From aa95dca45618ff50393fa57084afb8d1a969250d Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Thu, 2 Mar 2023 15:34:23 +0100
Subject: [PATCH] modified license header

---
 demos/demo_analytic_autodiff_factor.cpp                     | 6 ++++--
 demos/demo_wolf_imported_graph.cpp                          | 5 +++--
 demos/hello_wolf/capture_range_bearing.cpp                  | 5 +++--
 demos/hello_wolf/capture_range_bearing.h                    | 5 +++--
 demos/hello_wolf/factor_bearing.h                           | 5 +++--
 demos/hello_wolf/factor_range_bearing.h                     | 5 +++--
 demos/hello_wolf/feature_range_bearing.cpp                  | 5 +++--
 demos/hello_wolf/feature_range_bearing.h                    | 5 +++--
 demos/hello_wolf/hello_wolf.cpp                             | 5 +++--
 demos/hello_wolf/hello_wolf_autoconf.cpp                    | 5 +++--
 demos/hello_wolf/landmark_point_2d.cpp                      | 5 +++--
 demos/hello_wolf/landmark_point_2d.h                        | 5 +++--
 demos/hello_wolf/processor_range_bearing.cpp                | 5 +++--
 demos/hello_wolf/processor_range_bearing.h                  | 5 +++--
 demos/hello_wolf/sensor_range_bearing.cpp                   | 5 +++--
 demos/hello_wolf/sensor_range_bearing.h                     | 5 +++--
 demos/solver/test_SPQR.cpp                                  | 5 +++--
 demos/solver/test_ccolamd.cpp                               | 5 +++--
 demos/solver/test_ccolamd_blocks.cpp                        | 5 +++--
 demos/solver/test_iQR.cpp                                   | 5 +++--
 demos/solver/test_iQR_wolf.cpp                              | 5 +++--
 demos/solver/test_iQR_wolf2.cpp                             | 5 +++--
 demos/solver/test_incremental_ccolamd_blocks.cpp            | 5 +++--
 demos/solver/test_permutations.cpp                          | 5 +++--
 include/core/capture/capture_base.h                         | 5 +++--
 include/core/capture/capture_diff_drive.h                   | 5 +++--
 include/core/capture/capture_landmarks_external.h           | 5 +++--
 include/core/capture/capture_motion.h                       | 5 +++--
 include/core/capture/capture_odom_2d.h                      | 5 +++--
 include/core/capture/capture_odom_3d.h                      | 5 +++--
 include/core/capture/capture_pose.h                         | 5 +++--
 include/core/capture/capture_void.h                         | 5 +++--
 include/core/ceres_wrapper/cost_function_wrapper.h          | 5 +++--
 .../core/ceres_wrapper/create_numeric_diff_cost_function.h  | 5 +++--
 include/core/ceres_wrapper/iteration_update_callback.h      | 5 +++--
 include/core/ceres_wrapper/local_parametrization_wrapper.h  | 5 +++--
 include/core/ceres_wrapper/qr_manager.h                     | 5 +++--
 include/core/ceres_wrapper/solver_ceres.h                   | 5 +++--
 include/core/ceres_wrapper/sparse_utils.h                   | 5 +++--
 include/core/ceres_wrapper/wolf_jet.h                       | 5 +++--
 include/core/common/factory.h                               | 5 +++--
 include/core/common/node_base.h                             | 5 +++--
 include/core/common/node_state_blocks.h                     | 5 +++--
 include/core/common/params_base.h                           | 5 +++--
 include/core/common/time_stamp.h                            | 5 +++--
 include/core/common/wolf.h                                  | 5 +++--
 include/core/composite/composite.h                          | 5 +++--
 include/core/composite/matrix_composite.h                   | 5 +++--
 include/core/composite/spec_state_composite.h               | 5 +++--
 include/core/composite/spec_state_sensor_composite.h        | 5 +++--
 include/core/composite/state_composite.h                    | 5 +++--
 include/core/composite/type_composite.h                     | 5 +++--
 include/core/composite/vector_composite.h                   | 5 +++--
 include/core/factor/factor_analytic.h                       | 5 +++--
 include/core/factor/factor_autodiff.h                       | 5 +++--
 include/core/factor/factor_base.h                           | 5 +++--
 include/core/factor/factor_block_absolute.h                 | 5 +++--
 include/core/factor/factor_block_difference.h               | 5 +++--
 include/core/factor/factor_diff_drive.h                     | 5 +++--
 include/core/factor/factor_distance_3d.h                    | 5 +++--
 include/core/factor/factor_pose_2d.h                        | 5 +++--
 include/core/factor/factor_pose_2d_with_extrinsics.h        | 5 +++--
 include/core/factor/factor_pose_3d.h                        | 5 +++--
 include/core/factor/factor_pose_3d_with_extrinsics.h        | 5 +++--
 include/core/factor/factor_quaternion_absolute.h            | 5 +++--
 include/core/factor/factor_relative_pose_2d.h               | 5 +++--
 .../core/factor/factor_relative_pose_2d_with_extrinsics.h   | 5 +++--
 include/core/factor/factor_relative_pose_3d.h               | 5 +++--
 .../core/factor/factor_relative_pose_3d_with_extrinsics.h   | 5 +++--
 include/core/factor/factor_relative_position_2d.h           | 5 +++--
 .../factor/factor_relative_position_2d_with_extrinsics.h    | 5 +++--
 include/core/factor/factor_relative_position_3d.h           | 5 +++--
 .../factor/factor_relative_position_3d_with_extrinsics.h    | 5 +++--
 include/core/factor/factor_velocity_local_direction_3d.h    | 5 +++--
 include/core/feature/feature_base.h                         | 5 +++--
 include/core/feature/feature_diff_drive.h                   | 5 +++--
 include/core/feature/feature_match.h                        | 5 +++--
 include/core/feature/feature_motion.h                       | 5 +++--
 include/core/feature/feature_odom_2d.h                      | 5 +++--
 include/core/feature/feature_pose.h                         | 5 +++--
 include/core/frame/frame_base.h                             | 5 +++--
 include/core/hardware/hardware_base.h                       | 5 +++--
 include/core/landmark/factory_landmark.h                    | 5 +++--
 include/core/landmark/landmark_base.h                       | 5 +++--
 include/core/landmark/landmark_match.h                      | 5 +++--
 include/core/map/factory_map.h                              | 5 +++--
 include/core/map/map_base.h                                 | 5 +++--
 include/core/math/SE2.h                                     | 5 +++--
 include/core/math/SE3.h                                     | 5 +++--
 include/core/math/covariance.h                              | 5 +++--
 include/core/math/rotations.h                               | 5 +++--
 include/core/problem/problem.h                              | 5 +++--
 include/core/processor/factory_processor.h                  | 5 +++--
 include/core/processor/motion_buffer.h                      | 5 +++--
 include/core/processor/motion_provider.h                    | 5 +++--
 include/core/processor/processor_base.h                     | 5 +++--
 include/core/processor/processor_diff_drive.h               | 5 +++--
 include/core/processor/processor_fixed_wing_model.h         | 5 +++--
 include/core/processor/processor_landmark_external.h        | 5 +++--
 include/core/processor/processor_loop_closure.h             | 5 +++--
 include/core/processor/processor_motion.h                   | 5 +++--
 include/core/processor/processor_odom_2d.h                  | 5 +++--
 include/core/processor/processor_odom_3d.h                  | 5 +++--
 include/core/processor/processor_pose.h                     | 5 +++--
 include/core/processor/processor_tracker.h                  | 5 +++--
 include/core/processor/processor_tracker_feature.h          | 5 +++--
 include/core/processor/processor_tracker_landmark.h         | 5 +++--
 include/core/processor/track_matrix.h                       | 5 +++--
 include/core/sensor/factory_sensor.h                        | 5 +++--
 include/core/sensor/sensor_base.h                           | 5 +++--
 include/core/sensor/sensor_diff_drive.h                     | 5 +++--
 include/core/sensor/sensor_motion_model.h                   | 5 +++--
 include/core/sensor/sensor_odom.h                           | 5 +++--
 include/core/sensor/sensor_pose.h                           | 5 +++--
 include/core/solver/factory_solver.h                        | 5 +++--
 include/core/solver/solver_manager.h                        | 5 +++--
 include/core/solver_suitesparse/ccolamd_ordering.h          | 5 +++--
 include/core/solver_suitesparse/cost_function_base.h        | 5 +++--
 include/core/solver_suitesparse/cost_function_sparse.h      | 5 +++--
 include/core/solver_suitesparse/cost_function_sparse_base.h | 5 +++--
 include/core/solver_suitesparse/qr_solver.h                 | 5 +++--
 include/core/solver_suitesparse/solver_QR.h                 | 5 +++--
 include/core/solver_suitesparse/solver_manager.h            | 5 +++--
 include/core/solver_suitesparse/sparse_utils.h              | 5 +++--
 include/core/state_block/factory_state_block.h              | 5 +++--
 include/core/state_block/local_parametrization_angle.h      | 5 +++--
 include/core/state_block/local_parametrization_base.h       | 5 +++--
 .../core/state_block/local_parametrization_homogeneous.h    | 5 +++--
 include/core/state_block/local_parametrization_quaternion.h | 5 +++--
 include/core/state_block/state_angle.h                      | 5 +++--
 include/core/state_block/state_block.h                      | 5 +++--
 include/core/state_block/state_block_derived.h              | 5 +++--
 include/core/state_block/state_homogeneous_3d.h             | 5 +++--
 include/core/state_block/state_quaternion.h                 | 5 +++--
 include/core/trajectory/trajectory_base.h                   | 5 +++--
 include/core/tree_manager/factory_tree_manager.h            | 5 +++--
 include/core/tree_manager/tree_manager_base.h               | 5 +++--
 include/core/tree_manager/tree_manager_sliding_window.h     | 5 +++--
 .../tree_manager/tree_manager_sliding_window_dual_rate.h    | 5 +++--
 include/core/utils/check_log.h                              | 5 +++--
 include/core/utils/eigen_assert.h                           | 5 +++--
 include/core/utils/folder_registry.h                        | 5 +++--
 include/core/utils/graph_search.h                           | 5 +++--
 include/core/utils/loader.h                                 | 5 +++--
 include/core/utils/logging.h                                | 5 +++--
 include/core/utils/singleton.h                              | 5 +++--
 include/core/utils/utils_gtest.h                            | 5 +++--
 src/capture/capture_base.cpp                                | 5 +++--
 src/capture/capture_diff_drive.cpp                          | 5 +++--
 src/capture/capture_landmarks_external.cpp                  | 5 +++--
 src/capture/capture_motion.cpp                              | 5 +++--
 src/capture/capture_odom_2d.cpp                             | 5 +++--
 src/capture/capture_odom_3d.cpp                             | 5 +++--
 src/capture/capture_pose.cpp                                | 5 +++--
 src/capture/capture_void.cpp                                | 5 +++--
 src/ceres_wrapper/local_parametrization_wrapper.cpp         | 5 +++--
 src/ceres_wrapper/qr_manager.cpp                            | 5 +++--
 src/ceres_wrapper/solver_ceres.cpp                          | 5 +++--
 src/common/node_base.cpp                                    | 5 +++--
 src/common/node_state_blocks.cpp                            | 5 +++--
 src/common/time_stamp.cpp                                   | 5 +++--
 src/composite/matrix_composite.cpp                          | 5 +++--
 src/composite/spec_state_composite.cpp                      | 5 +++--
 src/composite/spec_state_sensor_composite.cpp               | 5 +++--
 src/composite/state_composite.cpp                           | 5 +++--
 src/composite/vector_composite.cpp                          | 5 +++--
 src/factor/factor_analytic.cpp                              | 5 +++--
 src/factor/factor_base.cpp                                  | 5 +++--
 src/feature/feature_base.cpp                                | 5 +++--
 src/feature/feature_diff_drive.cpp                          | 5 +++--
 src/feature/feature_motion.cpp                              | 5 +++--
 src/feature/feature_odom_2d.cpp                             | 5 +++--
 src/feature/feature_pose.cpp                                | 5 +++--
 src/frame/frame_base.cpp                                    | 5 +++--
 src/hardware/hardware_base.cpp                              | 5 +++--
 src/landmark/landmark_base.cpp                              | 5 +++--
 src/map/map_base.cpp                                        | 5 +++--
 src/problem/problem.cpp                                     | 5 +++--
 src/processor/motion_buffer.cpp                             | 5 +++--
 src/processor/motion_provider.cpp                           | 5 +++--
 src/processor/processor_base.cpp                            | 5 +++--
 src/processor/processor_diff_drive.cpp                      | 5 +++--
 src/processor/processor_fixed_wing_model.cpp                | 5 +++--
 src/processor/processor_landmark_external.cpp               | 5 +++--
 src/processor/processor_loop_closure.cpp                    | 5 +++--
 src/processor/processor_motion.cpp                          | 5 +++--
 src/processor/processor_odom_2d.cpp                         | 5 +++--
 src/processor/processor_odom_3d.cpp                         | 5 +++--
 src/processor/processor_tracker.cpp                         | 5 +++--
 src/processor/processor_tracker_feature.cpp                 | 5 +++--
 src/processor/processor_tracker_landmark.cpp                | 5 +++--
 src/processor/track_matrix.cpp                              | 5 +++--
 src/sensor/sensor_base.cpp                                  | 5 +++--
 src/sensor/sensor_diff_drive.cpp                            | 5 +++--
 src/sensor/sensor_motion_model.cpp                          | 5 +++--
 src/solver/solver_manager.cpp                               | 5 +++--
 src/solver_suitesparse/solver_manager.cpp                   | 5 +++--
 src/state_block/local_parametrization_base.cpp              | 5 +++--
 src/state_block/local_parametrization_homogeneous.cpp       | 5 +++--
 src/state_block/local_parametrization_quaternion.cpp        | 5 +++--
 src/state_block/state_block.cpp                             | 5 +++--
 src/state_block/state_block_derived.cpp                     | 5 +++--
 src/trajectory/trajectory_base.cpp                          | 5 +++--
 src/tree_manager/tree_manager_sliding_window.cpp            | 5 +++--
 src/tree_manager/tree_manager_sliding_window_dual_rate.cpp  | 5 +++--
 src/utils/check_log.cpp                                     | 5 +++--
 src/utils/graph_search.cpp                                  | 5 +++--
 src/utils/loader.cpp                                        | 5 +++--
 test/dummy/dummy_object.h                                   | 5 +++--
 test/dummy/dummy_object_derived.cpp                         | 5 +++--
 test/dummy/dummy_object_derived.h                           | 5 +++--
 test/dummy/dummy_object_derived_derived.cpp                 | 5 +++--
 test/dummy/dummy_object_derived_derived.h                   | 5 +++--
 test/dummy/factor_dummy.h                                   | 5 +++--
 test/dummy/factor_dummy_zero_1.h                            | 5 +++--
 test/dummy/factor_dummy_zero_15.h                           | 5 +++--
 test/dummy/factor_feature_dummy.h                           | 5 +++--
 test/dummy/factor_landmark_dummy.h                          | 5 +++--
 test/dummy/factor_odom_2d_autodiff.h                        | 5 +++--
 test/dummy/factory_dummy_object.h                           | 5 +++--
 test/dummy/landmark_dummy.h                                 | 5 +++--
 test/dummy/node_state_blocks_dummy.h                        | 5 +++--
 test/dummy/processor_loop_closure_dummy.h                   | 5 +++--
 test/dummy/processor_motion_provider_dummy.h                | 5 +++--
 test/dummy/processor_tracker_feature_dummy.cpp              | 5 +++--
 test/dummy/processor_tracker_feature_dummy.h                | 5 +++--
 test/dummy/processor_tracker_landmark_dummy.cpp             | 5 +++--
 test/dummy/processor_tracker_landmark_dummy.h               | 5 +++--
 test/dummy/sensor_dummy.h                                   | 5 +++--
 test/dummy/solver_manager_dummy.h                           | 5 +++--
 test/dummy/tree_manager_dummy.h                             | 5 +++--
 test/gtest_SE2.cpp                                          | 5 +++--
 test/gtest_SE3.cpp                                          | 5 +++--
 test/gtest_buffer_frame.cpp                                 | 5 +++--
 test/gtest_capture_base.cpp                                 | 5 +++--
 test/gtest_converter.cpp                                    | 5 +++--
 test/gtest_emplace.cpp                                      | 5 +++--
 test/gtest_example.cpp                                      | 5 +++--
 test/gtest_factor_absolute.cpp                              | 5 +++--
 test/gtest_factor_autodiff.cpp                              | 5 +++--
 test/gtest_factor_base.cpp                                  | 5 +++--
 test/gtest_factor_block_difference.cpp                      | 5 +++--
 test/gtest_factor_diff_drive.cpp                            | 5 +++--
 test/gtest_factor_distance_3d.cpp                           | 5 +++--
 test/gtest_factor_odom_2d_autodiff.cpp                      | 5 +++--
 test/gtest_factor_pose_2d.cpp                               | 5 +++--
 test/gtest_factor_pose_2d_with_extrinsics.cpp               | 5 +++--
 test/gtest_factor_pose_3d.cpp                               | 5 +++--
 test/gtest_factor_pose_3d_with_extrinsics.cpp               | 5 +++--
 test/gtest_factor_prior.cpp                                 | 5 +++--
 test/gtest_factor_relative_pose_2d.cpp                      | 5 +++--
 test/gtest_factor_relative_pose_2d_with_extrinsics.cpp      | 5 +++--
 test/gtest_factor_relative_pose_3d.cpp                      | 5 +++--
 test/gtest_factor_relative_pose_3d_with_extrinsics.cpp      | 5 +++--
 test/gtest_factor_relative_position_2d.cpp                  | 5 +++--
 test/gtest_factor_relative_position_2d_with_extrinsics.cpp  | 5 +++--
 test/gtest_factor_relative_position_3d.cpp                  | 5 +++--
 test/gtest_factor_relative_position_3d_with_extrinsics.cpp  | 5 +++--
 test/gtest_factor_velocity_local_direction_3d.cpp           | 5 +++--
 test/gtest_factory.cpp                                      | 5 +++--
 test/gtest_factory_state_block.cpp                          | 5 +++--
 test/gtest_feature_base.cpp                                 | 5 +++--
 test/gtest_frame_base.cpp                                   | 5 +++--
 test/gtest_graph_search.cpp                                 | 5 +++--
 test/gtest_local_param.cpp                                  | 5 +++--
 test/gtest_logging.cpp                                      | 5 +++--
 test/gtest_make_posdef.cpp                                  | 5 +++--
 test/gtest_map_yaml.cpp                                     | 5 +++--
 test/gtest_matrix_composite.cpp                             | 5 +++--
 test/gtest_motion_buffer.cpp                                | 5 +++--
 test/gtest_motion_provider.cpp                              | 5 +++--
 test/gtest_node_state_blocks.cpp                            | 5 +++--
 test/gtest_odom_2d.cpp                                      | 5 +++--
 test/gtest_problem.cpp                                      | 5 +++--
 test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp | 5 +++--
 test/gtest_processor_base.cpp                               | 5 +++--
 test/gtest_processor_diff_drive.cpp                         | 5 +++--
 test/gtest_processor_fixed_wing_model.cpp                   | 5 +++--
 test/gtest_processor_landmark_external.cpp                  | 5 +++--
 test/gtest_processor_loop_closure.cpp                       | 5 +++--
 test/gtest_processor_motion.cpp                             | 5 +++--
 test/gtest_processor_odom_3d.cpp                            | 5 +++--
 test/gtest_processor_tracker_feature_dummy.cpp              | 5 +++--
 test/gtest_processor_tracker_landmark_dummy.cpp             | 5 +++--
 test/gtest_rotation.cpp                                     | 5 +++--
 test/gtest_schema.cpp                                       | 5 +++--
 test/gtest_sensor_base.cpp                                  | 5 +++--
 test/gtest_sensor_diff_drive.cpp                            | 5 +++--
 test/gtest_sensor_odom.cpp                                  | 5 +++--
 test/gtest_sensor_pose.cpp                                  | 5 +++--
 test/gtest_shared_from_this.cpp                             | 5 +++--
 test/gtest_solver_ceres.cpp                                 | 5 +++--
 test/gtest_solver_ceres_multithread.cpp                     | 5 +++--
 test/gtest_solver_manager.cpp                               | 5 +++--
 test/gtest_solver_manager_multithread.cpp                   | 5 +++--
 test/gtest_spec_state_composite.cpp                         | 5 +++--
 test/gtest_spec_state_sensor_composite.cpp                  | 5 +++--
 test/gtest_state_block.cpp                                  | 5 +++--
 test/gtest_state_composite.cpp                              | 5 +++--
 test/gtest_time_stamp.cpp                                   | 5 +++--
 test/gtest_track_matrix.cpp                                 | 5 +++--
 test/gtest_trajectory.cpp                                   | 5 +++--
 test/gtest_tree_manager.cpp                                 | 5 +++--
 test/gtest_tree_manager_sliding_window.cpp                  | 5 +++--
 test/gtest_tree_manager_sliding_window_dual_rate.cpp        | 5 +++--
 test/gtest_vector_composite.cpp                             | 5 +++--
 wolf_scripts/license_header_2023.txt                        | 2 +-
 wolf_scripts/license_manager.sh                             | 1 +
 wolf_scripts/templates/class_template.cpp                   | 5 +++--
 wolf_scripts/templates/class_template.h                     | 5 +++--
 wolf_scripts/templates/gtest_template.cpp                   | 5 +++--
 311 files changed, 930 insertions(+), 619 deletions(-)

diff --git a/demos/demo_analytic_autodiff_factor.cpp b/demos/demo_analytic_autodiff_factor.cpp
index 6634ee62a..45727c778 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
@@ -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 73b851340..9199e005a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/capture_range_bearing.cpp b/demos/hello_wolf/capture_range_bearing.cpp
index ec9b2d365..d14a6c841 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/capture_range_bearing.h b/demos/hello_wolf/capture_range_bearing.h
index efd1d1178..02f69f136 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/factor_bearing.h b/demos/hello_wolf/factor_bearing.h
index d716c0f29..ae1cdfd3e 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/factor_range_bearing.h b/demos/hello_wolf/factor_range_bearing.h
index d6c0c20c6..8a8c82567 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/feature_range_bearing.cpp b/demos/hello_wolf/feature_range_bearing.cpp
index f57b9ac8e..38d3c5f9e 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/feature_range_bearing.h b/demos/hello_wolf/feature_range_bearing.h
index 5490f6f64..d641e2e60 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/hello_wolf.cpp b/demos/hello_wolf/hello_wolf.cpp
index 7a276674e..d5878aaed 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/hello_wolf_autoconf.cpp b/demos/hello_wolf/hello_wolf_autoconf.cpp
index 26bbee4e0..c5fe89e04 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/landmark_point_2d.cpp b/demos/hello_wolf/landmark_point_2d.cpp
index caca4548e..769f2e937 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/landmark_point_2d.h b/demos/hello_wolf/landmark_point_2d.h
index ff76e68d8..54f71995b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/processor_range_bearing.cpp b/demos/hello_wolf/processor_range_bearing.cpp
index fec68b6dc..661a4caee 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/processor_range_bearing.h b/demos/hello_wolf/processor_range_bearing.h
index e543ea069..8ac8d37e9 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/sensor_range_bearing.cpp b/demos/hello_wolf/sensor_range_bearing.cpp
index facf212f4..343900c9b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/hello_wolf/sensor_range_bearing.h b/demos/hello_wolf/sensor_range_bearing.h
index 02fa24694..5bd6d3649 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/solver/test_SPQR.cpp b/demos/solver/test_SPQR.cpp
index e4a78d465..143cc4ac4 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/solver/test_ccolamd.cpp b/demos/solver/test_ccolamd.cpp
index 509e98164..b92ae2e44 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/solver/test_ccolamd_blocks.cpp b/demos/solver/test_ccolamd_blocks.cpp
index 1ce2d09a1..63204a4e2 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/solver/test_iQR.cpp b/demos/solver/test_iQR.cpp
index 6c43cfe15..f0a5c09ee 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/solver/test_iQR_wolf.cpp b/demos/solver/test_iQR_wolf.cpp
index 59114a871..8e94430c3 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/solver/test_iQR_wolf2.cpp b/demos/solver/test_iQR_wolf2.cpp
index f867e2b49..c78c65360 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/solver/test_incremental_ccolamd_blocks.cpp b/demos/solver/test_incremental_ccolamd_blocks.cpp
index 97e98da0b..a58b6e456 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/demos/solver/test_permutations.cpp b/demos/solver/test_permutations.cpp
index ccc653b9a..0f7fd8f44 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index 176ae3c5c..f208d3dc6 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/capture/capture_diff_drive.h b/include/core/capture/capture_diff_drive.h
index 45b3f235f..70323bac2 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/capture/capture_landmarks_external.h b/include/core/capture/capture_landmarks_external.h
index c187840f7..3870d5c58 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index f1ff1d2c7..fb611aa13 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/capture/capture_odom_2d.h b/include/core/capture/capture_odom_2d.h
index e789d95d7..7bfa99abc 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/capture/capture_odom_3d.h b/include/core/capture/capture_odom_3d.h
index c5ae5dec3..5eb7102bf 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/capture/capture_pose.h b/include/core/capture/capture_pose.h
index 3e8ff2bf1..7720e2930 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/capture/capture_void.h b/include/core/capture/capture_void.h
index 40fd68623..7579d2959 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/ceres_wrapper/cost_function_wrapper.h b/include/core/ceres_wrapper/cost_function_wrapper.h
index 32306becb..98076e31f 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/ceres_wrapper/create_numeric_diff_cost_function.h b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
index cea0140ba..522fafc7c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/ceres_wrapper/iteration_update_callback.h b/include/core/ceres_wrapper/iteration_update_callback.h
index b0b6c17d3..2dfcd8b0b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/ceres_wrapper/local_parametrization_wrapper.h b/include/core/ceres_wrapper/local_parametrization_wrapper.h
index e9c3f311c..6be2c1c7a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/ceres_wrapper/qr_manager.h b/include/core/ceres_wrapper/qr_manager.h
index 0b723ea41..82d0af766 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/ceres_wrapper/solver_ceres.h b/include/core/ceres_wrapper/solver_ceres.h
index e31d8c710..9219f888c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/ceres_wrapper/sparse_utils.h b/include/core/ceres_wrapper/sparse_utils.h
index af1c5d6c7..aacd759e6 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/ceres_wrapper/wolf_jet.h b/include/core/ceres_wrapper/wolf_jet.h
index 07c1c84af..59ded8974 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/common/factory.h b/include/core/common/factory.h
index 258c3012d..68fd35444 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/common/node_base.h b/include/core/common/node_base.h
index 5cb77d9ee..c3a1a6fb2 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/common/node_state_blocks.h b/include/core/common/node_state_blocks.h
index ee187bcca..ea4fa521a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/common/params_base.h b/include/core/common/params_base.h
index 4331b9709..bc07017b3 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/common/time_stamp.h b/include/core/common/time_stamp.h
index 47006742a..18ba29ed5 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/common/wolf.h b/include/core/common/wolf.h
index f921b273d..dc7e4c37c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/composite/composite.h b/include/core/composite/composite.h
index 80d87ec7c..76046567e 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/composite/matrix_composite.h b/include/core/composite/matrix_composite.h
index a470eb23a..563543995 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/composite/spec_state_composite.h b/include/core/composite/spec_state_composite.h
index 1a855ff5f..e3da5b5d3 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/composite/spec_state_sensor_composite.h b/include/core/composite/spec_state_sensor_composite.h
index 9c96a3354..3c026d59e 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/composite/state_composite.h b/include/core/composite/state_composite.h
index 61efb4861..1bfc151fc 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/composite/type_composite.h b/include/core/composite/type_composite.h
index e07301f95..1470ad40d 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/composite/vector_composite.h b/include/core/composite/vector_composite.h
index 6d3006ec1..b6272c813 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_analytic.h b/include/core/factor/factor_analytic.h
index a03e672d6..c35e37e40 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_autodiff.h b/include/core/factor/factor_autodiff.h
index 756761638..34751d500 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index cc0f2bf8e..90fffcc12 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_block_absolute.h b/include/core/factor/factor_block_absolute.h
index 698e5dd2d..d2bc33a47 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_block_difference.h b/include/core/factor/factor_block_difference.h
index affb9e1c1..02cd7c840 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_diff_drive.h b/include/core/factor/factor_diff_drive.h
index 81126e52f..543e26865 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_distance_3d.h b/include/core/factor/factor_distance_3d.h
index 081c647da..d42efeee4 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_pose_2d.h b/include/core/factor/factor_pose_2d.h
index 3a31c9d92..e30329dec 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_pose_2d_with_extrinsics.h b/include/core/factor/factor_pose_2d_with_extrinsics.h
index c04f6a57f..6c3f4e97e 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_pose_3d.h b/include/core/factor/factor_pose_3d.h
index 14dd56b15..c9ba2cff2 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_pose_3d_with_extrinsics.h b/include/core/factor/factor_pose_3d_with_extrinsics.h
index 9335b3879..c556c5fe4 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h
index 30ce8772c..183a7d744 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_relative_pose_2d.h b/include/core/factor/factor_relative_pose_2d.h
index 20d3dca0a..7d3a3eec0 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_relative_pose_2d_with_extrinsics.h b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
index 427e3c204..3338ac35b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_relative_pose_3d.h b/include/core/factor/factor_relative_pose_3d.h
index c3afb5087..258b12184 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_relative_pose_3d_with_extrinsics.h b/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
index f212ea86d..724a83985 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_relative_position_2d.h b/include/core/factor/factor_relative_position_2d.h
index 91f96cb8b..bd2d229a8 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_relative_position_2d_with_extrinsics.h b/include/core/factor/factor_relative_position_2d_with_extrinsics.h
index 1107e226d..572b9476b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_relative_position_3d.h b/include/core/factor/factor_relative_position_3d.h
index 2206a7626..008d2938c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_relative_position_3d_with_extrinsics.h b/include/core/factor/factor_relative_position_3d_with_extrinsics.h
index 094550681..145fe3ef8 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/factor/factor_velocity_local_direction_3d.h b/include/core/factor/factor_velocity_local_direction_3d.h
index 7bdb5f42f..75c88471c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index 6dc4248e4..feba74dfd 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/feature/feature_diff_drive.h b/include/core/feature/feature_diff_drive.h
index eeb37208d..33f8032de 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/feature/feature_match.h b/include/core/feature/feature_match.h
index 555928058..64ab85364 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/feature/feature_motion.h b/include/core/feature/feature_motion.h
index fcf4ed627..4583281cf 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/feature/feature_odom_2d.h b/include/core/feature/feature_odom_2d.h
index 4f396f35a..b3d0531e4 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/feature/feature_pose.h b/include/core/feature/feature_pose.h
index 4db9d20ec..88cd05d57 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 3a34f406f..97bcfd41f 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/hardware/hardware_base.h b/include/core/hardware/hardware_base.h
index 787d55610..ce8a4eda7 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/landmark/factory_landmark.h b/include/core/landmark/factory_landmark.h
index 829430b73..d19e7e33a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index 6023e8549..031b101c8 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/landmark/landmark_match.h b/include/core/landmark/landmark_match.h
index ff36a471e..8dca382b2 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/map/factory_map.h b/include/core/map/factory_map.h
index 1ab613216..6e9ab6a25 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/map/map_base.h b/include/core/map/map_base.h
index 36120977c..79c578f7c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/math/SE2.h b/include/core/math/SE2.h
index 38bdcc56c..fd717a25c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/math/SE3.h b/include/core/math/SE3.h
index 75d16adb4..b7bef8a09 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/math/covariance.h b/include/core/math/covariance.h
index e2e0aeb3d..38e8e9656 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/math/rotations.h b/include/core/math/rotations.h
index 11a9b2bb5..4f2ac00a4 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index c409e48f7..a333a111a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/factory_processor.h b/include/core/processor/factory_processor.h
index be928b37f..44a0797d2 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/motion_buffer.h b/include/core/processor/motion_buffer.h
index 379553a21..3aa93c529 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/motion_provider.h b/include/core/processor/motion_provider.h
index 69e89b6d0..bca1bfadb 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 62a1d888c..9a6bcf4a0 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 9da3f1223..b58a127e7 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/processor_fixed_wing_model.h b/include/core/processor/processor_fixed_wing_model.h
index 0becd8e02..12bbf7bb8 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/processor_landmark_external.h b/include/core/processor/processor_landmark_external.h
index 6c2fb7fc0..6351ea1bd 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/processor_loop_closure.h b/include/core/processor/processor_loop_closure.h
index f367a0cdc..99eba906f 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 542d77029..3a96bddc8 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index dbc3c4b20..32f216f40 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/processor_odom_3d.h b/include/core/processor/processor_odom_3d.h
index 292e9dbdc..f22059c64 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/processor_pose.h b/include/core/processor/processor_pose.h
index 14dcaa048..2ce3954bb 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index bfc858bdc..89b7d4dfd 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/processor_tracker_feature.h b/include/core/processor/processor_tracker_feature.h
index 3180b0e9d..692238185 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/processor_tracker_landmark.h b/include/core/processor/processor_tracker_landmark.h
index 4cd56622f..3836892ea 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/processor/track_matrix.h b/include/core/processor/track_matrix.h
index 2d2273645..da88d7940 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/sensor/factory_sensor.h b/include/core/sensor/factory_sensor.h
index 2ca7104ea..fbba9ec49 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index d6995d1fb..a30506f77 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index 89ccf113b..b9539328c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/sensor/sensor_motion_model.h b/include/core/sensor/sensor_motion_model.h
index 86a675148..3525e49d4 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/sensor/sensor_odom.h b/include/core/sensor/sensor_odom.h
index ca710abfb..df4d6f289 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/sensor/sensor_pose.h b/include/core/sensor/sensor_pose.h
index aab67c08b..7cc71eede 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/solver/factory_solver.h b/include/core/solver/factory_solver.h
index e4aeebe12..b86fc5c3f 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h
index 93be67846..bc53b3e34 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/solver_suitesparse/ccolamd_ordering.h b/include/core/solver_suitesparse/ccolamd_ordering.h
index edcb5724c..130891f83 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/solver_suitesparse/cost_function_base.h b/include/core/solver_suitesparse/cost_function_base.h
index 20003933c..f4fc36998 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/solver_suitesparse/cost_function_sparse.h b/include/core/solver_suitesparse/cost_function_sparse.h
index b84388b95..73efc3ab8 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/solver_suitesparse/cost_function_sparse_base.h b/include/core/solver_suitesparse/cost_function_sparse_base.h
index 13ebf3914..56ffc4124 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/solver_suitesparse/qr_solver.h b/include/core/solver_suitesparse/qr_solver.h
index 3ae53dedf..992015cb4 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/solver_suitesparse/solver_QR.h b/include/core/solver_suitesparse/solver_QR.h
index eaa3803f5..596c52f90 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/solver_suitesparse/solver_manager.h b/include/core/solver_suitesparse/solver_manager.h
index 3a59e7c63..bb58de7f4 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/solver_suitesparse/sparse_utils.h b/include/core/solver_suitesparse/sparse_utils.h
index 24e741164..33684e79d 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/state_block/factory_state_block.h b/include/core/state_block/factory_state_block.h
index 1f62ca15f..89a0f305c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/state_block/local_parametrization_angle.h b/include/core/state_block/local_parametrization_angle.h
index 2f5f68af0..d5fecb20d 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/state_block/local_parametrization_base.h b/include/core/state_block/local_parametrization_base.h
index 6c63904f7..f18bead00 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/state_block/local_parametrization_homogeneous.h b/include/core/state_block/local_parametrization_homogeneous.h
index b4a112f34..cf866581b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/state_block/local_parametrization_quaternion.h b/include/core/state_block/local_parametrization_quaternion.h
index cd1aa8fec..d2a10cbcc 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/state_block/state_angle.h b/include/core/state_block/state_angle.h
index ec15263d1..336db932f 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/state_block/state_block.h b/include/core/state_block/state_block.h
index 1165d904f..4be5e357c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/state_block/state_block_derived.h b/include/core/state_block/state_block_derived.h
index a71538fc6..eec2013db 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/state_block/state_homogeneous_3d.h b/include/core/state_block/state_homogeneous_3d.h
index 261fdbb6f..839be2fec 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/state_block/state_quaternion.h b/include/core/state_block/state_quaternion.h
index a233a4195..a87b68819 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 071ecceb8..11775f8f5 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/tree_manager/factory_tree_manager.h b/include/core/tree_manager/factory_tree_manager.h
index ec4ad7d81..848caa296 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/tree_manager/tree_manager_base.h b/include/core/tree_manager/tree_manager_base.h
index 17846d015..560e0100a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/tree_manager/tree_manager_sliding_window.h b/include/core/tree_manager/tree_manager_sliding_window.h
index 244df6bc9..d97f7d3c1 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
index 64f1c9a9f..8fef95dc2 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/utils/check_log.h b/include/core/utils/check_log.h
index 1a2c58f9a..af9c0eab0 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/utils/eigen_assert.h b/include/core/utils/eigen_assert.h
index e15df48fe..c47072c1e 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/utils/folder_registry.h b/include/core/utils/folder_registry.h
index fa8182d34..9238f298a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/utils/graph_search.h b/include/core/utils/graph_search.h
index e68b33a56..13e7797f6 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/utils/loader.h b/include/core/utils/loader.h
index f5b86b31c..ae59d7d63 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/utils/logging.h b/include/core/utils/logging.h
index 20bd36858..a50af13df 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/utils/singleton.h b/include/core/utils/singleton.h
index 38e2f079a..9e39db643 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/include/core/utils/utils_gtest.h b/include/core/utils/utils_gtest.h
index 3b845f372..f5efc52cc 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index 612e7aefe..d94d61898 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/capture/capture_diff_drive.cpp b/src/capture/capture_diff_drive.cpp
index 6833d826a..38716679f 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/capture/capture_landmarks_external.cpp b/src/capture/capture_landmarks_external.cpp
index 4afc7a816..3f693e04b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/capture/capture_motion.cpp b/src/capture/capture_motion.cpp
index 3d1fe19a1..0d4297a81 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/capture/capture_odom_2d.cpp b/src/capture/capture_odom_2d.cpp
index 59eff667a..012eb5a2c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/capture/capture_odom_3d.cpp b/src/capture/capture_odom_3d.cpp
index ca68cf4b4..9a497bdad 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/capture/capture_pose.cpp b/src/capture/capture_pose.cpp
index 40a8626c4..92a05c4f3 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/capture/capture_void.cpp b/src/capture/capture_void.cpp
index d719a8b95..fc0201212 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/ceres_wrapper/local_parametrization_wrapper.cpp b/src/ceres_wrapper/local_parametrization_wrapper.cpp
index 85ff46cfd..0f26e2cb2 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/ceres_wrapper/qr_manager.cpp b/src/ceres_wrapper/qr_manager.cpp
index 024924ba4..37f1ad3cd 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/ceres_wrapper/solver_ceres.cpp b/src/ceres_wrapper/solver_ceres.cpp
index 1f6a96b42..8bac95fe4 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/common/node_base.cpp b/src/common/node_base.cpp
index 45f2bd3df..6f3f9b7ee 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/common/node_state_blocks.cpp b/src/common/node_state_blocks.cpp
index 20d6a413d..7a42e06fa 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/common/time_stamp.cpp b/src/common/time_stamp.cpp
index 487485d05..4531fe447 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/composite/matrix_composite.cpp b/src/composite/matrix_composite.cpp
index 77f438f71..d34f67ea6 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/composite/spec_state_composite.cpp b/src/composite/spec_state_composite.cpp
index 1370912fd..c3bd242c1 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/composite/spec_state_sensor_composite.cpp b/src/composite/spec_state_sensor_composite.cpp
index 2054cc604..d586d4083 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/composite/state_composite.cpp b/src/composite/state_composite.cpp
index 0732628eb..c7b7ef7ba 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/composite/vector_composite.cpp b/src/composite/vector_composite.cpp
index b326d4f72..8b9d08ed2 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/factor/factor_analytic.cpp b/src/factor/factor_analytic.cpp
index 6cfa21972..313b0833b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp
index 3ff037546..2460314af 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/feature/feature_base.cpp b/src/feature/feature_base.cpp
index 6a77fff27..5dff62a14 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/feature/feature_diff_drive.cpp b/src/feature/feature_diff_drive.cpp
index 3280a8dad..17e876589 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/feature/feature_motion.cpp b/src/feature/feature_motion.cpp
index f5ad0dfb9..35e6a5865 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/feature/feature_odom_2d.cpp b/src/feature/feature_odom_2d.cpp
index 56600a902..a6777128d 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/feature/feature_pose.cpp b/src/feature/feature_pose.cpp
index 88fed43b9..d7d5d1a72 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 13d43f363..81bd55be3 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/hardware/hardware_base.cpp b/src/hardware/hardware_base.cpp
index c575fc575..fd77182f0 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp
index a1beb36b8..7b753acfc 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/map/map_base.cpp b/src/map/map_base.cpp
index c43e84cf0..3e045ab1b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 1047f1503..8b07cd229 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/motion_buffer.cpp b/src/processor/motion_buffer.cpp
index 95c9fc741..057a004b5 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/motion_provider.cpp b/src/processor/motion_provider.cpp
index 5e73ab6a6..3bb216e91 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 42f1095d2..a19d582de 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index 8d2b71708..b4dd8a86d 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/processor_fixed_wing_model.cpp b/src/processor/processor_fixed_wing_model.cpp
index 3c0127bdf..80050839c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/processor_landmark_external.cpp b/src/processor/processor_landmark_external.cpp
index 936b5078e..5ab7c1edb 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/processor_loop_closure.cpp b/src/processor/processor_loop_closure.cpp
index 113c5b61b..e614d05fc 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index f560b23cb..d2063a143 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index 24ea5f7be..b9eaa84f0 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/processor_odom_3d.cpp b/src/processor/processor_odom_3d.cpp
index 9987275a4..a41b6e29d 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index acd3faf31..1c5e69fc9 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/processor_tracker_feature.cpp b/src/processor/processor_tracker_feature.cpp
index 55a31fde2..9d894f97f 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/processor_tracker_landmark.cpp b/src/processor/processor_tracker_landmark.cpp
index 16bbcd1bd..148df8d77 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/processor/track_matrix.cpp b/src/processor/track_matrix.cpp
index c3e1dbb09..8cd5bbe0c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 71fa16289..893b44b91 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index 0bd76ab77..339e5cfed 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/sensor/sensor_motion_model.cpp b/src/sensor/sensor_motion_model.cpp
index 105676a70..efe20bc91 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/solver/solver_manager.cpp b/src/solver/solver_manager.cpp
index db59eae64..d170e24f6 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/solver_suitesparse/solver_manager.cpp b/src/solver_suitesparse/solver_manager.cpp
index 1449d826b..6bb9783a0 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/state_block/local_parametrization_base.cpp b/src/state_block/local_parametrization_base.cpp
index 055be043e..c0f291b0d 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/state_block/local_parametrization_homogeneous.cpp b/src/state_block/local_parametrization_homogeneous.cpp
index bee3e56a2..8ea5eabfc 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/state_block/local_parametrization_quaternion.cpp b/src/state_block/local_parametrization_quaternion.cpp
index 1f257d473..8ec9fe07c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/state_block/state_block.cpp b/src/state_block/state_block.cpp
index 1a41f5673..da1ccc780 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/state_block/state_block_derived.cpp b/src/state_block/state_block_derived.cpp
index 900e9d87b..98f40e780 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp
index d89e7097e..61d8781a1 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/tree_manager/tree_manager_sliding_window.cpp b/src/tree_manager/tree_manager_sliding_window.cpp
index 4313abf9a..eba01160a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
index 665c0dce3..a68349166 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/utils/check_log.cpp b/src/utils/check_log.cpp
index 6aa2b136d..9a1a7a0d3 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/utils/graph_search.cpp b/src/utils/graph_search.cpp
index 344840a0c..37b589857 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/src/utils/loader.cpp b/src/utils/loader.cpp
index 346e09d70..e7ef89074 100644
--- a/src/utils/loader.cpp
+++ b/src/utils/loader.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/dummy_object.h b/test/dummy/dummy_object.h
index 32d082d21..5d4d8f8e6 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/dummy_object_derived.cpp b/test/dummy/dummy_object_derived.cpp
index 4b695bc4a..b035f5f96 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/dummy_object_derived.h b/test/dummy/dummy_object_derived.h
index 1bf2fee30..3f54c7fe1 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/dummy_object_derived_derived.cpp b/test/dummy/dummy_object_derived_derived.cpp
index 6d34b0f4f..5a2a125ce 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/dummy_object_derived_derived.h b/test/dummy/dummy_object_derived_derived.h
index 3096ae049..95f16ae90 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/factor_dummy.h b/test/dummy/factor_dummy.h
index 0a8b51c74..358c9f7e5 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/factor_dummy_zero_1.h b/test/dummy/factor_dummy_zero_1.h
index 79c7e4f4c..89137b551 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/factor_dummy_zero_15.h b/test/dummy/factor_dummy_zero_15.h
index d09e0f326..6d2b8fe63 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/factor_feature_dummy.h b/test/dummy/factor_feature_dummy.h
index 86bcc13df..295943643 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/factor_landmark_dummy.h b/test/dummy/factor_landmark_dummy.h
index f584e8d53..0f407c07e 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/factor_odom_2d_autodiff.h b/test/dummy/factor_odom_2d_autodiff.h
index 1d65c3227..39ab4d934 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/factory_dummy_object.h b/test/dummy/factory_dummy_object.h
index b03ba5186..6d284c20c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/landmark_dummy.h b/test/dummy/landmark_dummy.h
index 018a98503..b1a7c6586 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/node_state_blocks_dummy.h b/test/dummy/node_state_blocks_dummy.h
index 8ca92329d..80d3226ea 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/processor_loop_closure_dummy.h b/test/dummy/processor_loop_closure_dummy.h
index bbceb5241..4488289c3 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/processor_motion_provider_dummy.h b/test/dummy/processor_motion_provider_dummy.h
index 587b46f94..6a3a9be63 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/processor_tracker_feature_dummy.cpp b/test/dummy/processor_tracker_feature_dummy.cpp
index d993dcafa..267b4d303 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index da25d9a32..456465ad2 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/processor_tracker_landmark_dummy.cpp b/test/dummy/processor_tracker_landmark_dummy.cpp
index c78c085f3..f09c8554a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index 4c68739d6..fd2855ced 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/sensor_dummy.h b/test/dummy/sensor_dummy.h
index a91ff65f3..e797bd17c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/solver_manager_dummy.h b/test/dummy/solver_manager_dummy.h
index ac9aaf921..438f0124b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/dummy/tree_manager_dummy.h b/test/dummy/tree_manager_dummy.h
index dfc30e9e6..cb7e1247a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_SE2.cpp b/test/gtest_SE2.cpp
index de574eaea..cb46e4864 100644
--- a/test/gtest_SE2.cpp
+++ b/test/gtest_SE2.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_SE3.cpp b/test/gtest_SE3.cpp
index bafe316de..a36cf03f7 100644
--- a/test/gtest_SE3.cpp
+++ b/test/gtest_SE3.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_buffer_frame.cpp b/test/gtest_buffer_frame.cpp
index ad1283523..8d010408f 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp
index db8b1b4d8..8c065c408 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_converter.cpp b/test/gtest_converter.cpp
index c4cf095f1..e85961920 100644
--- a/test/gtest_converter.cpp
+++ b/test/gtest_converter.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index 9300ec8e0..16952926b 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 08ce67d25..e56d0503f 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_absolute.cpp b/test/gtest_factor_absolute.cpp
index c6ad19a81..86ffda720 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_autodiff.cpp b/test/gtest_factor_autodiff.cpp
index 9e1a48de1..4c332c743 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_base.cpp b/test/gtest_factor_base.cpp
index 2598d5d77..9bd45b57b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_block_difference.cpp b/test/gtest_factor_block_difference.cpp
index 802b84cb5..69f35f8cf 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index 993ff4079..47ddc7578 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_distance_3d.cpp b/test/gtest_factor_distance_3d.cpp
index bf8909b0f..09d623eee 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_odom_2d_autodiff.cpp b/test/gtest_factor_odom_2d_autodiff.cpp
index 5d90fde11..89e943c14 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_pose_2d.cpp b/test/gtest_factor_pose_2d.cpp
index 141c35cfc..f6f5b5dc2 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_pose_2d_with_extrinsics.cpp b/test/gtest_factor_pose_2d_with_extrinsics.cpp
index c29736a4a..e2177655b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_pose_3d.cpp b/test/gtest_factor_pose_3d.cpp
index e41a3c50c..6ed29d754 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_pose_3d_with_extrinsics.cpp b/test/gtest_factor_pose_3d_with_extrinsics.cpp
index ae8fec1db..07257eeb8 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_prior.cpp b/test/gtest_factor_prior.cpp
index 224d646ef..9af718864 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_relative_pose_2d.cpp b/test/gtest_factor_relative_pose_2d.cpp
index 80666492e..8959a7c22 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
index ae84912e0..ebe5fc591 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_relative_pose_3d.cpp b/test/gtest_factor_relative_pose_3d.cpp
index 09809fab6..e93dedecb 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
index f570e980c..881697b29 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_relative_position_2d.cpp b/test/gtest_factor_relative_position_2d.cpp
index 8ddfb229b..511e168a5 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_relative_position_2d_with_extrinsics.cpp b/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
index f48bf30b2..b8c752948 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_relative_position_3d.cpp b/test/gtest_factor_relative_position_3d.cpp
index 54d49d08a..cf7240488 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_relative_position_3d_with_extrinsics.cpp b/test/gtest_factor_relative_position_3d_with_extrinsics.cpp
index cba6bbc23..5a473e8e5 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factor_velocity_local_direction_3d.cpp b/test/gtest_factor_velocity_local_direction_3d.cpp
index 9e93eecd1..8f773f19f 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factory.cpp b/test/gtest_factory.cpp
index 1c74b10a9..b4b8c1c31 100644
--- a/test/gtest_factory.cpp
+++ b/test/gtest_factory.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_factory_state_block.cpp b/test/gtest_factory_state_block.cpp
index 07a136a6f..c0f420ab6 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_feature_base.cpp b/test/gtest_feature_base.cpp
index 6e286ec40..8228d106b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 179025e52..06f9e5760 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_graph_search.cpp b/test/gtest_graph_search.cpp
index ddac16fea..5bf17b5ef 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_local_param.cpp b/test/gtest_local_param.cpp
index 092eebdc8..66c7ec1e5 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_logging.cpp b/test/gtest_logging.cpp
index f7c9439bb..4883f5b15 100644
--- a/test/gtest_logging.cpp
+++ b/test/gtest_logging.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_make_posdef.cpp b/test/gtest_make_posdef.cpp
index cced5a85c..8de490137 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_map_yaml.cpp b/test/gtest_map_yaml.cpp
index 6b6b8aa3d..d994dd26d 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_matrix_composite.cpp b/test/gtest_matrix_composite.cpp
index 411f57afe..232b27620 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_motion_buffer.cpp b/test/gtest_motion_buffer.cpp
index 0ea573216..b82c2b41a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_motion_provider.cpp b/test/gtest_motion_provider.cpp
index 0303c1422..2a8e28700 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_node_state_blocks.cpp b/test/gtest_node_state_blocks.cpp
index 1bcd30a74..ab4cc3e7d 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_odom_2d.cpp b/test/gtest_odom_2d.cpp
index 92805a2c1..7971a4e91 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 141ac5bf6..e2910fdf4 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp b/test/gtest_processor_and_factor_pose_3d_with_extrinsics.cpp
index e271ce411..cb948e7d0 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index b9a6deabd..c87b56fa9 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_processor_diff_drive.cpp b/test/gtest_processor_diff_drive.cpp
index 2dc99dfa6..411236c6c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_processor_fixed_wing_model.cpp b/test/gtest_processor_fixed_wing_model.cpp
index 082e482ee..5010264b5 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_processor_landmark_external.cpp b/test/gtest_processor_landmark_external.cpp
index 43ea583b4..bf2c273c0 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_processor_loop_closure.cpp b/test/gtest_processor_loop_closure.cpp
index 81e682e77..3e29685c6 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index f8067316f..a13f329ec 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_processor_odom_3d.cpp b/test/gtest_processor_odom_3d.cpp
index b0fd20276..518f6e764 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp
index e952d6045..be540a76b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_processor_tracker_landmark_dummy.cpp b/test/gtest_processor_tracker_landmark_dummy.cpp
index 362026be8..4e45d6de0 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_rotation.cpp b/test/gtest_rotation.cpp
index 70a156cde..54d00e62f 100644
--- a/test/gtest_rotation.cpp
+++ b/test/gtest_rotation.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_schema.cpp b/test/gtest_schema.cpp
index 8ccba5ad1..f3cd912da 100644
--- a/test/gtest_schema.cpp
+++ b/test/gtest_schema.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_sensor_base.cpp b/test/gtest_sensor_base.cpp
index 839a0c143..5b7b868e3 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_sensor_diff_drive.cpp b/test/gtest_sensor_diff_drive.cpp
index 83021da13..dccf73b55 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_sensor_odom.cpp b/test/gtest_sensor_odom.cpp
index 6692f59ae..83ca3af5a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_sensor_pose.cpp b/test/gtest_sensor_pose.cpp
index 5dc2cbe94..7378bf410 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_shared_from_this.cpp b/test/gtest_shared_from_this.cpp
index c84903323..62f000b7b 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_solver_ceres.cpp b/test/gtest_solver_ceres.cpp
index 36b480b9c..b3b60c88c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_solver_ceres_multithread.cpp b/test/gtest_solver_ceres_multithread.cpp
index 8048234eb..bb24f52a6 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp
index 3d795cb31..5edf93634 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_solver_manager_multithread.cpp b/test/gtest_solver_manager_multithread.cpp
index 7d5ad88d9..86b8dd23e 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_spec_state_composite.cpp b/test/gtest_spec_state_composite.cpp
index 31d7b1e19..c26856c98 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_spec_state_sensor_composite.cpp b/test/gtest_spec_state_sensor_composite.cpp
index aa8de9924..c89428be4 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_state_block.cpp b/test/gtest_state_block.cpp
index 2923ce0c8..73e447cf7 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_state_composite.cpp b/test/gtest_state_composite.cpp
index f6a10a884..2d50854e0 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_time_stamp.cpp b/test/gtest_time_stamp.cpp
index e0e9b4b5b..83d0c2f41 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp
index c4085ea92..846776ec1 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index 01878658f..60b627243 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -1,9 +1,10 @@
 // WOLF - Copyright (C) 2020,2021,2022,2023
 // Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_tree_manager.cpp b/test/gtest_tree_manager.cpp
index 0972417c1..c1a4e8a3f 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_tree_manager_sliding_window.cpp b/test/gtest_tree_manager_sliding_window.cpp
index 627ad1547..40414ac9e 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_tree_manager_sliding_window_dual_rate.cpp b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
index a37c35f18..72dcaf08c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/test/gtest_vector_composite.cpp b/test/gtest_vector_composite.cpp
index 5232ead88..61fd31d7a 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/wolf_scripts/license_header_2023.txt b/wolf_scripts/license_header_2023.txt
index a633a0953..8ef808b15 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 Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
 // Joan Vallvé Navarro (jvallve@iri.upc.edu)
diff --git a/wolf_scripts/license_manager.sh b/wolf_scripts/license_manager.sh
index 308e38c1f..45295ad10 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 443832ab0..86d1279f0 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/wolf_scripts/templates/class_template.h b/wolf_scripts/templates/class_template.h
index c19fa56b4..8057bb92c 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
diff --git a/wolf_scripts/templates/gtest_template.cpp b/wolf_scripts/templates/gtest_template.cpp
index 29fb75895..c230d9664 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 Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
 // All rights reserved.
 //
-// This file is part of WOLF
+// This file is part of WOLF.
 // WOLF is free software: you can redistribute it and/or modify
 // it under the terms of the GNU Lesser General Public License as published by
 // the Free Software Foundation, either version 3 of the License, or
-- 
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