diff --git a/demos/demo_analytic_autodiff_factor.cpp b/demos/demo_analytic_autodiff_factor.cpp
index 6634ee62a512fa0de5b16e1d413944e15976bfd8..45727c7788becc8423697321dd5fcf411e37565a 100644
--- a/demos/demo_analytic_autodiff_factor.cpp
+++ b/demos/demo_analytic_autodiff_factor.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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
@@ -16,6 +17,7 @@
 //
 // 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/>.
+
 // 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 73b85134081a8d71320ebf7f32914a1a792817bc..9199e005a3ec73f711f4a3bcfe2533b121bc8747 100644
--- a/demos/demo_wolf_imported_graph.cpp
+++ b/demos/demo_wolf_imported_graph.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/capture_range_bearing.cpp b/demos/hello_wolf/capture_range_bearing.cpp
index ec9b2d36558a12790e96ec66c1a6fa694b456871..d14a6c841f21d763b895c57a950dffb80f63b029 100644
--- a/demos/hello_wolf/capture_range_bearing.cpp
+++ b/demos/hello_wolf/capture_range_bearing.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/capture_range_bearing.h b/demos/hello_wolf/capture_range_bearing.h
index efd1d1178ed0e6ae13a254d19757338e528d60f7..02f69f136888cfd31e567040b9f78e276b21ea78 100644
--- a/demos/hello_wolf/capture_range_bearing.h
+++ b/demos/hello_wolf/capture_range_bearing.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/factor_bearing.h b/demos/hello_wolf/factor_bearing.h
index d716c0f29e4a8cb79511c4a5168178a7b95a245a..ae1cdfd3e65c638a1c85dced4c33a778f0315d28 100644
--- a/demos/hello_wolf/factor_bearing.h
+++ b/demos/hello_wolf/factor_bearing.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/factor_range_bearing.h b/demos/hello_wolf/factor_range_bearing.h
index d6c0c20c69cc8ff2394d8132c42fe8d3a1686586..8a8c82567dcbc6c334079342f040fb5cd7aa74dd 100644
--- a/demos/hello_wolf/factor_range_bearing.h
+++ b/demos/hello_wolf/factor_range_bearing.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/feature_range_bearing.cpp b/demos/hello_wolf/feature_range_bearing.cpp
index f57b9ac8e0598a93d03852d8988138153999077b..38d3c5f9e0fcf1459a7191bcf76c988f9de73d67 100644
--- a/demos/hello_wolf/feature_range_bearing.cpp
+++ b/demos/hello_wolf/feature_range_bearing.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/feature_range_bearing.h b/demos/hello_wolf/feature_range_bearing.h
index 5490f6f64974cdbe0c6920e6a160de0032f38c3a..d641e2e607c7bcce72e5446eda7df761960edebf 100644
--- a/demos/hello_wolf/feature_range_bearing.h
+++ b/demos/hello_wolf/feature_range_bearing.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/hello_wolf.cpp b/demos/hello_wolf/hello_wolf.cpp
index 7a276674ed0139bb7ee08f0f5744b41d924a5d39..d5878aaed451c2bda9a27f3fbe4ec9e930b9c70d 100644
--- a/demos/hello_wolf/hello_wolf.cpp
+++ b/demos/hello_wolf/hello_wolf.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/hello_wolf_autoconf.cpp b/demos/hello_wolf/hello_wolf_autoconf.cpp
index 26bbee4e0168053af052040cf6d200562d78f7c2..c5fe89e04f445c5e99206162680eca8b3bd45ebb 100644
--- a/demos/hello_wolf/hello_wolf_autoconf.cpp
+++ b/demos/hello_wolf/hello_wolf_autoconf.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/landmark_point_2d.cpp b/demos/hello_wolf/landmark_point_2d.cpp
index caca4548ef4dc4a86db47eef1ade6d775ca70cec..769f2e937e4b89df6b13de8ac114f938ad9192ac 100644
--- a/demos/hello_wolf/landmark_point_2d.cpp
+++ b/demos/hello_wolf/landmark_point_2d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/landmark_point_2d.h b/demos/hello_wolf/landmark_point_2d.h
index ff76e68d84ff1e180bd5af964a73ee650ac03a52..54f71995be12c1c4f1eadc223552c6391b79d503 100644
--- a/demos/hello_wolf/landmark_point_2d.h
+++ b/demos/hello_wolf/landmark_point_2d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/processor_range_bearing.cpp b/demos/hello_wolf/processor_range_bearing.cpp
index fec68b6dcf7aed8542da5359246935b676e84c43..661a4caeede2b27e374345788625497dc8fb6837 100644
--- a/demos/hello_wolf/processor_range_bearing.cpp
+++ b/demos/hello_wolf/processor_range_bearing.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/processor_range_bearing.h b/demos/hello_wolf/processor_range_bearing.h
index e543ea06936801fb93b4d9098f09533c1e83e20a..8ac8d37e9c1d006c7365debb92e307a4b1bbb090 100644
--- a/demos/hello_wolf/processor_range_bearing.h
+++ b/demos/hello_wolf/processor_range_bearing.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/sensor_range_bearing.cpp b/demos/hello_wolf/sensor_range_bearing.cpp
index facf212f4f190b7e5455b88598db7a245f7c5e13..343900c9be84b3f7bb5778abccca60a5b9af8e0a 100644
--- a/demos/hello_wolf/sensor_range_bearing.cpp
+++ b/demos/hello_wolf/sensor_range_bearing.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/hello_wolf/sensor_range_bearing.h b/demos/hello_wolf/sensor_range_bearing.h
index 02fa24694951e7d142256995c3d9205d856565b8..5bd6d36490bb1a753ea2821a0612e7eaaf29703c 100644
--- a/demos/hello_wolf/sensor_range_bearing.h
+++ b/demos/hello_wolf/sensor_range_bearing.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/solver/test_SPQR.cpp b/demos/solver/test_SPQR.cpp
index e4a78d4659b0bbd9c2be9a9e44e678c45a24e1b8..143cc4ac41f271aab6bef7033e6f71d780d4367b 100644
--- a/demos/solver/test_SPQR.cpp
+++ b/demos/solver/test_SPQR.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/solver/test_ccolamd.cpp b/demos/solver/test_ccolamd.cpp
index 509e981642d87f59e3a19f57795134440b02e602..b92ae2e44384fd637036a5ea44fc8795304b0a65 100644
--- a/demos/solver/test_ccolamd.cpp
+++ b/demos/solver/test_ccolamd.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/solver/test_ccolamd_blocks.cpp b/demos/solver/test_ccolamd_blocks.cpp
index 1ce2d09a15ab0138c25f490c6645e07a922d3a0e..63204a4e20aaf92907db9fa2919e26bfbc745926 100644
--- a/demos/solver/test_ccolamd_blocks.cpp
+++ b/demos/solver/test_ccolamd_blocks.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/solver/test_iQR.cpp b/demos/solver/test_iQR.cpp
index 6c43cfe15ce1adb415467a06fe7668b73b7984c7..f0a5c09ee7dd322206b6109916ea15e58723b3de 100644
--- a/demos/solver/test_iQR.cpp
+++ b/demos/solver/test_iQR.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/solver/test_iQR_wolf.cpp b/demos/solver/test_iQR_wolf.cpp
index 59114a87130b80dd0ef59ee19646f842c9baf87d..8e94430c3fdfb100bdebc4726f0ab7ca48205f70 100644
--- a/demos/solver/test_iQR_wolf.cpp
+++ b/demos/solver/test_iQR_wolf.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/solver/test_iQR_wolf2.cpp b/demos/solver/test_iQR_wolf2.cpp
index f867e2b49f84cc0b0976e5219a66ab44f3c97d10..c78c653603624d85b3aa87ac4ab316f24f9c0268 100644
--- a/demos/solver/test_iQR_wolf2.cpp
+++ b/demos/solver/test_iQR_wolf2.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/solver/test_incremental_ccolamd_blocks.cpp b/demos/solver/test_incremental_ccolamd_blocks.cpp
index 97e98da0bb9e357da512f53f0987ce4a62e44bc1..a58b6e45697d3c2fc83706b1b988c2a91265caed 100644
--- a/demos/solver/test_incremental_ccolamd_blocks.cpp
+++ b/demos/solver/test_incremental_ccolamd_blocks.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/demos/solver/test_permutations.cpp b/demos/solver/test_permutations.cpp
index ccc653b9a4bcc17338e20b1b1dbdbeb08bd640c8..0f7fd8f445d622a6013a11e20b180532edbad67b 100644
--- a/demos/solver/test_permutations.cpp
+++ b/demos/solver/test_permutations.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index 176ae3c5c9803fc489d29044daae2b340f7f59a9..f208d3dc6e339398b6b01a35ba245ca959822463 100644
--- a/include/core/capture/capture_base.h
+++ b/include/core/capture/capture_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/capture/capture_diff_drive.h b/include/core/capture/capture_diff_drive.h
index 45b3f235f9fe2cb7c24ab4fe3561ee381f158353..70323bac2bb894cd31ebe10e90e4d2783cec6e2b 100644
--- a/include/core/capture/capture_diff_drive.h
+++ b/include/core/capture/capture_diff_drive.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/capture/capture_landmarks_external.h b/include/core/capture/capture_landmarks_external.h
index c187840f7c3fd0aee50161293f44b4a80c5d5321..3870d5c58cec1528815e653b15727823993d947c 100644
--- a/include/core/capture/capture_landmarks_external.h
+++ b/include/core/capture/capture_landmarks_external.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index f1ff1d2c75eb0d7b24e4ab42e6860a219242afa7..fb611aa1371d60c69d3b2417369c11fb37c211e2 100644
--- a/include/core/capture/capture_motion.h
+++ b/include/core/capture/capture_motion.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/capture/capture_odom_2d.h b/include/core/capture/capture_odom_2d.h
index e789d95d74a1ea50e5bf075c47afb3ede28443a6..7bfa99abcbfc244f20eefa53f56302898b54fe23 100644
--- a/include/core/capture/capture_odom_2d.h
+++ b/include/core/capture/capture_odom_2d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/capture/capture_odom_3d.h b/include/core/capture/capture_odom_3d.h
index c5ae5dec32048f85204e28bbaef41919f8b2c562..5eb7102bfe846d983fbb84ab9d07754046669e0c 100644
--- a/include/core/capture/capture_odom_3d.h
+++ b/include/core/capture/capture_odom_3d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/capture/capture_pose.h b/include/core/capture/capture_pose.h
index 3e8ff2bf153b575d56f06908f6158b473b74f525..7720e293006a3ff043adc429efa3896ada374746 100644
--- a/include/core/capture/capture_pose.h
+++ b/include/core/capture/capture_pose.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/capture/capture_void.h b/include/core/capture/capture_void.h
index 40fd68623060a6bc474528e1c1e3f09efcfb1da7..7579d2959578090bea2c4b25211986e1b862560c 100644
--- a/include/core/capture/capture_void.h
+++ b/include/core/capture/capture_void.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/ceres_wrapper/cost_function_wrapper.h b/include/core/ceres_wrapper/cost_function_wrapper.h
index 32306becb3bfc0abe7083c6e60dd79a0a783068e..98076e31f8603490836bb1a33946330973f3a640 100644
--- a/include/core/ceres_wrapper/cost_function_wrapper.h
+++ b/include/core/ceres_wrapper/cost_function_wrapper.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/ceres_wrapper/create_numeric_diff_cost_function.h b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
index cea0140bae25c6ee59770754b5d08869d8356e18..522fafc7c70e82f972d7e274a322e3d3996be989 100644
--- a/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
+++ b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/ceres_wrapper/iteration_update_callback.h b/include/core/ceres_wrapper/iteration_update_callback.h
index b0b6c17d3943240e1d1c9a3824c0b8ea3a5221fa..2dfcd8b0bd17209df0b6a4e21326b6fb480f5641 100644
--- a/include/core/ceres_wrapper/iteration_update_callback.h
+++ b/include/core/ceres_wrapper/iteration_update_callback.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/ceres_wrapper/local_parametrization_wrapper.h b/include/core/ceres_wrapper/local_parametrization_wrapper.h
index e9c3f311ce09db67be565ef7b065b5a983e795b1..6be2c1c7ad8e722bdd39dec8bcaceba7fe1c753c 100644
--- a/include/core/ceres_wrapper/local_parametrization_wrapper.h
+++ b/include/core/ceres_wrapper/local_parametrization_wrapper.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/ceres_wrapper/qr_manager.h b/include/core/ceres_wrapper/qr_manager.h
index 0b723ea41e78adb96386f249a6f08ace0f56b8f8..82d0af766bd47f39b49da2aa550d8c24f4a86502 100644
--- a/include/core/ceres_wrapper/qr_manager.h
+++ b/include/core/ceres_wrapper/qr_manager.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/ceres_wrapper/solver_ceres.h b/include/core/ceres_wrapper/solver_ceres.h
index e31d8c71053b3edab68b3ef00394bb4d53d0a1db..9219f888c396cd34438d00cc76b1633e055ce2ff 100644
--- a/include/core/ceres_wrapper/solver_ceres.h
+++ b/include/core/ceres_wrapper/solver_ceres.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/ceres_wrapper/sparse_utils.h b/include/core/ceres_wrapper/sparse_utils.h
index af1c5d6c7b1bea74b7ad1adb65d199b7daf70955..aacd759e6d1e40f8147958690fbf18c2a1dc48c2 100644
--- a/include/core/ceres_wrapper/sparse_utils.h
+++ b/include/core/ceres_wrapper/sparse_utils.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/ceres_wrapper/wolf_jet.h b/include/core/ceres_wrapper/wolf_jet.h
index 07c1c84af914a41a2f9288036932545e2df51ddd..59ded8974de6f71a7f4a71d439413348b8d1ba84 100644
--- a/include/core/ceres_wrapper/wolf_jet.h
+++ b/include/core/ceres_wrapper/wolf_jet.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/common/factory.h b/include/core/common/factory.h
index 258c3012d2d25d23ff263959153a6c5fc15c8eed..68fd3544421f31365e52d8cd2081795e6f884c37 100644
--- a/include/core/common/factory.h
+++ b/include/core/common/factory.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/common/node_base.h b/include/core/common/node_base.h
index 5cb77d9eed5f60467e5d8d7d8709549fc4d4bd5d..c3a1a6fb2ffa12df37b6bb59eab8206707427916 100644
--- a/include/core/common/node_base.h
+++ b/include/core/common/node_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/common/node_state_blocks.h b/include/core/common/node_state_blocks.h
index ee187bcca8ffea3f4bd9bbe97cfeb3370f56feff..ea4fa521a3812abcf1af69841e79a74fc0ba4282 100644
--- a/include/core/common/node_state_blocks.h
+++ b/include/core/common/node_state_blocks.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/common/params_base.h b/include/core/common/params_base.h
index 4331b9709b2f0bdc3dfa6ed68762389802c5c52f..bc07017b38be7fb3500e90bdcce462729007cf09 100644
--- a/include/core/common/params_base.h
+++ b/include/core/common/params_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/common/time_stamp.h b/include/core/common/time_stamp.h
index 47006742a48efc39046ff90b700b380cbfeffcc7..18ba29ed5619a40c9f442ed47d938220e003de4d 100644
--- a/include/core/common/time_stamp.h
+++ b/include/core/common/time_stamp.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/common/wolf.h b/include/core/common/wolf.h
index f921b273d84ccfe42b3b063e5ee0880cebdc9ffb..dc7e4c37cf64b3881097734e0b840b3148febefd 100644
--- a/include/core/common/wolf.h
+++ b/include/core/common/wolf.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/composite/composite.h b/include/core/composite/composite.h
index 80d87ec7c158b4234d581bb3d9e5740effe4d08c..76046567eb0247334ca0f83462793cb5795d51f2 100644
--- a/include/core/composite/composite.h
+++ b/include/core/composite/composite.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/composite/matrix_composite.h b/include/core/composite/matrix_composite.h
index a470eb23a919961188e360d230b57f45f4f3e413..5635439953cd9999d079c9564fe9cf40e1d58e2f 100644
--- a/include/core/composite/matrix_composite.h
+++ b/include/core/composite/matrix_composite.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/composite/spec_state_composite.h b/include/core/composite/spec_state_composite.h
index 1a855ff5f8adb7ecdd9841b997dd728b5134304d..e3da5b5d34576834b566e729d71549f5ef2d7804 100644
--- a/include/core/composite/spec_state_composite.h
+++ b/include/core/composite/spec_state_composite.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/composite/spec_state_sensor_composite.h b/include/core/composite/spec_state_sensor_composite.h
index 9c96a335493683181d28c8083dd0119d460bb895..3c026d59e4151bad98efc2df40203656eeb1a18c 100644
--- a/include/core/composite/spec_state_sensor_composite.h
+++ b/include/core/composite/spec_state_sensor_composite.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/composite/state_composite.h b/include/core/composite/state_composite.h
index 61efb4861dac59947fcdee494ac12a25ed2ce76f..1bfc151fc951754e04a6821cb243e822cc3e5296 100644
--- a/include/core/composite/state_composite.h
+++ b/include/core/composite/state_composite.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/composite/type_composite.h b/include/core/composite/type_composite.h
index e07301f95a4bfbdfb92b91c258fe67d2500eccbf..1470ad40df808a713b726fb207332f8c3dcae186 100644
--- a/include/core/composite/type_composite.h
+++ b/include/core/composite/type_composite.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/composite/vector_composite.h b/include/core/composite/vector_composite.h
index 6d3006ec1a7f05bd747806090aafd99190402738..b6272c813ccf917ea920582b2de2c4c42dc8abd8 100644
--- a/include/core/composite/vector_composite.h
+++ b/include/core/composite/vector_composite.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_analytic.h b/include/core/factor/factor_analytic.h
index a03e672d6e17ef71f5b6fdc37446f5e049aaa317..c35e37e40b28e39f4e9060bf648fc5d1700971f0 100644
--- a/include/core/factor/factor_analytic.h
+++ b/include/core/factor/factor_analytic.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_autodiff.h b/include/core/factor/factor_autodiff.h
index 756761638ab1c47b4497016bda769024bd687125..34751d500e1cd4c0967c776a84a47b7e77648335 100644
--- a/include/core/factor/factor_autodiff.h
+++ b/include/core/factor/factor_autodiff.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index cc0f2bf8e3a6733bff80a4d46599d92d99e59a3f..90fffcc12f2b6ceb74652d7a16f7fd6bf66abe7f 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_block_absolute.h b/include/core/factor/factor_block_absolute.h
index 698e5dd2d9e3caa0bd3a5d2b4ac5d28473a4b158..d2bc33a47c939ad3027bb54a91205ef4b6976b33 100644
--- a/include/core/factor/factor_block_absolute.h
+++ b/include/core/factor/factor_block_absolute.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_block_difference.h b/include/core/factor/factor_block_difference.h
index affb9e1c16e0428b45810032a589e0c14593832e..02cd7c840b34a7c5d0b931737b9522f7dde9d2a9 100644
--- a/include/core/factor/factor_block_difference.h
+++ b/include/core/factor/factor_block_difference.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_diff_drive.h b/include/core/factor/factor_diff_drive.h
index 81126e52f066b2a1cb6a9528203abbc7edac89c1..543e2686573890029840806138bbc327125addb7 100644
--- a/include/core/factor/factor_diff_drive.h
+++ b/include/core/factor/factor_diff_drive.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_distance_3d.h b/include/core/factor/factor_distance_3d.h
index 081c647dab34747fc53840e012eaa3b9ffcc1f69..d42efeee4fc7b0a6a370946b0bb833f06f0013b3 100644
--- a/include/core/factor/factor_distance_3d.h
+++ b/include/core/factor/factor_distance_3d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_pose_2d.h b/include/core/factor/factor_pose_2d.h
index 3a31c9d9230d1244a901fce674c42714b6eb1714..e30329decca582a92e8a83a340c3f5c091067ceb 100644
--- a/include/core/factor/factor_pose_2d.h
+++ b/include/core/factor/factor_pose_2d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_pose_2d_with_extrinsics.h b/include/core/factor/factor_pose_2d_with_extrinsics.h
index c04f6a57f67882ae2c32a4ae0f3392d8589d3fee..6c3f4e97e90441656ce16cf17a0b405fc0fb24ca 100644
--- a/include/core/factor/factor_pose_2d_with_extrinsics.h
+++ b/include/core/factor/factor_pose_2d_with_extrinsics.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_pose_3d.h b/include/core/factor/factor_pose_3d.h
index 14dd56b15c683e5f06e9cb45c0ff5009aa71298a..c9ba2cff2343c6b3c1e823ad78a7b0802143066a 100644
--- a/include/core/factor/factor_pose_3d.h
+++ b/include/core/factor/factor_pose_3d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_pose_3d_with_extrinsics.h b/include/core/factor/factor_pose_3d_with_extrinsics.h
index 9335b3879bcdfc836e7faaac7ba3c6fd8a6e3805..c556c5fe4dbacf5556bd9f10b08f1cfe2038e225 100644
--- a/include/core/factor/factor_pose_3d_with_extrinsics.h
+++ b/include/core/factor/factor_pose_3d_with_extrinsics.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h
index 30ce8772c2ed0733206fc07a784b7fb640dbd10c..183a7d744c59654a5ed04ee4c0ec15216ec5a254 100644
--- a/include/core/factor/factor_quaternion_absolute.h
+++ b/include/core/factor/factor_quaternion_absolute.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_relative_pose_2d.h b/include/core/factor/factor_relative_pose_2d.h
index 20d3dca0abaff039151a0f9ba923faee9e1ab5d5..7d3a3eec0a9a6b1b1ca5f6f8f53ed4e49ba7f6a4 100644
--- a/include/core/factor/factor_relative_pose_2d.h
+++ b/include/core/factor/factor_relative_pose_2d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_relative_pose_2d_with_extrinsics.h b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
index 427e3c20457a52ed1825f7bd2b2752ad63f3f6e1..3338ac35b181db11ea2b3d83fd7f1da227a6857f 100644
--- a/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_relative_pose_3d.h b/include/core/factor/factor_relative_pose_3d.h
index c3afb5087b38bdfef597f252f79c24b127e85ad0..258b121841e2f083fb957d8890dfa6dd25ee1321 100644
--- a/include/core/factor/factor_relative_pose_3d.h
+++ b/include/core/factor/factor_relative_pose_3d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_relative_pose_3d_with_extrinsics.h b/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
index f212ea86de56d2f43b37dc6a7efeee54ba60b086..724a83985c3b047d63a46e96dafba6a9f64a43a3 100644
--- a/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_relative_position_2d.h b/include/core/factor/factor_relative_position_2d.h
index 91f96cb8ba1b2b816de4c22c521e3836390ddbed..bd2d229a86479d3ecc096f7d77f0d8330b0708fd 100644
--- a/include/core/factor/factor_relative_position_2d.h
+++ b/include/core/factor/factor_relative_position_2d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_relative_position_2d_with_extrinsics.h b/include/core/factor/factor_relative_position_2d_with_extrinsics.h
index 1107e226d4160ed277aae5bc0ffb912819dac984..572b9476b1979ffecffbe8060ca475ce2da7a82c 100644
--- a/include/core/factor/factor_relative_position_2d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_position_2d_with_extrinsics.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_relative_position_3d.h b/include/core/factor/factor_relative_position_3d.h
index 2206a7626369a06beb9ac1fa1127ae56e843c214..008d2938c0c2ce3f06c84c6d2fdb921f1adbf0a6 100644
--- a/include/core/factor/factor_relative_position_3d.h
+++ b/include/core/factor/factor_relative_position_3d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_relative_position_3d_with_extrinsics.h b/include/core/factor/factor_relative_position_3d_with_extrinsics.h
index 094550681707d6fb12971699f4911d70c3b2864f..145fe3ef8ac146c5b08ce65665235f87e7e69bd9 100644
--- a/include/core/factor/factor_relative_position_3d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_position_3d_with_extrinsics.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/factor/factor_velocity_local_direction_3d.h b/include/core/factor/factor_velocity_local_direction_3d.h
index 7bdb5f42f2cbfab7a3d0995f6c6241b30cd92685..75c88471cf8cd78c28db873dbd96d5e96af01bda 100644
--- a/include/core/factor/factor_velocity_local_direction_3d.h
+++ b/include/core/factor/factor_velocity_local_direction_3d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index 6dc4248e429c9755a95ab9b404136eeca82e0f45..feba74dfd9ef5ff3d11f47480f158892bf6cd582 100644
--- a/include/core/feature/feature_base.h
+++ b/include/core/feature/feature_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/feature/feature_diff_drive.h b/include/core/feature/feature_diff_drive.h
index eeb37208d728393cc7f1017c5e8598aecc6f98e2..33f8032de491fd44e176ae9a84a7ad78715d8ecc 100644
--- a/include/core/feature/feature_diff_drive.h
+++ b/include/core/feature/feature_diff_drive.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/feature/feature_match.h b/include/core/feature/feature_match.h
index 5559280585acf131bc38f4e69f043a3c14b1da89..64ab853645025bbd41d8f2fe13d81ed7d390b954 100644
--- a/include/core/feature/feature_match.h
+++ b/include/core/feature/feature_match.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/feature/feature_motion.h b/include/core/feature/feature_motion.h
index fcf4ed627931b7135eba730c7a2863f41cfdd7bf..4583281cf2c4fd93b5d181fc85511e56660b1276 100644
--- a/include/core/feature/feature_motion.h
+++ b/include/core/feature/feature_motion.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/feature/feature_odom_2d.h b/include/core/feature/feature_odom_2d.h
index 4f396f35a27b2c8d06534cad6598f05241912f18..b3d0531e4a5d2ad353dc39c516f9e18baea3dc98 100644
--- a/include/core/feature/feature_odom_2d.h
+++ b/include/core/feature/feature_odom_2d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/feature/feature_pose.h b/include/core/feature/feature_pose.h
index 4db9d20ecfdb48c7f95ce12990f3c42dc3d481c3..88cd05d57c8bb2cb3ffbf24410582f93e7a09f9a 100644
--- a/include/core/feature/feature_pose.h
+++ b/include/core/feature/feature_pose.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 3a34f406f42a9134c44b85180ad7038cf76337d5..97bcfd41f984e6e5541858191ae0c48a2649e715 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/hardware/hardware_base.h b/include/core/hardware/hardware_base.h
index 787d55610d1ccff250fb524c088299bc8ca15ef6..ce8a4eda7503312e8cb1acde47857df48e622fde 100644
--- a/include/core/hardware/hardware_base.h
+++ b/include/core/hardware/hardware_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/landmark/factory_landmark.h b/include/core/landmark/factory_landmark.h
index 829430b734dbe3b53e2ecebe470f8702d480b56a..d19e7e33a054897a76886feed64e805c8f582600 100644
--- a/include/core/landmark/factory_landmark.h
+++ b/include/core/landmark/factory_landmark.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index 6023e854933d09e7438e3b38ec3275eaee65b744..031b101c80848660f6f4e196aa3118000e7211e8 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/landmark/landmark_match.h b/include/core/landmark/landmark_match.h
index ff36a471e75ec1c8d4b1cdbe429cebaf6b74c0bb..8dca382b2e3e661e6c5d146b6d4dd17ef2767a54 100644
--- a/include/core/landmark/landmark_match.h
+++ b/include/core/landmark/landmark_match.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/map/factory_map.h b/include/core/map/factory_map.h
index 1ab613216766a2499a89534dfec483a0d14a48b4..6e9ab6a2540606c5db13a24869267f0e199e3689 100644
--- a/include/core/map/factory_map.h
+++ b/include/core/map/factory_map.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/map/map_base.h b/include/core/map/map_base.h
index 36120977c5622417d5a7f398a268d18de7e4865f..79c578f7c27213c2f91ce6a0291cc9d653255c72 100644
--- a/include/core/map/map_base.h
+++ b/include/core/map/map_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/math/SE2.h b/include/core/math/SE2.h
index 38bdcc56c904293f551184a5e2e03e481ed094a9..fd717a25c161c65e975aa8bd662a3e46145674eb 100644
--- a/include/core/math/SE2.h
+++ b/include/core/math/SE2.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/math/SE3.h b/include/core/math/SE3.h
index 75d16adb41da61785a412c17840f4584618f7a7d..b7bef8a0981de305d9c1aa94bb6814bb6a4c3f2b 100644
--- a/include/core/math/SE3.h
+++ b/include/core/math/SE3.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/math/covariance.h b/include/core/math/covariance.h
index e2e0aeb3db9ecd051cbff494c2364f104bb4df22..38e8e96560457a33f3f51fa15015d5e63335eff1 100644
--- a/include/core/math/covariance.h
+++ b/include/core/math/covariance.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/math/rotations.h b/include/core/math/rotations.h
index 11a9b2bb5b139ad6107bbd0962a507788fa24848..4f2ac00a42624a69b1a3c24ad2e6792504b7dc85 100644
--- a/include/core/math/rotations.h
+++ b/include/core/math/rotations.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/problem/problem.h b/include/core/problem/problem.h
index c409e48f7a320e3e397b4552222cf4c7593c70e4..a333a111a6067a7b1e8f26e86ae43ee1fa4a9f85 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/factory_processor.h b/include/core/processor/factory_processor.h
index be928b37f5fce2b2989dd459573c46619ae9ba3f..44a0797d2f7f0e743002d02b7aaa2cbb899d1107 100644
--- a/include/core/processor/factory_processor.h
+++ b/include/core/processor/factory_processor.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/motion_buffer.h b/include/core/processor/motion_buffer.h
index 379553a21ce519a4b174cf4c4074c1d8b272964a..3aa93c5298dc39bbc5d24e6ef5025bdfab0818a3 100644
--- a/include/core/processor/motion_buffer.h
+++ b/include/core/processor/motion_buffer.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/motion_provider.h b/include/core/processor/motion_provider.h
index 69e89b6d089094099c1d6c06a687c404c75c5d32..bca1bfadbe95f291550fb60be2bbe17ee8c1fe85 100644
--- a/include/core/processor/motion_provider.h
+++ b/include/core/processor/motion_provider.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 62a1d888c9aeb80855a8778fdea4d3f2c3ca2b6a..9a6bcf4a0b372110957e8cea06dfa1e5c26ff81e 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 9da3f12238d03d5ecbdcd0ea3f782ee04964aaba..b58a127e75cf281f40d22a938fe158cbb4711d99 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/processor_fixed_wing_model.h b/include/core/processor/processor_fixed_wing_model.h
index 0becd8e02d8859d88a2075301c0995560757dfc9..12bbf7bb86694d40239de865036678c07eca759f 100644
--- a/include/core/processor/processor_fixed_wing_model.h
+++ b/include/core/processor/processor_fixed_wing_model.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/processor_landmark_external.h b/include/core/processor/processor_landmark_external.h
index 6c2fb7fc0826e2708e93a2b7d6b01fa01a0d4d4e..6351ea1bdac48561a0ef091aceaccfce98d389c4 100644
--- a/include/core/processor/processor_landmark_external.h
+++ b/include/core/processor/processor_landmark_external.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/processor_loop_closure.h b/include/core/processor/processor_loop_closure.h
index f367a0cdcc000a960ae6736b65be48679e853981..99eba906f1e4b5d3b435c5341a28448e398c5048 100644
--- a/include/core/processor/processor_loop_closure.h
+++ b/include/core/processor/processor_loop_closure.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 542d770292866095dae704ab080d6c21b3f0f6b1..3a96bddc81454d6b36e2084af5d517767b435b9e 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index dbc3c4b20f2db7c12a7829eb2ffa1743fbb7b8d6..32f216f40981437515a9fa3af4faed648d4c8668 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/processor_odom_3d.h b/include/core/processor/processor_odom_3d.h
index 292e9dbdcc9277fc2ad4ef88566efd282f03dfab..f22059c64c4a2aa9aa685c18bbe347b708af9be0 100644
--- a/include/core/processor/processor_odom_3d.h
+++ b/include/core/processor/processor_odom_3d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/processor_pose.h b/include/core/processor/processor_pose.h
index 14dcaa04844db08e14974d69fd7b653c4f12b446..2ce3954bb8d82cdcd0d6c5260848d3ef96af18bf 100644
--- a/include/core/processor/processor_pose.h
+++ b/include/core/processor/processor_pose.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index bfc858bdcd3ee27e35b377eff858b3147df3273a..89b7d4dfd7678b2f6740c7d2bd5ad4b6e577d299 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/processor_tracker_feature.h b/include/core/processor/processor_tracker_feature.h
index 3180b0e9d00b9bfc387f2795570c1530e7e4bfd3..692238185223d312e3d5acdc8851ed8df657cfc3 100644
--- a/include/core/processor/processor_tracker_feature.h
+++ b/include/core/processor/processor_tracker_feature.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/processor_tracker_landmark.h b/include/core/processor/processor_tracker_landmark.h
index 4cd56622f8e3b830dbfb7a22a09dab88d56e63b7..3836892ea961cba5d90222be355775a11151e31f 100644
--- a/include/core/processor/processor_tracker_landmark.h
+++ b/include/core/processor/processor_tracker_landmark.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/processor/track_matrix.h b/include/core/processor/track_matrix.h
index 2d227364543b1a2cbf09fc3afaf57ed3a94484d7..da88d794039ab31f0665509cd913021f4f897149 100644
--- a/include/core/processor/track_matrix.h
+++ b/include/core/processor/track_matrix.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/sensor/factory_sensor.h b/include/core/sensor/factory_sensor.h
index 2ca7104eaeb775f7bced42064c29594cdbfb1505..fbba9ec4965ad2b02440d45b95037547d6582181 100644
--- a/include/core/sensor/factory_sensor.h
+++ b/include/core/sensor/factory_sensor.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index d6995d1fbd3dec53e0c98fb5c0fd7ae28afa9513..a30506f771426b41c595238d13c2d3cdd08e9061 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index 89ccf113b0890a4cf4054735d4eaeccff785a9e9..b9539328cfc8527b568f2b811470b2e398b50d8a 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/sensor/sensor_motion_model.h b/include/core/sensor/sensor_motion_model.h
index 86a6751488799ca74df124a63e40e5cab9511e4b..3525e49d4e75655170c10361cb64354e2bf988a7 100644
--- a/include/core/sensor/sensor_motion_model.h
+++ b/include/core/sensor/sensor_motion_model.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/sensor/sensor_odom.h b/include/core/sensor/sensor_odom.h
index ca710abfb1d9c97cb94c82fdbec3886af9908244..df4d6f289f2a84de66fa6c7d3d3f9568f017eafa 100644
--- a/include/core/sensor/sensor_odom.h
+++ b/include/core/sensor/sensor_odom.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/sensor/sensor_pose.h b/include/core/sensor/sensor_pose.h
index aab67c08b493967401deec8c45f701f0e633cce8..7cc71eede6b95da092fa099ada5241672944fc5d 100644
--- a/include/core/sensor/sensor_pose.h
+++ b/include/core/sensor/sensor_pose.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/solver/factory_solver.h b/include/core/solver/factory_solver.h
index e4aeebe121ee5c13414f59b43ca2229e51698ef8..b86fc5c3fbdf7693e617c4943f9ee31992bf71d9 100644
--- a/include/core/solver/factory_solver.h
+++ b/include/core/solver/factory_solver.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h
index 93be6784611a5b950eb4026acda2575c79866170..bc53b3e3483ebaaf5d47a91c2adf77964be2e388 100644
--- a/include/core/solver/solver_manager.h
+++ b/include/core/solver/solver_manager.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/solver_suitesparse/ccolamd_ordering.h b/include/core/solver_suitesparse/ccolamd_ordering.h
index edcb5724c9b3079e29a010e81382e4d798b601ca..130891f83b4eaca8d63dcbeaa48a17e97926e5a5 100644
--- a/include/core/solver_suitesparse/ccolamd_ordering.h
+++ b/include/core/solver_suitesparse/ccolamd_ordering.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/solver_suitesparse/cost_function_base.h b/include/core/solver_suitesparse/cost_function_base.h
index 20003933c859f4ffe5e5a2d05f1c4e07fac6a977..f4fc36998d7a62652c40cf30ed7243cec1436ce0 100644
--- a/include/core/solver_suitesparse/cost_function_base.h
+++ b/include/core/solver_suitesparse/cost_function_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/solver_suitesparse/cost_function_sparse.h b/include/core/solver_suitesparse/cost_function_sparse.h
index b84388b951197eeab41576970df1643cdbc8cd75..73efc3ab8d8c2ac64cbfb34d7f592a1644b5ba97 100644
--- a/include/core/solver_suitesparse/cost_function_sparse.h
+++ b/include/core/solver_suitesparse/cost_function_sparse.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/solver_suitesparse/cost_function_sparse_base.h b/include/core/solver_suitesparse/cost_function_sparse_base.h
index 13ebf3914c847cd8a601c75fe4e57c82655c250c..56ffc4124824375002c48dfb499cf624a6bf4114 100644
--- a/include/core/solver_suitesparse/cost_function_sparse_base.h
+++ b/include/core/solver_suitesparse/cost_function_sparse_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/solver_suitesparse/qr_solver.h b/include/core/solver_suitesparse/qr_solver.h
index 3ae53dedfa99e2b443e48810913a341c5a6a59a1..992015cb455a7a430c3c706a405b5c46012b0040 100644
--- a/include/core/solver_suitesparse/qr_solver.h
+++ b/include/core/solver_suitesparse/qr_solver.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/solver_suitesparse/solver_QR.h b/include/core/solver_suitesparse/solver_QR.h
index eaa3803f55e7f7d3acb7dbb3c6b7b101528bf288..596c52f900779f524db9f642ba2b6793e77f7371 100644
--- a/include/core/solver_suitesparse/solver_QR.h
+++ b/include/core/solver_suitesparse/solver_QR.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/solver_suitesparse/solver_manager.h b/include/core/solver_suitesparse/solver_manager.h
index 3a59e7c638409d1976330b2f69b72ea86ea50b6a..bb58de7f40f200445a6070b02eca283b6f36a5a3 100644
--- a/include/core/solver_suitesparse/solver_manager.h
+++ b/include/core/solver_suitesparse/solver_manager.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/solver_suitesparse/sparse_utils.h b/include/core/solver_suitesparse/sparse_utils.h
index 24e741164813c558d65e07f0ed21ffb13b8f3981..33684e79d6feaf6abf03fa21f0ca41ea352417a9 100644
--- a/include/core/solver_suitesparse/sparse_utils.h
+++ b/include/core/solver_suitesparse/sparse_utils.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/state_block/factory_state_block.h b/include/core/state_block/factory_state_block.h
index 1f62ca15f2e916c8b098fa06c93c8e3d815e962c..89a0f305c6dbbad4eea1c70da9975224b3f9aaa9 100644
--- a/include/core/state_block/factory_state_block.h
+++ b/include/core/state_block/factory_state_block.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/state_block/local_parametrization_angle.h b/include/core/state_block/local_parametrization_angle.h
index 2f5f68af006b14983d6d51bafc281879af2450a1..d5fecb20dd84f8fcbc1b6a5f687d8a63c380764f 100644
--- a/include/core/state_block/local_parametrization_angle.h
+++ b/include/core/state_block/local_parametrization_angle.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/state_block/local_parametrization_base.h b/include/core/state_block/local_parametrization_base.h
index 6c63904f74dd50d77cb4a064c3888780d7c97b8e..f18bead0084bb9378021170e783128a05dd13f81 100644
--- a/include/core/state_block/local_parametrization_base.h
+++ b/include/core/state_block/local_parametrization_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/state_block/local_parametrization_homogeneous.h b/include/core/state_block/local_parametrization_homogeneous.h
index b4a112f34fa3ec2534cf6cb76133f11c1c55efb1..cf866581b752fca43c58485d9b1fa21a8ccf26be 100644
--- a/include/core/state_block/local_parametrization_homogeneous.h
+++ b/include/core/state_block/local_parametrization_homogeneous.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/state_block/local_parametrization_quaternion.h b/include/core/state_block/local_parametrization_quaternion.h
index cd1aa8fec759ef8980d8cfb0a8410a1bebf6024b..d2a10cbccb39644d0e8b346b6c332599c3fd28ad 100644
--- a/include/core/state_block/local_parametrization_quaternion.h
+++ b/include/core/state_block/local_parametrization_quaternion.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/state_block/state_angle.h b/include/core/state_block/state_angle.h
index ec15263d145c54edf1aec9efa65daac5192c2ce8..336db932f9528a50ba56dc5e4822c86bcefd2292 100644
--- a/include/core/state_block/state_angle.h
+++ b/include/core/state_block/state_angle.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/state_block/state_block.h b/include/core/state_block/state_block.h
index 1165d904f9babba120f9fb2b3dc40e1019c5ef02..4be5e357c66e3a09d27593c709dfdce3c77f486f 100644
--- a/include/core/state_block/state_block.h
+++ b/include/core/state_block/state_block.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/state_block/state_block_derived.h b/include/core/state_block/state_block_derived.h
index a71538fc68cb2ee02c525b4b6dd72bdfda025952..eec2013db452208082e321b03997f08ffdfe5833 100644
--- a/include/core/state_block/state_block_derived.h
+++ b/include/core/state_block/state_block_derived.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/state_block/state_homogeneous_3d.h b/include/core/state_block/state_homogeneous_3d.h
index 261fdbb6fc63edc9cd8a70cd50331f1722c941bd..839be2fececb01dbc28b4832e236e5c2912d7813 100644
--- a/include/core/state_block/state_homogeneous_3d.h
+++ b/include/core/state_block/state_homogeneous_3d.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/state_block/state_quaternion.h b/include/core/state_block/state_quaternion.h
index a233a419539c795e6d93780a8c51ff04e120dcc6..a87b688192c5752127f3fae5064d426dddf3bff8 100644
--- a/include/core/state_block/state_quaternion.h
+++ b/include/core/state_block/state_quaternion.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 071ecceb8a3de90f6b3e2addfe4efc381db903a5..11775f8f544c2d931bb6c0e838ea76e82564b05b 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/tree_manager/factory_tree_manager.h b/include/core/tree_manager/factory_tree_manager.h
index ec4ad7d81f4ead5fedb282da622a917ad7e1d675..848caa29698b28f1e0893b43e15ec15eb482c1b7 100644
--- a/include/core/tree_manager/factory_tree_manager.h
+++ b/include/core/tree_manager/factory_tree_manager.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/tree_manager/tree_manager_base.h b/include/core/tree_manager/tree_manager_base.h
index 17846d0155213ef2517d9bd98525cbbc1a77e495..560e0100ab2212a6cde6245ae32af6d661687903 100644
--- a/include/core/tree_manager/tree_manager_base.h
+++ b/include/core/tree_manager/tree_manager_base.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/tree_manager/tree_manager_sliding_window.h b/include/core/tree_manager/tree_manager_sliding_window.h
index 244df6bc9043923d99d396f731ea1fede4324f72..d97f7d3c17c0a8cf11fd0d5c0015cfef888be6d5 100644
--- a/include/core/tree_manager/tree_manager_sliding_window.h
+++ b/include/core/tree_manager/tree_manager_sliding_window.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
index 64f1c9a9fba6826880d71297f48f1a3dea7e1501..8fef95dc22a53c653521141169e36beedd84eef3 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
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/utils/check_log.h b/include/core/utils/check_log.h
index 1a2c58f9ad29dbdf5621d5d2435bf03ac6075a55..af9c0eab0bffb3ece2832f7c5bc6a1a0e92508a0 100644
--- a/include/core/utils/check_log.h
+++ b/include/core/utils/check_log.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/utils/eigen_assert.h b/include/core/utils/eigen_assert.h
index e15df48fec395e1f837250a73c422b289920cb71..c47072c1ea6fe3022a187b48d9ea43e7f258992b 100644
--- a/include/core/utils/eigen_assert.h
+++ b/include/core/utils/eigen_assert.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/utils/folder_registry.h b/include/core/utils/folder_registry.h
index fa8182d34d9a1c9c15c2feb91ac64a1a003d5ca1..9238f298aa7bc4c920f165bd5f4f22c2483eebfc 100644
--- a/include/core/utils/folder_registry.h
+++ b/include/core/utils/folder_registry.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/utils/graph_search.h b/include/core/utils/graph_search.h
index e68b33a56927322c8c0629f705ff28f301021d2c..13e7797f60271a96f5c658f8298471d34a7c27f8 100644
--- a/include/core/utils/graph_search.h
+++ b/include/core/utils/graph_search.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/utils/loader.h b/include/core/utils/loader.h
index f5b86b31ce1ef1a2958aa3dc777bfd69dbfadd6e..ae59d7d63079520f96ba0c27ba154e9f4d69ab3f 100644
--- a/include/core/utils/loader.h
+++ b/include/core/utils/loader.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/utils/logging.h b/include/core/utils/logging.h
index 20bd36858956b9957a59d7014ef885362d117b94..a50af13dfd7603ed1068ea2fba241917b508f076 100644
--- a/include/core/utils/logging.h
+++ b/include/core/utils/logging.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/utils/singleton.h b/include/core/utils/singleton.h
index 38e2f079ae503b4773c8b07eb8d8db3b89135a4b..9e39db643e9aff01715ed4e4d1d1e8e2ca91ebf6 100644
--- a/include/core/utils/singleton.h
+++ b/include/core/utils/singleton.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/include/core/utils/utils_gtest.h b/include/core/utils/utils_gtest.h
index 3b845f37230408b579ebdf1048a773df4929ad09..f5efc52cc8636d3672b0f9131f1660ac377ffd59 100644
--- a/include/core/utils/utils_gtest.h
+++ b/include/core/utils/utils_gtest.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index 612e7aefecf212e79967f477a3bc480fa863a623..d94d618982b4c1f0047334985322135261498f15 100644
--- a/src/capture/capture_base.cpp
+++ b/src/capture/capture_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/capture/capture_diff_drive.cpp b/src/capture/capture_diff_drive.cpp
index 6833d826a608610c41f68da193529dacca88cf8e..38716679f00c130c3ca8362e7181a50d76ad3590 100644
--- a/src/capture/capture_diff_drive.cpp
+++ b/src/capture/capture_diff_drive.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/capture/capture_landmarks_external.cpp b/src/capture/capture_landmarks_external.cpp
index 4afc7a816d175f0e383be9d6a059cded6bec9b57..3f693e04b9cf851ae47e7ccb2360d7f8ff5c32e9 100644
--- a/src/capture/capture_landmarks_external.cpp
+++ b/src/capture/capture_landmarks_external.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/capture/capture_motion.cpp b/src/capture/capture_motion.cpp
index 3d1fe19a1e996c44868585a20727a168fef8ad29..0d4297a8165eb32954371d6fc884610eb9243628 100644
--- a/src/capture/capture_motion.cpp
+++ b/src/capture/capture_motion.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/capture/capture_odom_2d.cpp b/src/capture/capture_odom_2d.cpp
index 59eff667a500a60944fb159f18fe8c7f9475b8ad..012eb5a2cc891648afa2ebe915b7286cd7b2ac95 100644
--- a/src/capture/capture_odom_2d.cpp
+++ b/src/capture/capture_odom_2d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/capture/capture_odom_3d.cpp b/src/capture/capture_odom_3d.cpp
index ca68cf4b47514d92904602b2ce0cb21e89ac723f..9a497bdad86bbad17e709f5444de75fbea12bda4 100644
--- a/src/capture/capture_odom_3d.cpp
+++ b/src/capture/capture_odom_3d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/capture/capture_pose.cpp b/src/capture/capture_pose.cpp
index 40a8626c4a0eca5664d205003bced64825c09cd8..92a05c4f363674beb50fdce6d9122f6936514df1 100644
--- a/src/capture/capture_pose.cpp
+++ b/src/capture/capture_pose.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/capture/capture_void.cpp b/src/capture/capture_void.cpp
index d719a8b95b4f423445c42259ba2da9f197497b2f..fc0201212b8de5d8968924b7cbcdce6949bf44ed 100644
--- a/src/capture/capture_void.cpp
+++ b/src/capture/capture_void.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/ceres_wrapper/local_parametrization_wrapper.cpp b/src/ceres_wrapper/local_parametrization_wrapper.cpp
index 85ff46cfda3e196987e8ec6984b7bf1185eb560a..0f26e2cb26a7137958a7576ee1990f15ff7b6f42 100644
--- a/src/ceres_wrapper/local_parametrization_wrapper.cpp
+++ b/src/ceres_wrapper/local_parametrization_wrapper.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/ceres_wrapper/qr_manager.cpp b/src/ceres_wrapper/qr_manager.cpp
index 024924ba4b99996ce9033c6c866929509af3e94b..37f1ad3cd96c35c74cda6f95736a03fe78da679c 100644
--- a/src/ceres_wrapper/qr_manager.cpp
+++ b/src/ceres_wrapper/qr_manager.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/ceres_wrapper/solver_ceres.cpp b/src/ceres_wrapper/solver_ceres.cpp
index 1f6a96b42936941fd28bb71763b7c54df043daa7..8bac95fe450dff07bdc6c61dac75038356f095e4 100644
--- a/src/ceres_wrapper/solver_ceres.cpp
+++ b/src/ceres_wrapper/solver_ceres.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/common/node_base.cpp b/src/common/node_base.cpp
index 45f2bd3dfce579e6f2a721f3519950fc5f97b2b5..6f3f9b7ee9f2c778ceadecc56c0437cc2e2fbfe8 100644
--- a/src/common/node_base.cpp
+++ b/src/common/node_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/common/node_state_blocks.cpp b/src/common/node_state_blocks.cpp
index 20d6a413d6dedd4688863c66d24984266b412629..7a42e06fadf01cf639f8ae9ec8d624b9b859b1e9 100644
--- a/src/common/node_state_blocks.cpp
+++ b/src/common/node_state_blocks.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/common/time_stamp.cpp b/src/common/time_stamp.cpp
index 487485d05bf856e6954065458cdbe1ca229af8e0..4531fe4474dd5fd3449343ef94b6b289af34d19d 100644
--- a/src/common/time_stamp.cpp
+++ b/src/common/time_stamp.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/composite/matrix_composite.cpp b/src/composite/matrix_composite.cpp
index 77f438f719f4d285f493991da992a1eb62a33a81..d34f67ea6b6e062f2308d59c9608674306f13697 100644
--- a/src/composite/matrix_composite.cpp
+++ b/src/composite/matrix_composite.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/composite/spec_state_composite.cpp b/src/composite/spec_state_composite.cpp
index 1370912fd7c942ad468f82d9b0e620c939394b24..c3bd242c15f30737f8a7cf6827c746e4fb2673a9 100644
--- a/src/composite/spec_state_composite.cpp
+++ b/src/composite/spec_state_composite.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/composite/spec_state_sensor_composite.cpp b/src/composite/spec_state_sensor_composite.cpp
index 2054cc604a772501f29142381151a445da3ec5d9..d586d4083014ea58e47f93b7486236e9de282b1b 100644
--- a/src/composite/spec_state_sensor_composite.cpp
+++ b/src/composite/spec_state_sensor_composite.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/composite/state_composite.cpp b/src/composite/state_composite.cpp
index 0732628eb3ab341e85ffe88a4db9166287218412..c7b7ef7bafe5fdb4f9f841150b599bc315d41154 100644
--- a/src/composite/state_composite.cpp
+++ b/src/composite/state_composite.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/composite/vector_composite.cpp b/src/composite/vector_composite.cpp
index b326d4f72868b3e5848081d94370cc5b8a51a21d..8b9d08ed245f764a83f22096db33dfc17fcd3098 100644
--- a/src/composite/vector_composite.cpp
+++ b/src/composite/vector_composite.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/factor/factor_analytic.cpp b/src/factor/factor_analytic.cpp
index 6cfa21972aa6da3761eb4555272289b5abcb945b..313b0833bfc60fdebbe767ed9ef9e201345e98de 100644
--- a/src/factor/factor_analytic.cpp
+++ b/src/factor/factor_analytic.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/factor/factor_base.cpp b/src/factor/factor_base.cpp
index 3ff0375464a27dea751b2bedc17114f3180c8334..2460314afb82f4a44fffb5b72753349b1f75eaef 100644
--- a/src/factor/factor_base.cpp
+++ b/src/factor/factor_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/feature/feature_base.cpp b/src/feature/feature_base.cpp
index 6a77fff27362594d784e514add80d9e2decec09e..5dff62a1492a1344e127527a8c2586d0c835fdca 100644
--- a/src/feature/feature_base.cpp
+++ b/src/feature/feature_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/feature/feature_diff_drive.cpp b/src/feature/feature_diff_drive.cpp
index 3280a8dad64fc58b149f42d8967f944b5b759e6d..17e876589e49cbb506e74db22d03320f158a04e1 100644
--- a/src/feature/feature_diff_drive.cpp
+++ b/src/feature/feature_diff_drive.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/feature/feature_motion.cpp b/src/feature/feature_motion.cpp
index f5ad0dfb92a4732b736d0602163d8e6f78a0e23e..35e6a586597844c9f9fa2aabdbe26cbae2794103 100644
--- a/src/feature/feature_motion.cpp
+++ b/src/feature/feature_motion.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/feature/feature_odom_2d.cpp b/src/feature/feature_odom_2d.cpp
index 56600a902990b305db1fd96398958208236f8645..a6777128d9695c8b4c5e7ca7b5565cd74067daaf 100644
--- a/src/feature/feature_odom_2d.cpp
+++ b/src/feature/feature_odom_2d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/feature/feature_pose.cpp b/src/feature/feature_pose.cpp
index 88fed43b973a7de1abe9ca3154e6fb5563e71126..d7d5d1a7224ec3c44aa04f8e3c337cc0a9b601c9 100644
--- a/src/feature/feature_pose.cpp
+++ b/src/feature/feature_pose.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 13d43f363b87ab77d98b9fd2e6f63a78f4ce32b3..81bd55be3390311e5ea347aec26005199a0c2ad9 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/hardware/hardware_base.cpp b/src/hardware/hardware_base.cpp
index c575fc57555380234cfa1d5586e3e6e20e29793a..fd77182f07248ba5684b8e309b3084e854b03abf 100644
--- a/src/hardware/hardware_base.cpp
+++ b/src/hardware/hardware_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp
index a1beb36b837e0f2d4114d2ec12e2af89cfe55e36..7b753acfca8beb74aaadeb2ebf021053fed9a70f 100644
--- a/src/landmark/landmark_base.cpp
+++ b/src/landmark/landmark_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/map/map_base.cpp b/src/map/map_base.cpp
index c43e84cf0705a2138552ad374d19392079f74e48..3e045ab1bf446a1a30801aadff30700a84c4b190 100644
--- a/src/map/map_base.cpp
+++ b/src/map/map_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/problem/problem.cpp b/src/problem/problem.cpp
index 1047f1503d7ff123e9636dee51bc0ac5b8b05de1..8b07cd229f222337e28d8a539dd58377d0a85995 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/motion_buffer.cpp b/src/processor/motion_buffer.cpp
index 95c9fc741782513d2ce726bcfbc42caac2db95ae..057a004b551dd1028c17cb0b5aa9eec0978a9959 100644
--- a/src/processor/motion_buffer.cpp
+++ b/src/processor/motion_buffer.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/motion_provider.cpp b/src/processor/motion_provider.cpp
index 5e73ab6a646f947d7c055018adafe8c001a3d0e2..3bb216e9154bf6b2e61a29054703916a29154354 100644
--- a/src/processor/motion_provider.cpp
+++ b/src/processor/motion_provider.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 42f1095d238bef46eeb4157e1cf241a280149020..a19d582decac39875a0e494d6daf6e94a061f1c4 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index 8d2b71708de2f30b4d541d79559d48bf68f2699c..b4dd8a86d952e1abfceff7201cebb27f29b263f5 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/processor_fixed_wing_model.cpp b/src/processor/processor_fixed_wing_model.cpp
index 3c0127bdf30b0d4fc354a7f1d32834f62550e9c3..80050839c7b6f9ea2d22e8ab4b4f2d291f5d0224 100644
--- a/src/processor/processor_fixed_wing_model.cpp
+++ b/src/processor/processor_fixed_wing_model.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/processor_landmark_external.cpp b/src/processor/processor_landmark_external.cpp
index 936b5078e7740ddb6ad6c6ae0c11cdfa05e1e023..5ab7c1edbd0acdad77df2e8a8bf1b3156da38c0e 100644
--- a/src/processor/processor_landmark_external.cpp
+++ b/src/processor/processor_landmark_external.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/processor_loop_closure.cpp b/src/processor/processor_loop_closure.cpp
index 113c5b61b104defa274c482824c242b5ca32829f..e614d05fcc1778baa7ccd57cc12db90c9c1d743c 100644
--- a/src/processor/processor_loop_closure.cpp
+++ b/src/processor/processor_loop_closure.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index f560b23cbb1fdfaf3ff3a6466dacc281c76bd1c3..d2063a143fe0355c87ca25843e47d865256490d5 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index 24ea5f7bea9615ef6759d9d37969948478eb2e4b..b9eaa84f01f227b9a9a07f1ee2f879d3cdbdcd0a 100644
--- a/src/processor/processor_odom_2d.cpp
+++ b/src/processor/processor_odom_2d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/processor_odom_3d.cpp b/src/processor/processor_odom_3d.cpp
index 9987275a429bb1382d12bc9afc84bfe4ab6fa5b5..a41b6e29d42a9fc465b7f77484287c3895ca0723 100644
--- a/src/processor/processor_odom_3d.cpp
+++ b/src/processor/processor_odom_3d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index acd3faf3169843580ec7c0d0d5cda183b710ba94..1c5e69fc9ebabe0188506a10c63ab09fbbf5135f 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/processor_tracker_feature.cpp b/src/processor/processor_tracker_feature.cpp
index 55a31fde27a68fe7d91720ac6fec32d2a7b98e70..9d894f97f25c1df5455cc2e7957e899244efcf7c 100644
--- a/src/processor/processor_tracker_feature.cpp
+++ b/src/processor/processor_tracker_feature.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/processor_tracker_landmark.cpp b/src/processor/processor_tracker_landmark.cpp
index 16bbcd1bd6eb48f8a7ac52e2c74a962010c5cd6c..148df8d77b6eed498643e4537558ff0698bedf33 100644
--- a/src/processor/processor_tracker_landmark.cpp
+++ b/src/processor/processor_tracker_landmark.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/processor/track_matrix.cpp b/src/processor/track_matrix.cpp
index c3e1dbb0914de9c2b4ff64365e770a5294931b1b..8cd5bbe0cbbf270b346f45a685a9a699c79e7b66 100644
--- a/src/processor/track_matrix.cpp
+++ b/src/processor/track_matrix.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 71fa162896e89f8552d35e098886f2d1394d7d47..893b44b91f24fe3fad392bbd38f3ba278c70b08e 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index 0bd76ab771a393246284473f04d08746e9777b1f..339e5cfede7e1c1f0f81a4e760c9f2e919c10c53 100644
--- a/src/sensor/sensor_diff_drive.cpp
+++ b/src/sensor/sensor_diff_drive.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/sensor/sensor_motion_model.cpp b/src/sensor/sensor_motion_model.cpp
index 105676a705163cf15b41a8fcde25aeb7042e69cb..efe20bc91bfeab890dc76339dd3420413655cead 100644
--- a/src/sensor/sensor_motion_model.cpp
+++ b/src/sensor/sensor_motion_model.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/solver/solver_manager.cpp b/src/solver/solver_manager.cpp
index db59eae64bde865f572a1b910763581cc9217934..d170e24f6f5a6655d0106ca89db3293357c33032 100644
--- a/src/solver/solver_manager.cpp
+++ b/src/solver/solver_manager.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/solver_suitesparse/solver_manager.cpp b/src/solver_suitesparse/solver_manager.cpp
index 1449d826b0f930a055c0d2c872df6fb1a2152e93..6bb9783a0d3be90cf02bf19eec605785a868d66a 100644
--- a/src/solver_suitesparse/solver_manager.cpp
+++ b/src/solver_suitesparse/solver_manager.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/state_block/local_parametrization_base.cpp b/src/state_block/local_parametrization_base.cpp
index 055be043eaadd8050e5eab4b0f5b9cc12ebc8151..c0f291b0d4f8784c2b2f7ab3a208277b5b8e460f 100644
--- a/src/state_block/local_parametrization_base.cpp
+++ b/src/state_block/local_parametrization_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/state_block/local_parametrization_homogeneous.cpp b/src/state_block/local_parametrization_homogeneous.cpp
index bee3e56a27c10bdcff01d48342b476bf4773d512..8ea5eabfc2de7770472643f8c48220b94a242f4c 100644
--- a/src/state_block/local_parametrization_homogeneous.cpp
+++ b/src/state_block/local_parametrization_homogeneous.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/state_block/local_parametrization_quaternion.cpp b/src/state_block/local_parametrization_quaternion.cpp
index 1f257d47384558183799d370ceeabc0ca5a130ea..8ec9fe07c4d0218dd732add62ffdde162ea1ca61 100644
--- a/src/state_block/local_parametrization_quaternion.cpp
+++ b/src/state_block/local_parametrization_quaternion.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/state_block/state_block.cpp b/src/state_block/state_block.cpp
index 1a41f5673d299e7a148285ee7cfdb1910344a591..da1ccc780e074cc5e41bb71adc8f83f53aa9376f 100644
--- a/src/state_block/state_block.cpp
+++ b/src/state_block/state_block.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/state_block/state_block_derived.cpp b/src/state_block/state_block_derived.cpp
index 900e9d87b63c202f63d796f54b7d0e1d60574cac..98f40e780cc1bac5f3689898994d9c122876bb8e 100644
--- a/src/state_block/state_block_derived.cpp
+++ b/src/state_block/state_block_derived.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp
index d89e7097e6fcb4955600d13862fab0cf0c6f4356..61d8781a1b3489ee9a820f9484560c522cfb394e 100644
--- a/src/trajectory/trajectory_base.cpp
+++ b/src/trajectory/trajectory_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/tree_manager/tree_manager_sliding_window.cpp b/src/tree_manager/tree_manager_sliding_window.cpp
index 4313abf9a74173b6bdbb385de8e3e1dac84ea02c..eba01160ac0f8088a72f264cb287949d00f5d978 100644
--- a/src/tree_manager/tree_manager_sliding_window.cpp
+++ b/src/tree_manager/tree_manager_sliding_window.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
index 665c0dce32e0dbddb5cff5c8eddae58bfa39a45d..a683491662f1820ec9867cbc76aa8efd47b5679e 100644
--- a/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
+++ b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/utils/check_log.cpp b/src/utils/check_log.cpp
index 6aa2b136daeacec857805f98eea9dc5fe5deaa99..9a1a7a0d34948207568feb5880a233f8b7c0d975 100644
--- a/src/utils/check_log.cpp
+++ b/src/utils/check_log.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/utils/graph_search.cpp b/src/utils/graph_search.cpp
index 344840a0cde7dbed49d6099e7173ac470fc9c41e..37b589857cc15eabb2260e56ed58dd3a6668c795 100644
--- a/src/utils/graph_search.cpp
+++ b/src/utils/graph_search.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/src/utils/loader.cpp b/src/utils/loader.cpp
index 346e09d706f5bee82b72f3f8d72f62f52499c8da..e7ef8907416bb128636239694e4db3abd8dd64ab 100644
--- a/src/utils/loader.cpp
+++ b/src/utils/loader.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/dummy_object.h b/test/dummy/dummy_object.h
index 32d082d2155d52aa368752ff059a4f8717e4ae24..5d4d8f8e6adc16749b67e0ee94366cd2613aa8da 100644
--- a/test/dummy/dummy_object.h
+++ b/test/dummy/dummy_object.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/dummy_object_derived.cpp b/test/dummy/dummy_object_derived.cpp
index 4b695bc4ac485b483392d3efafe0e4d645193db2..b035f5f96a559c7a6240f2f0932a36ffe524b76a 100644
--- a/test/dummy/dummy_object_derived.cpp
+++ b/test/dummy/dummy_object_derived.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/dummy_object_derived.h b/test/dummy/dummy_object_derived.h
index 1bf2fee30853a0c596f74545bd460137b8422777..3f54c7fe13f9152c9105dc27b020616773be5e67 100644
--- a/test/dummy/dummy_object_derived.h
+++ b/test/dummy/dummy_object_derived.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/dummy_object_derived_derived.cpp b/test/dummy/dummy_object_derived_derived.cpp
index 6d34b0f4f0581368ef5e723c2b2150993599cc7e..5a2a125cef6c6c6788c3faf66ccb0ce1bcac2e4a 100644
--- a/test/dummy/dummy_object_derived_derived.cpp
+++ b/test/dummy/dummy_object_derived_derived.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/dummy_object_derived_derived.h b/test/dummy/dummy_object_derived_derived.h
index 3096ae049fcedaa1982de0f59bcc58c636f59a69..95f16ae90ed252dad8933631e9911089e350bddd 100644
--- a/test/dummy/dummy_object_derived_derived.h
+++ b/test/dummy/dummy_object_derived_derived.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/factor_dummy.h b/test/dummy/factor_dummy.h
index 0a8b51c74c8ebdb2d6732efec4bab4e11f66f265..358c9f7e544dd1dc9963de40601addfa8f4c6f94 100644
--- a/test/dummy/factor_dummy.h
+++ b/test/dummy/factor_dummy.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/factor_dummy_zero_1.h b/test/dummy/factor_dummy_zero_1.h
index 79c7e4f4cbae7004acb93cd172a1ed652eee1230..89137b551860f9f4e7d3339750b9e478b8b138df 100644
--- a/test/dummy/factor_dummy_zero_1.h
+++ b/test/dummy/factor_dummy_zero_1.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/factor_dummy_zero_15.h b/test/dummy/factor_dummy_zero_15.h
index d09e0f326120d4cb7a3cc00ea155baab5ee2b66b..6d2b8fe63e57fb4593776c5374e32443ac2d4a6c 100644
--- a/test/dummy/factor_dummy_zero_15.h
+++ b/test/dummy/factor_dummy_zero_15.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/factor_feature_dummy.h b/test/dummy/factor_feature_dummy.h
index 86bcc13df2a9d2220ebf6d69f2c87925e8e5627d..29594364373e4db5023174387e25b22d595a8b2a 100644
--- a/test/dummy/factor_feature_dummy.h
+++ b/test/dummy/factor_feature_dummy.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/factor_landmark_dummy.h b/test/dummy/factor_landmark_dummy.h
index f584e8d538ce27f9dfbe71f0516a46280b17e2e3..0f407c07e8d9b6bfb49db706a40bd1f0fa307d91 100644
--- a/test/dummy/factor_landmark_dummy.h
+++ b/test/dummy/factor_landmark_dummy.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/factor_odom_2d_autodiff.h b/test/dummy/factor_odom_2d_autodiff.h
index 1d65c32276c955df3ed11d54a5c6f323921dfdbc..39ab4d9340d8666cc4cf6167c4f1cfef107e1e1e 100644
--- a/test/dummy/factor_odom_2d_autodiff.h
+++ b/test/dummy/factor_odom_2d_autodiff.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/factory_dummy_object.h b/test/dummy/factory_dummy_object.h
index b03ba51865a18c7481ef0c5b25ef6923cf1381b9..6d284c20c237c4add643d8222ca810566f799308 100644
--- a/test/dummy/factory_dummy_object.h
+++ b/test/dummy/factory_dummy_object.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/landmark_dummy.h b/test/dummy/landmark_dummy.h
index 018a98503ec9772f3a0351d7af2625a4fe893d1e..b1a7c6586a8c393cb496632b2772d1f525e0a9e5 100644
--- a/test/dummy/landmark_dummy.h
+++ b/test/dummy/landmark_dummy.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/node_state_blocks_dummy.h b/test/dummy/node_state_blocks_dummy.h
index 8ca92329dd2a29c53f48998248505450392463f4..80d3226ea56198373c802e68b652748324f055ae 100644
--- a/test/dummy/node_state_blocks_dummy.h
+++ b/test/dummy/node_state_blocks_dummy.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/processor_loop_closure_dummy.h b/test/dummy/processor_loop_closure_dummy.h
index bbceb52410096844d379113c0d2cb35b82781246..4488289c34f8e01c87845541c6e38d5719e4048c 100644
--- a/test/dummy/processor_loop_closure_dummy.h
+++ b/test/dummy/processor_loop_closure_dummy.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/processor_motion_provider_dummy.h b/test/dummy/processor_motion_provider_dummy.h
index 587b46f946c2d0919d60a2fdb36574aec2ccb794..6a3a9be63d433f19498110dfe58789633351ce23 100644
--- a/test/dummy/processor_motion_provider_dummy.h
+++ b/test/dummy/processor_motion_provider_dummy.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/processor_tracker_feature_dummy.cpp b/test/dummy/processor_tracker_feature_dummy.cpp
index d993dcafae61d19a737a3d974de40052960a3b55..267b4d30319382032130a0a96c2e990b230ff7dc 100644
--- a/test/dummy/processor_tracker_feature_dummy.cpp
+++ b/test/dummy/processor_tracker_feature_dummy.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index da25d9a32158a681a2502f4bb0942abbbc014ab7..456465ad209dd891b2d2cbd621367019bd03b7c7 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/processor_tracker_landmark_dummy.cpp b/test/dummy/processor_tracker_landmark_dummy.cpp
index c78c085f3ba5a1b7214c7463e1939891d5195c5b..f09c8554a5026ecdc2d0dd767fb2eb13e98f0166 100644
--- a/test/dummy/processor_tracker_landmark_dummy.cpp
+++ b/test/dummy/processor_tracker_landmark_dummy.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index 4c68739d66795a166119a20367e1895aa4f8238e..fd2855cede187f754da83a9b457e6cde92b32d83 100644
--- a/test/dummy/processor_tracker_landmark_dummy.h
+++ b/test/dummy/processor_tracker_landmark_dummy.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/sensor_dummy.h b/test/dummy/sensor_dummy.h
index a91ff65f3adac29e1f4d64e87d936af2c787be52..e797bd17cda812709fd28d9f5b6972296dbd40eb 100644
--- a/test/dummy/sensor_dummy.h
+++ b/test/dummy/sensor_dummy.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/solver_manager_dummy.h b/test/dummy/solver_manager_dummy.h
index ac9aaf9210779a4ea49e32e50747349186482c06..438f0124b39b018a3afa1c0079be978a215ac99a 100644
--- a/test/dummy/solver_manager_dummy.h
+++ b/test/dummy/solver_manager_dummy.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/dummy/tree_manager_dummy.h b/test/dummy/tree_manager_dummy.h
index dfc30e9e6dfc6c32a9a0dbf5e2a938c01ade7a83..cb7e1247af8197eedcb57b4e5782319c2fe748b1 100644
--- a/test/dummy/tree_manager_dummy.h
+++ b/test/dummy/tree_manager_dummy.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_SE2.cpp b/test/gtest_SE2.cpp
index de574eaeac51fca3d93f264b4aaf8875d5dfb3c4..cb46e4864185d91c866d95f1f6a1352a2ff6658b 100644
--- a/test/gtest_SE2.cpp
+++ b/test/gtest_SE2.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_SE3.cpp b/test/gtest_SE3.cpp
index bafe316de3ba52350c67165cebe867b28df5a05b..a36cf03f7d74ac35bd8b3cdc05bb07f1c42271a1 100644
--- a/test/gtest_SE3.cpp
+++ b/test/gtest_SE3.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_buffer_frame.cpp b/test/gtest_buffer_frame.cpp
index ad12835239248b4b30be800379aa304ec6863580..8d010408f92a7a99c672cd5f988fc17ea10da9c6 100644
--- a/test/gtest_buffer_frame.cpp
+++ b/test/gtest_buffer_frame.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp
index db8b1b4d8b7ededdf45c9fdc15892650bd6c455a..8c065c4083aaa1847f4cd234d8028d11a995dafe 100644
--- a/test/gtest_capture_base.cpp
+++ b/test/gtest_capture_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_converter.cpp b/test/gtest_converter.cpp
index c4cf095f1c6b8726a33af69068462a179afd04fc..e859619207f5e4306c00f49ec279942ecbfcdc75 100644
--- a/test/gtest_converter.cpp
+++ b/test/gtest_converter.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index 9300ec8e0e182be583aecddf151dd266d623165a..16952926bb9eeab1c7a3a03dd84ced6552a9d945 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_example.cpp b/test/gtest_example.cpp
index 08ce67d25bd2f5cb39a4f0d3bad541017fdde3b4..e56d0503f060420baa24466c9061cc32078799d1 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_absolute.cpp b/test/gtest_factor_absolute.cpp
index c6ad19a8112ead6731dd753cb49e74ec1fedc642..86ffda720411a673e421c76e1a56565b920c8a6b 100644
--- a/test/gtest_factor_absolute.cpp
+++ b/test/gtest_factor_absolute.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_autodiff.cpp b/test/gtest_factor_autodiff.cpp
index 9e1a48de1105139320cb1066fe6c8324b8435d81..4c332c74364bd91ec8ad26171fede2232fb1c036 100644
--- a/test/gtest_factor_autodiff.cpp
+++ b/test/gtest_factor_autodiff.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_base.cpp b/test/gtest_factor_base.cpp
index 2598d5d7718f2710269699c6e19915cf01ed80c8..9bd45b57b575487c928c6ab6217643226b708cb4 100644
--- a/test/gtest_factor_base.cpp
+++ b/test/gtest_factor_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_block_difference.cpp b/test/gtest_factor_block_difference.cpp
index 802b84cb51f099c65898d53bdc390e0c1b7aa7f4..69f35f8cf1409096a1626a589832d44703456769 100644
--- a/test/gtest_factor_block_difference.cpp
+++ b/test/gtest_factor_block_difference.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index 993ff40795d1d6deffb4a318582c83b5847b2e59..47ddc75786cd91f1387f030b8778a90ba7486aa0 100644
--- a/test/gtest_factor_diff_drive.cpp
+++ b/test/gtest_factor_diff_drive.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_distance_3d.cpp b/test/gtest_factor_distance_3d.cpp
index bf8909b0fbd7dac790c1d618214955a2a483a0cb..09d623eee10753e17056c4f69cb9c2a15fe62022 100644
--- a/test/gtest_factor_distance_3d.cpp
+++ b/test/gtest_factor_distance_3d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_odom_2d_autodiff.cpp b/test/gtest_factor_odom_2d_autodiff.cpp
index 5d90fde1172d78aaa768483a4ce4521d41ce3e61..89e943c14d59a70f7a75a55787adf0c893374384 100644
--- a/test/gtest_factor_odom_2d_autodiff.cpp
+++ b/test/gtest_factor_odom_2d_autodiff.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_pose_2d.cpp b/test/gtest_factor_pose_2d.cpp
index 141c35cfc29909dab62d28feaf2cf5429c7c57e1..f6f5b5dc29666c3e5e7ba2c98872f26ef3f54e6b 100644
--- a/test/gtest_factor_pose_2d.cpp
+++ b/test/gtest_factor_pose_2d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_pose_2d_with_extrinsics.cpp b/test/gtest_factor_pose_2d_with_extrinsics.cpp
index c29736a4a7aa268aff060c3c5f39016f280bbb9f..e2177655be35425661eddc076edcbc508fe1e5dc 100644
--- a/test/gtest_factor_pose_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_pose_2d_with_extrinsics.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_pose_3d.cpp b/test/gtest_factor_pose_3d.cpp
index e41a3c50c2634466f60034b01f1c0fdd541d2e8e..6ed29d7546beddac7950129eca64638022e011be 100644
--- a/test/gtest_factor_pose_3d.cpp
+++ b/test/gtest_factor_pose_3d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_pose_3d_with_extrinsics.cpp b/test/gtest_factor_pose_3d_with_extrinsics.cpp
index ae8fec1db52a7df471c716fc020822a2a6deee50..07257eeb8aebc7bc25746e44618cec35ea72f524 100644
--- a/test/gtest_factor_pose_3d_with_extrinsics.cpp
+++ b/test/gtest_factor_pose_3d_with_extrinsics.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_prior.cpp b/test/gtest_factor_prior.cpp
index 224d646efee0218ad288dd3930504b1d59e2c23f..9af7188644e4fff004f7babb7c2f68c16ce238a3 100644
--- a/test/gtest_factor_prior.cpp
+++ b/test/gtest_factor_prior.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_relative_pose_2d.cpp b/test/gtest_factor_relative_pose_2d.cpp
index 80666492ee24ad2f448d4d84dc90a8b72f7e44a3..8959a7c22e7b5427d6955ff179486fe329baa594 100644
--- a/test/gtest_factor_relative_pose_2d.cpp
+++ b/test/gtest_factor_relative_pose_2d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
index ae84912e0708ce59010b4fe2397b69d10faa461d..ebe5fc591f0441c1170355d653c99863ee078acd 100644
--- a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_relative_pose_3d.cpp b/test/gtest_factor_relative_pose_3d.cpp
index 09809fab66bf7ceccf6f0f5ac10e53b4f36abad2..e93dedecb90adbbd114c093d7334ca5edc9d36bf 100644
--- a/test/gtest_factor_relative_pose_3d.cpp
+++ b/test/gtest_factor_relative_pose_3d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
index f570e980cb4585479a5eb8f47a218d5698a39946..881697b298608f3c9c150b9179d7a108038c6640 100644
--- a/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_relative_position_2d.cpp b/test/gtest_factor_relative_position_2d.cpp
index 8ddfb229ba6d322c0218d27e4cfe7bdb775950ee..511e168a5151a42b0d136d6042c80d471b55ff04 100644
--- a/test/gtest_factor_relative_position_2d.cpp
+++ b/test/gtest_factor_relative_position_2d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_relative_position_2d_with_extrinsics.cpp b/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
index f48bf30b25fe7eff3e6574062d075872f93353b6..b8c7529484ad48d0d61a37616276b45e31897101 100644
--- a/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_relative_position_3d.cpp b/test/gtest_factor_relative_position_3d.cpp
index 54d49d08a36ba4fc021bbc52a90b18f2f1199265..cf7240488ad91f2358e17d923e8988371f0a601e 100644
--- a/test/gtest_factor_relative_position_3d.cpp
+++ b/test/gtest_factor_relative_position_3d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_relative_position_3d_with_extrinsics.cpp b/test/gtest_factor_relative_position_3d_with_extrinsics.cpp
index cba6bbc237d92a75702c59a53e4c82c4b02790d2..5a473e8e522a70c897f294a0d0b4536dfb7cd738 100644
--- a/test/gtest_factor_relative_position_3d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_position_3d_with_extrinsics.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factor_velocity_local_direction_3d.cpp b/test/gtest_factor_velocity_local_direction_3d.cpp
index 9e93eecd197a230293acb21d76f0379e290312cc..8f773f19f231f4dabe6cae922e7a46674c861a44 100644
--- a/test/gtest_factor_velocity_local_direction_3d.cpp
+++ b/test/gtest_factor_velocity_local_direction_3d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factory.cpp b/test/gtest_factory.cpp
index 1c74b10a99ac78828636e156aaefb17b76713ebd..b4b8c1c31c0ebb33241ef461eab7ed1643b3f221 100644
--- a/test/gtest_factory.cpp
+++ b/test/gtest_factory.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_factory_state_block.cpp b/test/gtest_factory_state_block.cpp
index 07a136a6f4997d2314ce36102cc7c04dfe106656..c0f420ab67aa7ab283c240da550a4a4e90e62865 100644
--- a/test/gtest_factory_state_block.cpp
+++ b/test/gtest_factory_state_block.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_feature_base.cpp b/test/gtest_feature_base.cpp
index 6e286ec407848f481ed134018ef83457f7d70de0..8228d106b2e27b97594373303e320acb8a06abd3 100644
--- a/test/gtest_feature_base.cpp
+++ b/test/gtest_feature_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 179025e5287284f5936dcd93e8223c5e8c15203f..06f9e57604a0d9199de8cf0d333e054fcab4e04b 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_graph_search.cpp b/test/gtest_graph_search.cpp
index ddac16feacb3839884e50057052ab9b71514e7f0..5bf17b5ef99a904caa7dd8ecb7b11233a1a52043 100644
--- a/test/gtest_graph_search.cpp
+++ b/test/gtest_graph_search.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_local_param.cpp b/test/gtest_local_param.cpp
index 092eebdc86a0cda0de47a40d393119e62fde8828..66c7ec1e5ab1b0c62fa45516302cf4184aac0832 100644
--- a/test/gtest_local_param.cpp
+++ b/test/gtest_local_param.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_logging.cpp b/test/gtest_logging.cpp
index f7c9439bbd997192dcfc564fe49d905bfae753c4..4883f5b15ffeb901710313103bb91364f6f8e07b 100644
--- a/test/gtest_logging.cpp
+++ b/test/gtest_logging.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_make_posdef.cpp b/test/gtest_make_posdef.cpp
index cced5a85c295e528c25b2f939271bc5580ca003d..8de49013703405a9d9c84ed164dc748790444f09 100644
--- a/test/gtest_make_posdef.cpp
+++ b/test/gtest_make_posdef.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_map_yaml.cpp b/test/gtest_map_yaml.cpp
index 6b6b8aa3dbee0e2e094e86f178466ff1e52391a6..d994dd26dee1dd96e74942b4b2c2517cd541ce8e 100644
--- a/test/gtest_map_yaml.cpp
+++ b/test/gtest_map_yaml.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_matrix_composite.cpp b/test/gtest_matrix_composite.cpp
index 411f57afe85092f271ae580378ae1fb1d6197c9e..232b27620a77dc477bd9deab5fe2360b139e94fa 100644
--- a/test/gtest_matrix_composite.cpp
+++ b/test/gtest_matrix_composite.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_motion_buffer.cpp b/test/gtest_motion_buffer.cpp
index 0ea5732161a7f6313a98205281b38f1d4c375049..b82c2b41ae7459ea2e2705aedabec0ebd84e9706 100644
--- a/test/gtest_motion_buffer.cpp
+++ b/test/gtest_motion_buffer.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_motion_provider.cpp b/test/gtest_motion_provider.cpp
index 0303c1422b100630f7526bfa43ffb345462ad542..2a8e28700d0196c0f0585115f881812e7aa825cb 100644
--- a/test/gtest_motion_provider.cpp
+++ b/test/gtest_motion_provider.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_node_state_blocks.cpp b/test/gtest_node_state_blocks.cpp
index 1bcd30a74cb5e0271c87b2b36be343e12ee525f1..ab4cc3e7ddbc14875315ee02a5c20eecc1c819f5 100644
--- a/test/gtest_node_state_blocks.cpp
+++ b/test/gtest_node_state_blocks.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_odom_2d.cpp b/test/gtest_odom_2d.cpp
index 92805a2c17495d5e1e2b227a686bf20bd97636bb..7971a4e91a2a2c3a4fec594de8f1f53a4b7cda40 100644
--- a/test/gtest_odom_2d.cpp
+++ b/test/gtest_odom_2d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 141ac5bf6b3618a611c3ab7a7e8cd71395593600..e2910fdf4622cbd08b2d41df57fda08e7c13e388 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp b/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp
index e271ce41186e849fc5633d0d2dd807d3ff5bfa1d..cb948e7d03f4659c404157ffb4286053319e149c 100644
--- a/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp
+++ b/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index b9a6deabdf3f80dcffbc28fcca379cead0851a94..c87b56fa95fde660a7b1d81db0295470503fc7e0 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_processor_diff_drive.cpp b/test/gtest_processor_diff_drive.cpp
index 2dc99dfa69b5175831f88f680d95b8cd0b1c168c..411236c6c7f144e17257db3357d91f1f478af270 100644
--- a/test/gtest_processor_diff_drive.cpp
+++ b/test/gtest_processor_diff_drive.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_processor_fixed_wing_model.cpp b/test/gtest_processor_fixed_wing_model.cpp
index 082e482eea6353d0a020695cb70d525f859f104f..5010264b5543f92050150274b03a7cb0a7461e46 100644
--- a/test/gtest_processor_fixed_wing_model.cpp
+++ b/test/gtest_processor_fixed_wing_model.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_processor_landmark_external.cpp b/test/gtest_processor_landmark_external.cpp
index 43ea583b428cca8d85a015c6d3fba1185d2a0920..bf2c273c0cd9effbc305ca9a7725341383ddd043 100644
--- a/test/gtest_processor_landmark_external.cpp
+++ b/test/gtest_processor_landmark_external.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_processor_loop_closure.cpp b/test/gtest_processor_loop_closure.cpp
index 81e682e7758cccd1119f0a901d13bcf60949f341..3e29685c6b82f0a7528f02f1df26cfbe98ae342f 100644
--- a/test/gtest_processor_loop_closure.cpp
+++ b/test/gtest_processor_loop_closure.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index f8067316fbb0c04c36a12b1e0942bf7059800b7d..a13f329ece0b7cdef618648a8496c5044af894c0 100644
--- a/test/gtest_processor_motion.cpp
+++ b/test/gtest_processor_motion.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_processor_odom_3d.cpp b/test/gtest_processor_odom_3d.cpp
index b0fd20276d277d69489c0c015e6fbd7bb25c3b49..518f6e764d7030c751bd49f480a8304c22ec85c5 100644
--- a/test/gtest_processor_odom_3d.cpp
+++ b/test/gtest_processor_odom_3d.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp
index e952d60454fe8108ce36705928980bec6ae26a7e..be540a76b49be20f230b153631017a0d63e11a16 100644
--- a/test/gtest_processor_tracker_feature_dummy.cpp
+++ b/test/gtest_processor_tracker_feature_dummy.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_processor_tracker_landmark_dummy.cpp b/test/gtest_processor_tracker_landmark_dummy.cpp
index 362026be8b9256018f55e076f876a9264aaa21b1..4e45d6de0b31b1c3551e8de1fbfb125c9eac982c 100644
--- a/test/gtest_processor_tracker_landmark_dummy.cpp
+++ b/test/gtest_processor_tracker_landmark_dummy.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_rotation.cpp b/test/gtest_rotation.cpp
index 70a156cdec9ec7c4eecf6908e8fda9df69ce1c1c..54d00e62ffe6d9e8205b52dab0f8e1559c197479 100644
--- a/test/gtest_rotation.cpp
+++ b/test/gtest_rotation.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_schema.cpp b/test/gtest_schema.cpp
index 8ccba5ad13437853e901cde32a6f356595e50c4f..f3cd912da772dbf682f9b88655cb53320b916223 100644
--- a/test/gtest_schema.cpp
+++ b/test/gtest_schema.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_sensor_base.cpp b/test/gtest_sensor_base.cpp
index 839a0c143a7bf5434cd6b4ab22a82ecebe3cb443..5b7b868e31185c0a004e149c9a9cefae69e5fa2d 100644
--- a/test/gtest_sensor_base.cpp
+++ b/test/gtest_sensor_base.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_sensor_diff_drive.cpp b/test/gtest_sensor_diff_drive.cpp
index 83021da13c5b41a89e77d834c23d0077a2ae41c2..dccf73b552b1f6f5908199b614121841c1eba271 100644
--- a/test/gtest_sensor_diff_drive.cpp
+++ b/test/gtest_sensor_diff_drive.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_sensor_odom.cpp b/test/gtest_sensor_odom.cpp
index 6692f59aee9e93b76a0a8833eb13da652e7792d0..83ca3af5a8cbff0fb2534f9a67d553fd13d42a06 100644
--- a/test/gtest_sensor_odom.cpp
+++ b/test/gtest_sensor_odom.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_sensor_pose.cpp b/test/gtest_sensor_pose.cpp
index 5dc2cbe947cebbb49ee44fce70628292c94ad513..7378bf410917332233be3bcb17f37cc333a2caba 100644
--- a/test/gtest_sensor_pose.cpp
+++ b/test/gtest_sensor_pose.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_shared_from_this.cpp b/test/gtest_shared_from_this.cpp
index c8490332395c63d0584c26c2d9db63a742ed1f6a..62f000b7bc19dc551077b3745d2cf8be6a8b6ee1 100644
--- a/test/gtest_shared_from_this.cpp
+++ b/test/gtest_shared_from_this.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_solver_ceres.cpp b/test/gtest_solver_ceres.cpp
index 36b480b9c97c08f9d1f1027b7ab3bfc92115e071..b3b60c88cbeff03a2f08d3a5b3c6f9dad4ec1052 100644
--- a/test/gtest_solver_ceres.cpp
+++ b/test/gtest_solver_ceres.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_solver_ceres_multithread.cpp b/test/gtest_solver_ceres_multithread.cpp
index 8048234ebbb834b7fe6b55204567c8b2abd00225..bb24f52a64bd1594553d60253f6480b9f0211993 100644
--- a/test/gtest_solver_ceres_multithread.cpp
+++ b/test/gtest_solver_ceres_multithread.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp
index 3d795cb31158446e4372c98dd11019653be2aa8c..5edf93634a2038582ff811aed36bd75110e59f39 100644
--- a/test/gtest_solver_manager.cpp
+++ b/test/gtest_solver_manager.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_solver_manager_multithread.cpp b/test/gtest_solver_manager_multithread.cpp
index 7d5ad88d997c28cbdefec4cfeb65cb3e496c549a..86b8dd23e08a6ed135b821fe25186ec7df7fc967 100644
--- a/test/gtest_solver_manager_multithread.cpp
+++ b/test/gtest_solver_manager_multithread.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_spec_state_composite.cpp b/test/gtest_spec_state_composite.cpp
index 31d7b1e1998ce0e8db6fe93cc4fb73d3e4cf85de..c26856c989c4c967013a24c1c762626c597e0736 100644
--- a/test/gtest_spec_state_composite.cpp
+++ b/test/gtest_spec_state_composite.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_spec_state_sensor_composite.cpp b/test/gtest_spec_state_sensor_composite.cpp
index aa8de99244737a00ffd5542a13442f34d16ad4f8..c89428be46fd42a985a577dbf7e75810c66a465c 100644
--- a/test/gtest_spec_state_sensor_composite.cpp
+++ b/test/gtest_spec_state_sensor_composite.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_state_block.cpp b/test/gtest_state_block.cpp
index 2923ce0c8594ce5d57a2ddb88bc0b4a3001752b6..73e447cf7c7407935f7b303f40bbb205ff647d60 100644
--- a/test/gtest_state_block.cpp
+++ b/test/gtest_state_block.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_state_composite.cpp b/test/gtest_state_composite.cpp
index f6a10a8840feeea549d6440d9ce7de452db3e592..2d50854e0adc8809b0ba0f473a5000ab4b246ec1 100644
--- a/test/gtest_state_composite.cpp
+++ b/test/gtest_state_composite.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_time_stamp.cpp b/test/gtest_time_stamp.cpp
index e0e9b4b5be0c8913c95f8c0052d41737d52bf360..83d0c2f41a0c4f9971e4b704ec42831b3acf0396 100644
--- a/test/gtest_time_stamp.cpp
+++ b/test/gtest_time_stamp.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp
index c4085ea923ecf5bafe27b0e3d1070a96f6ff0703..846776ec13dfda44c9f041c678f961160a01f6b0 100644
--- a/test/gtest_track_matrix.cpp
+++ b/test/gtest_track_matrix.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index 01878658f05ddda9821e657af5ecf087165a0306..60b627243a55cebbe5de4a6abbaf0be8ceeb9a93 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_tree_manager.cpp b/test/gtest_tree_manager.cpp
index 0972417c1d090d1f95fcaf74452fd9e5dcdd9fa6..c1a4e8a3f5caf084f340e40a515882de5c56056c 100644
--- a/test/gtest_tree_manager.cpp
+++ b/test/gtest_tree_manager.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_tree_manager_sliding_window.cpp b/test/gtest_tree_manager_sliding_window.cpp
index 627ad15478100f39c80aa48918cbf3f2a99899d4..40414ac9e75553fc9335945d15f0dbb45f344467 100644
--- a/test/gtest_tree_manager_sliding_window.cpp
+++ b/test/gtest_tree_manager_sliding_window.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_tree_manager_sliding_window_dual_rate.cpp b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
index a37c35f189f311b3c7375f1660157334a7ee7af7..72dcaf08cbb768aaa6cc22f371013eab8091e2fb 100644
--- a/test/gtest_tree_manager_sliding_window_dual_rate.cpp
+++ b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/test/gtest_vector_composite.cpp b/test/gtest_vector_composite.cpp
index 5232ead8867ebf631065188ff0fe2d6007329d9b..61fd31d7af79ed7fafe3aeb5dbd795f205001cc5 100644
--- a/test/gtest_vector_composite.cpp
+++ b/test/gtest_vector_composite.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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_header_2023.txt b/wolf_scripts/license_header_2023.txt
index a633a09535dde0c32f430ca44e67792b9d7f2ddc..8ef808b15c0daaf9a4faae5701b6ef24309479dd 100644
--- a/wolf_scripts/license_header_2023.txt
+++ b/wolf_scripts/license_header_2023.txt
@@ -1,4 +1,4 @@
-// WOLF - Copyright (C) 2020,2021,2022,2023 
+// WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
 // Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
 // Joan VallvÃ© Navarro (jvallve@iri.upc.edu)
diff --git a/wolf_scripts/license_manager.sh b/wolf_scripts/license_manager.sh
index 308e38c1f1f2bf3571a58bac33bc70c257dc1b57..45295ad101bb704b4c42c95773382f49d0b1426b 100755
--- a/wolf_scripts/license_manager.sh
+++ b/wolf_scripts/license_manager.sh
@@ -144,6 +144,7 @@ fi
 if [ -f "${config_folder}/license_exclude.txt" ]; then
   file_list=$(grep -Ev -f ${config_folder}/license_exclude.txt <(printf "%s\n" "${file_list[@]}"))
 fi
+printf "%s\n" "${file_list[@]}"
 
 # DETECT AND REMOVE EXISTING LICENSE
 if [ "$mode" == "remove" ]; then
diff --git a/wolf_scripts/templates/class_template.cpp b/wolf_scripts/templates/class_template.cpp
index 443832ab00e6884ee8bd9d6bc65ae996df0b901a..86d1279f0fab7486e47396936665beced83419a5 100644
--- a/wolf_scripts/templates/class_template.cpp
+++ b/wolf_scripts/templates/class_template.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/templates/class_template.h b/wolf_scripts/templates/class_template.h
index c19fa56b4333adc57c698ebbc9054845d728e2a5..8057bb92c8ce440eb4cdab4475539c8d8f25dd6c 100644
--- a/wolf_scripts/templates/class_template.h
+++ b/wolf_scripts/templates/class_template.h
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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/templates/gtest_template.cpp b/wolf_scripts/templates/gtest_template.cpp
index 29fb75895084de6e05e81f26a927eaa705ff203f..c230d9664033a04edc169aa5e959929002e3df46 100644
--- a/wolf_scripts/templates/gtest_template.cpp
+++ b/wolf_scripts/templates/gtest_template.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de RobÃ²tica i InformÃ tica Industrial, CSIC-UPC.
-// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu)
+// Authors: Joan SolÃ  Ortega (jsola@iri.upc.edu) and
+// Joan VallvÃ© 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