cf3475c106a6f7b804c..e271ce41186e849fc5633d0d2dd807d3ff5bfa1d 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 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 #include "core/ceres_wrapper/solver_ceres.h"
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index a0f2b00f69ce1bfc7988489a6f32856504de7703..b9a6deabdf3f80dcffbc28fcca379cead0851a94 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * gtest_capture_base.cpp
  *
diff --git a/test/gtest_processor_diff_drive.cpp b/test/gtest_processor_diff_drive.cpp
index 0f52ccde0ac44d8731a3a5a96708fa2fa1a02e88..2dc99dfa69b5175831f88f680d95b8cd0b1c168c 100644
--- a/test/gtest_processor_diff_drive.cpp
+++ b/test/gtest_processor_diff_drive.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/processor/processor_diff_drive.h"
 #include "core/sensor/sensor_diff_drive.h"
diff --git a/test/gtest_processor_fixed_wing_model.cpp b/test/gtest_processor_fixed_wing_model.cpp
index ff796ed7ba18a955c2e4d50fbbcfb64bb6a42741..082e482eea6353d0a020695cb70d525f859f104f 100644
--- a/test/gtest_processor_fixed_wing_model.cpp
+++ b/test/gtest_processor_fixed_wing_model.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/processor/processor_fixed_wing_model.h"
 
diff --git a/test/gtest_processor_landmark_external.cpp b/test/gtest_processor_landmark_external.cpp
index e33e2b8211122dc89e95fe22095dcaf2beabc83b..43ea583b428cca8d85a015c6d3fba1185d2a0920 100644
--- a/test/gtest_processor_landmark_external.cpp
+++ b/test/gtest_processor_landmark_external.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 #include "core/problem/problem.h"
diff --git a/test/gtest_processor_loop_closure.cpp b/test/gtest_processor_loop_closure.cpp
index 03347d572c817b9caa12c9cee0d944e7f00b074e..81e682e7758cccd1119f0a901d13bcf60949f341 100644
--- a/test/gtest_processor_loop_closure.cpp
+++ b/test/gtest_processor_loop_closure.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 #include "core/problem/problem.h"
diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index d97d0ccc20a3e8e44975d257109932dfcbba5c90..f8067316fbb0c04c36a12b1e0942bf7059800b7d 100644
--- a/test/gtest_processor_motion.cpp
+++ b/test/gtest_processor_motion.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_processor_odom_3d.cpp b/test/gtest_processor_odom_3d.cpp
index e60fd2100eb85db951b559088eb47b0eda0873bf..b0fd20276d277d69489c0c015e6fbd7bb25c3b49 100644
--- a/test/gtest_processor_odom_3d.cpp
+++ b/test/gtest_processor_odom_3d.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp
index b8736cdde02fa605f8d192f0dd50636194b2865e..e952d60454fe8108ce36705928980bec6ae26a7e 100644
--- a/test/gtest_processor_tracker_feature_dummy.cpp
+++ b/test/gtest_processor_tracker_feature_dummy.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 // wolf includes
 #include "core/utils/utils_gtest.h"
diff --git a/test/gtest_processor_tracker_landmark_dummy.cpp b/test/gtest_processor_tracker_landmark_dummy.cpp
index cda681eab49339f044ce77f32742b620d6d126c6..362026be8b9256018f55e076f876a9264aaa21b1 100644
--- a/test/gtest_processor_tracker_landmark_dummy.cpp
+++ b/test/gtest_processor_tracker_landmark_dummy.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 // wolf includes
 #include "core/utils/utils_gtest.h"
diff --git a/test/gtest_rotation.cpp b/test/gtest_rotation.cpp
index f90a436428239686260648f66f4cc4b04cd7e623..70a156cdec9ec7c4eecf6908e8fda9df69ce1c1c 100644
--- a/test/gtest_rotation.cpp
+++ b/test/gtest_rotation.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 //Eigen
 #include <Eigen/Geometry>
diff --git a/test/gtest_schema.cpp b/test/gtest_schema.cpp
index 9967c43a84fc57be6d5884be54885a1e28eff1ef..8ccba5ad13437853e901cde32a6f356595e50c4f 100644
--- a/test/gtest_schema.cpp
+++ b/test/gtest_schema.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 #include "core/internal/config.h"
 #include "core/problem/problem.h"
diff --git a/test/gtest_sensor_base.cpp b/test/gtest_sensor_base.cpp
index 052df4399f47b806c76f35f2f04cded0f90aa238..839a0c143a7bf5434cd6b4ab22a82ecebe3cb443 100644
--- a/test/gtest_sensor_base.cpp
+++ b/test/gtest_sensor_base.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/sensor/sensor_base.h"
 #include "core/utils/utils_gtest.h"
diff --git a/test/gtest_sensor_diff_drive.cpp b/test/gtest_sensor_diff_drive.cpp
index e6c134d40a3f5a9c031fbcc75f9e7bb2dbe8ef6b..83021da13c5b41a89e77d834c23d0077a2ae41c2 100644
--- a/test/gtest_sensor_diff_drive.cpp
+++ b/test/gtest_sensor_diff_drive.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/sensor/sensor_diff_drive.h"
 #include "core/sensor/factory_sensor.h"
diff --git a/test/gtest_sensor_odom.cpp b/test/gtest_sensor_odom.cpp
index 4692d44dc6368173deed3c9025f7c420ee257e09..6692f59aee9e93b76a0a8833eb13da652e7792d0 100644
--- a/test/gtest_sensor_odom.cpp
+++ b/test/gtest_sensor_odom.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/sensor/sensor_odom.h"
 #include "core/sensor/factory_sensor.h"
diff --git a/test/gtest_sensor_pose.cpp b/test/gtest_sensor_pose.cpp
index 41d0b4e5db79905a0d3300c1b01e215bf7a76228..5dc2cbe947cebbb49ee44fce70628292c94ad513 100644
--- a/test/gtest_sensor_pose.cpp
+++ b/test/gtest_sensor_pose.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/sensor/sensor_pose.h"
 #include "core/sensor/factory_sensor.h"
diff --git a/test/gtest_shared_from_this.cpp b/test/gtest_shared_from_this.cpp
index 165595e03f5ab2cf7afa25df3f9401ad63e92020..c8490332395c63d0584c26c2d9db63a742ed1f6a 100644
--- a/test/gtest_shared_from_this.cpp
+++ b/test/gtest_shared_from_this.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 #include "core/common/node_base.h"
 
diff --git a/test/gtest_solver_ceres.cpp b/test/gtest_solver_ceres.cpp
index f7bb37e656315302aa0e751838cef3bf31f55267..36b480b9c97c08f9d1f1027b7ab3bfc92115e071 100644
--- a/test/gtest_solver_ceres.cpp
+++ b/test/gtest_solver_ceres.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_solver_ceres_multithread.cpp b/test/gtest_solver_ceres_multithread.cpp
index 338f68a118eb117ee4340ff9881339c6544d90ea..8048234ebbb834b7fe6b55204567c8b2abd00225 100644
--- a/test/gtest_solver_ceres_multithread.cpp
+++ b/test/gtest_solver_ceres_multithread.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp
index a892a7494b61ab84171b828e4ea359105a0896b5..3d795cb31158446e4372c98dd11019653be2aa8c 100644
--- a/test/gtest_solver_manager.cpp
+++ b/test/gtest_solver_manager.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * gtest_solver_manager.cpp
  *
diff --git a/test/gtest_solver_manager_multithread.cpp b/test/gtest_solver_manager_multithread.cpp
index b76099144e3bf9aef1bfb10839da781a1e6238f0..7d5ad88d997c28cbdefec4cfeb65cb3e496c549a 100644
--- a/test/gtest_solver_manager_multithread.cpp
+++ b/test/gtest_solver_manager_multithread.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * gtest_solver_manager.cpp
  *
diff --git a/test/gtest_spec_state_composite.cpp b/test/gtest_spec_state_composite.cpp
index e0fca9292aca202184694c4c48768912fbaddde7..31d7b1e1998ce0e8db6fe93cc4fb73d3e4cf85de 100644
--- a/test/gtest_spec_state_composite.cpp
+++ b/test/gtest_spec_state_composite.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 #include "core/common/wolf.h"
diff --git a/test/gtest_spec_state_sensor_composite.cpp b/test/gtest_spec_state_sensor_composite.cpp
index 822f577ed43d30b4cbcec5d02ee718558cfdd7ca..aa8de99244737a00ffd5542a13442f34d16ad4f8 100644
--- a/test/gtest_spec_state_sensor_composite.cpp
+++ b/test/gtest_spec_state_sensor_composite.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 #include "core/common/wolf.h"
diff --git a/test/gtest_state_block.cpp b/test/gtest_state_block.cpp
index 896b87745fea0ac66602c9b8d0bd6e341c07d6f1..2923ce0c8594ce5d57a2ddb88bc0b4a3001752b6 100644
--- a/test/gtest_state_block.cpp
+++ b/test/gtest_state_block.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * gtest_state_block.cpp
  *
diff --git a/test/gtest_state_composite.cpp b/test/gtest_state_composite.cpp
index bb559d834712341e7b52c1a96dbbc38820a6c449..f6a10a8840feeea549d6440d9ce7de452db3e592 100644
--- a/test/gtest_state_composite.cpp
+++ b/test/gtest_state_composite.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/composite/state_composite.h"
 #include "core/state_block/state_block_derived.h"
diff --git a/test/gtest_time_stamp.cpp b/test/gtest_time_stamp.cpp
index 1793b192c09b738483da41c55ee015fcd5bc0f48..e0e9b4b5be0c8913c95f8c0052d41737d52bf360 100644
--- a/test/gtest_time_stamp.cpp
+++ b/test/gtest_time_stamp.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 #include "core/common/time_stamp.h"
 
diff --git a/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp
index 0909c4710eebcc559b863c82a7f5ad16be8a49c8..c4085ea923ecf5bafe27b0e3d1070a96f6ff0703 100644
--- a/test/gtest_track_matrix.cpp
+++ b/test/gtest_track_matrix.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 
 #include "core/utils/utils_gtest.h"
 
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index 7ca979ea89e59267907412a3359eefba37d6135e..01878658f05ddda9821e657af5ecf087165a0306 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 /*
  * gtest_trajectory.cpp
  *
diff --git a/test/gtest_tree_manager.cpp b/test/gtest_tree_manager.cpp
index 053eb5f6d5741bd74a78c709d80ddf12c19e9a78..0972417c1d090d1f95fcaf74452fd9e5dcdd9fa6 100644
--- a/test/gtest_tree_manager.cpp
+++ b/test/gtest_tree_manager.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "core/problem/problem.h"
diff --git a/test/gtest_tree_manager_sliding_window.cpp b/test/gtest_tree_manager_sliding_window.cpp
index d72b80930473f7414a983a744218eea4831e0ed0..627ad15478100f39c80aa48918cbf3f2a99899d4 100644
--- a/test/gtest_tree_manager_sliding_window.cpp
+++ b/test/gtest_tree_manager_sliding_window.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "core/factor/factor_relative_pose_3d.h"
diff --git a/test/gtest_tree_manager_sliding_window_dual_rate.cpp b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
index 3f0a81c43e9ffac8ba9a9db5307995f65e000ad4..a37c35f189f311b3c7375f1660157334a7ee7af7 100644
--- a/test/gtest_tree_manager_sliding_window_dual_rate.cpp
+++ b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "core/factor/factor_relative_pose_3d.h"
diff --git a/test/gtest_vector_composite.cpp b/test/gtest_vector_composite.cpp
index 37a93c0ea9f9cacf24b64437392b2adc850fac4e..5232ead8867ebf631065188ff0fe2d6007329d9b 100644
--- a/test/gtest_vector_composite.cpp
+++ b/test/gtest_vector_composite.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/composite/vector_composite.h"
 
 #include "core/utils/utils_gtest.h"
diff --git a/wolf_scripts/license_header_2023.txt b/wolf_scripts/license_header_2023.txt
index 2ddae24c37e894a9a46e58afd6db8ebf8ff14b92..a633a09535dde0c32f430ca44e67792b9d7f2ddc 100644
--- a/wolf_scripts/license_header_2023.txt
+++ b/wolf_scripts/license_header_2023.txt
@@ -1,8 +1,10 @@
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// WOLF - Copyright (C) 2020,2021,2022,2023 
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/wolf_scripts/license_manager.sh b/wolf_scripts/license_manager.sh
index 2e90fb0ad205c6a94908aecb873fd83ebe8804c6..308e38c1f1f2bf3571a58bac33bc70c257dc1b57 100755
--- a/wolf_scripts/license_manager.sh
+++ b/wolf_scripts/license_manager.sh
@@ -5,16 +5,15 @@
 # This script is used for managing the license headers of code files (.h, .c, .cpp, .hpp)
 # This file is automatically called by the CI in gitlab.
 
-line_start_mark="//--------LICENSE_START--------"
-line_end_mark="//--------LICENSE_END--------"
-
 #options
 tmp=false
 mode="none"
 path=""
 exclude_folder=""
 #recursive=true
-license=""
+#license=""
+config_folder=""
+license_exclude=""
 
 for i in "$@"; do
   case $i in
@@ -26,22 +25,22 @@ for i in "$@"; do
       path="${i#*=}"
       shift # past argument=value
       ;;
-    --license-header=*)
-      license="${i#*=}"
+    --config-path=*)
+      config_folder="${i#*=}"
       shift # past argument=value
       ;;
     --add)
       mode="add"
-      if [ $mode == "update" ]; then
-        echo "Error: Script cannot be called with both options: --update or --add"
+      if [ $mode == "remove" ]; then
+        echo "Script cannot be called with both options: --remove or --add">&2
         exit 1
       fi
       shift # past argument=value
       ;;
-    --update)
-      mode="update"
+    --remove)
+      mode="remove"
       if [ $mode == "add" ]; then
-        echo "Error: Script cannot be called with both options: --update or --add"
+        echo "Script cannot be called with both options: --remove or --add">&2
         exit 1
       fi
       shift # past argument=value
@@ -56,29 +55,45 @@ for i in "$@"; do
   esac
 done
 
-# check options
+# CHECKS VALID OPTIONS =================================
 if [ "$path" == "" ]; then
-  echo 'Please, provide the path to the folder containing the code with --path=/my/folder/code'
+  echo 'Please, provide the path to the folder containing the code with --path=/my/folder/code'>&2
   exit 1
 else
   if [ -d "$path" ]; then
     echo "Valid path: ${path}"
   else
-    echo "Error: ${path} not found. Can not continue."
-  exit 1
+    echo "${path} not found. Can not continue.">&2
+    exit 1
   fi
 fi
 
-if [ "$license" == "" ]; then
-  echo 'Error: Please, provide the path to the folder containing the code with --license-header=/my/license/header/file.txt'
+if [ "$config_folder" == "" ]; then
+  echo 'Please, provide the path to the folder containing the config files (license file "license_header*.txt" and the optional "license_exclude.txt") with --config-path=/my/license/and/exclude/files/folder'>&2
   exit 1
 else
-  if [ -f "$license" ]; then
-    echo "Valid license header file: ${license} containing:"
-    cat ${license}
+  if [ -d "$config_folder" ]; then
+    echo "Valid config folder: ${config_folder}"
+
+    license=$(find $config_folder -maxdepth 1 -name 'license_header*.txt')
+    if (( ${#license[@]} != 1 )); then
+      echo "No license header file found" >&2
+    fi
+    if [ -f "$license" ]; then
+      echo "Valid license header file: ${license} containing:"
+      cat ${license}
+    else
+      echo "License header file ${license} not found.">&2
+      exit 1
+    fi
+    if [ -f "${config_folder}/license_exclude.txt" ]; then
+      echo "License_exclude file containing:"
+      cat ${config_folder}/license_exclude.txt
+      echo ""
+    fi
   else
-    echo "Error: License header file ${license} not found. Can not continue."
-  exit 1
+    echo "Config path ${config_folder} not found.">&2
+    exit 1
   fi
 fi
 
@@ -86,17 +101,29 @@ if [ "$exclude_folder" == "" ]; then
   echo "No folders will be excluded"
 else
   if [ -d "${path}/${exclude_folder}" ]; then
-    echo "Valid remove folder path: ${path}/${exclude_folder}"
+    echo "Valid exclude folder path: ${path}/${exclude_folder}"
+  else
+    echo "exclude folder ${path}/${exclude_folder} not found. Remember that it should be relative to --path.">&2
+    exit 1
   fi
 fi
 
 if [ $mode == "none" ]; then
-  echo "Error: Script should be called with one of the following options: --update or --add"
+  echo "Script should be called with one of the following options: --remove or --add">&2
   exit 1
 else
   echo "mode: ${mode}"
 fi
 
+# START SCRIPT ==========================================
+
+# DETECT FIRST AND LAST LICENSE LINES
+sed -i -e '/./,$!d' -e :a -e '/^\n*$/{$d;N;ba' -e '}' $license #remove empty lines at the beginning and at the end
+line_start_mark=$(head -n 1 $license) #"//--------LICENSE_START--------"
+line_end_mark=$(tail -n 1 $license) #"//--------LICENSE_END--------"
+echo "line_start: $line_start_mark"
+echo "line_end: $line_end_mark"
+
 # PATH (AND tmp FOLDER)
 folder=$path
 if [ $tmp == true ]; then
@@ -110,36 +137,42 @@ fi
 if [ "$exclude_folder" == "" ]; then
   file_list=$(find $folder -name '*.c' -or -name '*.cpp' -or -name '*.h' -or -name '*.hpp')
 else
-  file_list=$(find $folder -path ${folder}/${exclude_folder} -prune -name '*.c' -or -name '*.cpp' -or -name '*.h' -or -name '*.hpp')
+  file_list=$(find $folder -path ${path}/${exclude_folder} -prune -name '*.c' -or -name '*.cpp' -or -name '*.h' -or -name '*.hpp')
+fi
+
+# FILTER FILES IF LICENSE EXCLUDE
+if [ -f "${config_folder}/license_exclude.txt" ]; then
+  file_list=$(grep -Ev -f ${config_folder}/license_exclude.txt <(printf "%s\n" "${file_list[@]}"))
 fi
 
 # DETECT AND REMOVE EXISTING LICENSE
-if [ "$mode" == "update" ]; then
+if [ "$mode" == "remove" ]; then
   echo "Recursely removing license header from all files (.c, .cpp, .h, .hpp):"
   for i in $file_list
   do
-    if grep -Fxq ${line_start_mark} $i 
-    then
+    if grep -m1 -Fxq "${line_start_mark}" $i; then
       echo " - ${i}"
-      line_start="$(grep -wn $line_start_mark ${i} | head -n 1 | cut -d: -f1)"
-      line_end="$(grep -wn $line_end_mark ${i} | head -n 1 | cut -d: -f1)"
-      #echo ${line_start}
-      #echo ${line_end}
+      line_start="$(grep -Fxn "$line_start_mark" ${i} | head -n 1 | cut -d: -f1)"
+      line_end="$(grep -Fxn "$line_end_mark" ${i} | head -n 1 | cut -d: -f1)"
+      # echo ${line_start}
+      # echo ${line_end}
       awk -v m=$line_start -v n=$line_end 'm <= NR && NR <= n {next} {print}' $i > tmpfile && mv tmpfile $i 
-      #cat $i
+      # cat $i
     fi
   done
 fi
 
 # ADD CONTENT OF license-file AT THE BEGINNING OF CODE FILES
-echo "Recursively adding license header to all files (.c, .cpp, .h, .hpp):"
-for i in $file_list
-do
-  if grep -Fxq ${line_start_mark} $i; then
-    :
-  else
-    echo " - ${i}"
-    ( echo ${line_start_mark}$'\n//'; cat ${license}; echo $'//\n'${line_end_mark}; cat $i ) > temp_file
-    mv temp_file $i
-  fi
-done
\ No newline at end of file
+if [ "$mode" == "add" ]; then
+  echo "Recursively adding license header to all files (.c, .cpp, .h, .hpp):"
+  for i in $file_list
+  do
+    if grep -m1 -Fxq "${line_start_mark}" $i; then
+      :
+    else
+      echo " - ${i}"
+      ( cat ${license}; cat $i ) > temp_file
+      mv temp_file $i
+    fi
+  done
+fi
\ No newline at end of file
diff --git a/wolf_scripts/templates/class_template.cpp b/wolf_scripts/templates/class_template.cpp
index 6f44a5f992f5e17cdf9da044660a7c3ed7496569..443832ab00e6884ee8bd9d6bc65ae996df0b901a 100644
--- a/wolf_scripts/templates/class_template.cpp
+++ b/wolf_scripts/templates/class_template.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "header_file"
  
 namespace wolf {
diff --git a/wolf_scripts/templates/class_template.h b/wolf_scripts/templates/class_template.h
index 73dc9e662c0b9786796e1a3100e83496a528b95d..c19fa56b4333adc57c698ebbc9054845d728e2a5 100644
--- a/wolf_scripts/templates/class_template.h
+++ b/wolf_scripts/templates/class_template.h
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #pragma once
 
 //Wolf includes
diff --git a/wolf_scripts/templates/gtest_template.cpp b/wolf_scripts/templates/gtest_template.cpp
index 748b7b9edfd33051fb5ab26fddbc479df7df8b34..29fb75895084de6e05e81f26a927eaa705ff203f 100644
--- a/wolf_scripts/templates/gtest_template.cpp
+++ b/wolf_scripts/templates/gtest_template.cpp
@@ -1,6 +1,5 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -17,8 +16,6 @@
 //
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
 #include "core/utils/utils_gtest.h"
 
 #include "wolf.h"