diff --git a/CMakeLists.txt b/CMakeLists.txt
index 579e07c1f45b1e66e7e2b556867331110d1af1ab..c82e8035c6218196502b0c5b090e4d0b16b7a0e2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,18 @@
 #
-#  Copyright 2014 CNRS
+# Copyright (c) 2015 CNRS
 #
+# This file is part of Pinocchio
+# hpp-core is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+# hpp-core is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# hpp-core If not, see
+# <http://www.gnu.org/licenses/>.
 
 CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..f61d17f8477964c7bd6ff34f704f329a9421e32e
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,23 @@
+Copyright (c) 2015, Stack Of Tasks development team
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 87ce47056bdde8052585eec7e4dfaaf6403ca22d..71008eaa649261eaf022f04c0306bf3f886fadc1 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,3 +1,19 @@
+# 
+# Copyright (c) 2015 CNRS
+# 
+# This file is part of Pinocchio
+# Pinocchio is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+# Pinocchio is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# Pinocchio If not, see
+# <http://www.gnu.org/licenses/>.
+
 MACRO(ADD_GROUP GROUP_NAME FILENAMES)
   FOREACH(filename ${${FILENAMES}})
     GET_FILENAME_COMPONENT(filenamePath ${filename} PATH)
diff --git a/src/algorithm/center-of-mass.hpp b/src/algorithm/center-of-mass.hpp
index a85383e816df6b7923b1694ef4968cd19cf551a3..68ab65a86dc8d66b40fb44249d7e9313a82f4428 100644
--- a/src/algorithm/center-of-mass.hpp
+++ b/src/algorithm/center-of-mass.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_center_of_mass_hpp__
 #define __se3_center_of_mass_hpp__
 
diff --git a/src/algorithm/chol.m b/src/algorithm/chol.m
index b01b89ea44e86829b74a276fdc5d2a9cead053f3..aa9ec44ef1210a75922503d7496001ff1a11b26f 100644
--- a/src/algorithm/chol.m
+++ b/src/algorithm/chol.m
@@ -1,4 +1,19 @@
-clear U L M parent tree 
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
 
 parent = [ 0 1    2 3    2 5    2 7    8 9    8 11 ];
 %parent = [ 0 1    2 3    2 5    2 7    8 9 10   8 12 13 ];
diff --git a/src/algorithm/cholesky.hpp b/src/algorithm/cholesky.hpp
index 7814967ca85cf3eece48177ea2b1776eb48c0c2e..f1fc4dce73f3b6798924dda7b847ff6050dd8dae 100644
--- a/src/algorithm/cholesky.hpp
+++ b/src/algorithm/cholesky.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_cholesky_hpp__
 #define __se3_cholesky_hpp__
 
diff --git a/src/algorithm/crba.hpp b/src/algorithm/crba.hpp
index 4d6516f4ae0945a918ff25df8e5d47319dbf29cc..d14530161e4816333b7af4c62beb1af13bc866e1 100644
--- a/src/algorithm/crba.hpp
+++ b/src/algorithm/crba.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_crba_hpp__
 #define __se3_crba_hpp__
 
diff --git a/src/algorithm/jacobian.hpp b/src/algorithm/jacobian.hpp
index e0c21aa3259da4079e2e97947af5c3b654ef9ee0..0533da751595b58dd1c578c4ca46665d66121d60 100644
--- a/src/algorithm/jacobian.hpp
+++ b/src/algorithm/jacobian.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_jacobian_hpp__
 #define __se3_jacobian_hpp__
 
diff --git a/src/algorithm/kinematics.hpp b/src/algorithm/kinematics.hpp
index d6443ce0d6ca951cdf8f492941ffd8908e67544c..553175ffffe8bbaf52357aabc9cbd8544b5d53bb 100644
--- a/src/algorithm/kinematics.hpp
+++ b/src/algorithm/kinematics.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_kinematics_hpp__
 #define __se3_kinematics_hpp__
 
diff --git a/src/algorithm/non-linear-effects.hpp b/src/algorithm/non-linear-effects.hpp
index 3a50bf1daae8bd0950dcc0cda3f616b6415257e3..643e3b2a4bd31fa7e5392826420f35b6bbb3ee43 100644
--- a/src/algorithm/non-linear-effects.hpp
+++ b/src/algorithm/non-linear-effects.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_non_linear_effects_hpp__
 #define __se3_non_linear_effects_hpp__
 
diff --git a/src/algorithm/rnea.hpp b/src/algorithm/rnea.hpp
index 06d5834c3dc50358a0aa13a4066017e2c96c46cd..f59aec1f22a8216b47caad7b563885fa57de2afe 100644
--- a/src/algorithm/rnea.hpp
+++ b/src/algorithm/rnea.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_rnea_hpp__
 #define __se3_rnea_hpp__
 
diff --git a/src/assert.hpp b/src/assert.hpp
index 64105418f8606323ac0e3d9ca23bd14c61adff61..27d5bad434ed822d5845f81774ce8d000c55d232 100644
--- a/src/assert.hpp
+++ b/src/assert.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_assert_hpp__
 #define __se3_assert_hpp__
 
diff --git a/src/exception.hpp b/src/exception.hpp
index b7f28d2995d8ea8981d63b6269ab36b8defa3d79..7a36530f53db03f56721e9451df919d243fcc71b 100644
--- a/src/exception.hpp
+++ b/src/exception.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_exception_hpp__
 #define __se3_exception_hpp__
 
diff --git a/src/math/sincos.hpp b/src/math/sincos.hpp
index 2745062b71f4f6cf8f1355415961317cb27ffc28..951b5244de00c54f07f13461bfbc8195aa84c1bc 100644
--- a/src/math/sincos.hpp
+++ b/src/math/sincos.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __math_sincos_hpp__
 #define __math_sincos_hpp__
 
diff --git a/src/multibody/constraint.hpp b/src/multibody/constraint.hpp
index ec32c57a6d2a05b09b35a8cde0a74307637e5f51..74a2643f44b1564031704579396c5299c1b06e24 100644
--- a/src/multibody/constraint.hpp
+++ b/src/multibody/constraint.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_constraint_hpp__
 #define __se3_constraint_hpp__
 
diff --git a/src/multibody/force-set.hpp b/src/multibody/force-set.hpp
index 035f9a2356804d5421db18555ced3790184fe628..ef8fc51287ac5000fcbbacff364a1dc4dc589506 100644
--- a/src/multibody/force-set.hpp
+++ b/src/multibody/force-set.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_force_set_hpp__
 #define __se3_force_set_hpp__
 
diff --git a/src/multibody/joint.hpp b/src/multibody/joint.hpp
index 532bf3be464dfaad3f2e0fd397ffb9df4e93e683..ea04b580f900012d794e0ad8edca6c1e533c9119 100644
--- a/src/multibody/joint.hpp
+++ b/src/multibody/joint.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_joint_hpp__
 #define __se3_joint_hpp__
 
diff --git a/src/multibody/joint/joint-base.hpp b/src/multibody/joint/joint-base.hpp
index f1aaab9dd3fd2a35217f4a779aac9478289a60ff..5c31934acf611b09ebb8e7546580b72f69e7c70c 100644
--- a/src/multibody/joint/joint-base.hpp
+++ b/src/multibody/joint/joint-base.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_joint_base_hpp__
 #define __se3_joint_base_hpp__
 
diff --git a/src/multibody/joint/joint-free-flyer.hpp b/src/multibody/joint/joint-free-flyer.hpp
index ae252a73e7d16888e5b649678884cc83ba97ebab..a918ba04bf0c86e4bef75897c0934a9103af82f4 100644
--- a/src/multibody/joint/joint-free-flyer.hpp
+++ b/src/multibody/joint/joint-free-flyer.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_joint_free_flyer_hpp__
 #define __se3_joint_free_flyer_hpp__
 
diff --git a/src/multibody/joint/joint-generic.hpp b/src/multibody/joint/joint-generic.hpp
index 1bc9a198bd808e03821eae32d586cbb9586cb3cf..b7a88b6efe62f84d73309069084be909887d7e26 100644
--- a/src/multibody/joint/joint-generic.hpp
+++ b/src/multibody/joint/joint-generic.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_joint_generic_hpp__
 #define __se3_joint_generic_hpp__
 
diff --git a/src/multibody/joint/joint-prismatic.hpp b/src/multibody/joint/joint-prismatic.hpp
index 2df6710919dac86008da8a014a2efc23a44cd314..2511311a8256b53462daa04ad4aeb3be83efc582 100644
--- a/src/multibody/joint/joint-prismatic.hpp
+++ b/src/multibody/joint/joint-prismatic.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_joint_prismatic_hpp__
 #define __se3_joint_prismatic_hpp__
 
diff --git a/src/multibody/joint/joint-revolute-unaligned.hpp b/src/multibody/joint/joint-revolute-unaligned.hpp
index 33907fd13060420ed7425e1719e7e726271e14ee..8e4b531452f9bc4163479b462d1f21d5ef0b7a0d 100644
--- a/src/multibody/joint/joint-revolute-unaligned.hpp
+++ b/src/multibody/joint/joint-revolute-unaligned.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_joint_revolute_unaligned_hpp__
 #define __se3_joint_revolute_unaligned_hpp__
 
diff --git a/src/multibody/joint/joint-revolute.hpp b/src/multibody/joint/joint-revolute.hpp
index aefaa66ad65a873400a23433fb70d52bcae76f97..28cb7695d518047207d62e47e9e467b365b71813 100644
--- a/src/multibody/joint/joint-revolute.hpp
+++ b/src/multibody/joint/joint-revolute.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_joint_revolute_hpp__
 #define __se3_joint_revolute_hpp__
 
diff --git a/src/multibody/joint/joint-spherical-ZYX.hpp b/src/multibody/joint/joint-spherical-ZYX.hpp
index 7ee322639ba389dd1e4216e45e8f80bcc8077afa..7326aa6850fb41bffb203e98525a8c9ea0b23bad 100644
--- a/src/multibody/joint/joint-spherical-ZYX.hpp
+++ b/src/multibody/joint/joint-spherical-ZYX.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_joint_spherical_ZYX_hpp__
 #define __se3_joint_spherical_ZYX_hpp__
 #include <iostream>
diff --git a/src/multibody/joint/joint-spherical.hpp b/src/multibody/joint/joint-spherical.hpp
index b160e12e773e3ffa59be5ce2ec9faa1da7d9d716..f8d5a3ad43b2c5627282b48c537d2674631b18c7 100644
--- a/src/multibody/joint/joint-spherical.hpp
+++ b/src/multibody/joint/joint-spherical.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_joint_spherical_hpp__
 #define __se3_joint_spherical_hpp__
 
diff --git a/src/multibody/joint/joint-variant.hpp b/src/multibody/joint/joint-variant.hpp
index ab1337ac41e99e4d940a16738c4ec20b3a74dd62..9051351db4eaa58ba5b9d98e200fd9a468651638 100644
--- a/src/multibody/joint/joint-variant.hpp
+++ b/src/multibody/joint/joint-variant.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_joint_variant_hpp__
 #define __se3_joint_variant_hpp__
 
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index c7954fbf0e30dd3eb14882c21d6105b9a99204a3..8bd7b1100f202089ef7aa4ed556d64fcd6ddc3df 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_model_hpp__
 #define __se3_model_hpp__
 
diff --git a/src/multibody/parser/sample-models.hpp b/src/multibody/parser/sample-models.hpp
index b14ec5fb33a3627b5378be9ffb7dc5bd44bc1d48..6506b5a8da31402f503767eb489733b7e89cc8b8 100644
--- a/src/multibody/parser/sample-models.hpp
+++ b/src/multibody/parser/sample-models.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_sample_models_hpp__ 
 #define __se3_sample_models_hpp__ 
 
diff --git a/src/multibody/parser/urdf.hpp b/src/multibody/parser/urdf.hpp
index cc9fa2b928e83de1760ca17f2f658a472763f201..cc82266ba0c1e9e47f577e26988fc0a79a2f71bb 100644
--- a/src/multibody/parser/urdf.hpp
+++ b/src/multibody/parser/urdf.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_urdf_hpp__
 #define __se3_urdf_hpp__
 
diff --git a/src/multibody/visitor.hpp b/src/multibody/visitor.hpp
index 028ed8596a60fb1748f15c6a3a6d09339f68c085..6b10c9caf886490a0deebf295797975598dcf727 100644
--- a/src/multibody/visitor.hpp
+++ b/src/multibody/visitor.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_visitor_hpp__
 #define __se3_visitor_hpp__
 
diff --git a/src/python/__init__.py b/src/python/__init__.py
index caee4c960fd75214a605b39a7f1b8291ac774648..0e7be93814d65b2e19b1564eb5c657f089e55a18 100644
--- a/src/python/__init__.py
+++ b/src/python/__init__.py
@@ -1,3 +1,19 @@
+#
+# Copyright (c) 2015 CNRS
+#
+# This file is part of Pinocchio
+# Pinocchio is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+# Pinocchio is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# Pinocchio If not, see
+# <http://www.gnu.org/licenses/>.
+
 import numpy as np
 import libpinocchio_pywrap as se3
 import utils
diff --git a/src/python/algorithms.hpp b/src/python/algorithms.hpp
index 44c89eed243e54ca86774435c9307f33527f08bf..db2908d77851a7bde5603cf8b76633b8da4824f4 100644
--- a/src/python/algorithms.hpp
+++ b/src/python/algorithms.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_python_algorithm_hpp__
 #define __se3_python_algorithm_hpp__
 
diff --git a/src/python/data.hpp b/src/python/data.hpp
index 20fd16f16d995725d89cd4c89eace48b6239c013..1842256ec715ac10b826787ad8b28458b4d3519c 100644
--- a/src/python/data.hpp
+++ b/src/python/data.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_python_data_hpp__
 #define __se3_python_data_hpp__
 
diff --git a/src/python/eigen_container.hpp b/src/python/eigen_container.hpp
index f7c0a8e1d6bbdc67f50589fdec83ec321f387803..53abee0d65ebdb08c161dcb46e8671838fd9f6ad 100644
--- a/src/python/eigen_container.hpp
+++ b/src/python/eigen_container.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_python_eigen_container_hpp__
 #define __se3_python_eigen_container_hpp__
 
diff --git a/src/python/explog.py b/src/python/explog.py
index 9f98f1bda693cea1d021a8730f5f1c3371d4fd23..e5dd3234e2132467906d99c66e277c34cb9a2e17 100644
--- a/src/python/explog.py
+++ b/src/python/explog.py
@@ -1,3 +1,19 @@
+#
+# Copyright (c) 2015 CNRS
+#
+# This file is part of Pinocchio
+# Pinocchio is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+# Pinocchio is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# Pinocchio If not, see
+# <http://www.gnu.org/licenses/>.
+
 import libpinocchio_pywrap as se3
 import numpy as np
 import numpy.linalg as npl
diff --git a/src/python/force.hpp b/src/python/force.hpp
index c89881093d6e6f031940f4062682c745e1a450a8..4b79e2220fa9072f84a2580ff696fd4bcd4fbb48 100644
--- a/src/python/force.hpp
+++ b/src/python/force.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_python_force_hpp__
 #define __se3_python_force_hpp__
 
diff --git a/src/python/handler.hpp b/src/python/handler.hpp
index b65bccfe9804e17a239f8c0aedfe2237a68f8026..7ff0fd7aaae8a9802a6daaf98e5f69edb7819997 100644
--- a/src/python/handler.hpp
+++ b/src/python/handler.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_python_handler_hpp__
 #define __se3_python_handler_hpp__
 
diff --git a/src/python/inertia.hpp b/src/python/inertia.hpp
index d16542698e7610a335fd929b693f861318096b82..8d9f32f612523436f415148e76d86e643555d57f 100644
--- a/src/python/inertia.hpp
+++ b/src/python/inertia.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_python_inertia_hpp__
 #define __se3_python_inertia_hpp__
 
diff --git a/src/python/model.hpp b/src/python/model.hpp
index d6a6c7dc039ded8bace91a6d3e9fef6c48bee1e9..829fe466c6b33532b3bee04509eb629889a3c4e4 100644
--- a/src/python/model.hpp
+++ b/src/python/model.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_python_model_hpp__
 #define __se3_python_model_hpp__
 
diff --git a/src/python/module.cpp b/src/python/module.cpp
index 677e2390bd1187d40aff9ddbdc641ee3df816070..aee25f25c0bf9365d7ec432d2a9e978bbaca077a 100644
--- a/src/python/module.cpp
+++ b/src/python/module.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #include <eigenpy/eigenpy.hpp>
 #include <eigenpy/geometry.hpp>
 #include "pinocchio/python/python.hpp"
diff --git a/src/python/motion.hpp b/src/python/motion.hpp
index d817d78f887c975d97b76987c2e8dffa8df91703..094d1444adbb72bce6fa3050d7eb0351ae517b6d 100644
--- a/src/python/motion.hpp
+++ b/src/python/motion.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_python_motion_hpp__
 #define __se3_python_motion_hpp__
 
diff --git a/src/python/parsers.hpp b/src/python/parsers.hpp
index b8fcad5092791922e2cdfc0029e399da894d3201..b5bbe33de0edba5cbf91b108542dfd7ae0c9f5b5 100644
--- a/src/python/parsers.hpp
+++ b/src/python/parsers.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_python_parsers_hpp__
 #define __se3_python_parsers_hpp__
 
diff --git a/src/python/python.cpp b/src/python/python.cpp
index 8ad5ee078f0da3f0873a20c9cb22523d8c7f638a..2f5e7299ac7c1cf07fb2871a65c72f26baaa34e4 100644
--- a/src/python/python.cpp
+++ b/src/python/python.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #include "pinocchio/python/python.hpp"
 #include "pinocchio/python/se3.hpp"
 #include "pinocchio/python/force.hpp"
diff --git a/src/python/python.hpp b/src/python/python.hpp
index c9952eca9a7434b729e72cfce0fb351f55eb579d..afb12a5b1c1072985a151315959c5c12e92aefa5 100644
--- a/src/python/python.hpp
+++ b/src/python/python.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_python_python_hpp__
 #define __se3_python_python_hpp__
 
diff --git a/src/python/robot_wrapper.py b/src/python/robot_wrapper.py
index d93556615a17c96a17305ce416833ceb6f826c84..b9dfcb7fcf3b930e8ae8c4455524baec0f8513ac 100644
--- a/src/python/robot_wrapper.py
+++ b/src/python/robot_wrapper.py
@@ -1,3 +1,19 @@
+#
+# Copyright (c) 2015 CNRS
+#
+# This file is part of Pinocchio
+# Pinocchio is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+# Pinocchio is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# Pinocchio If not, see
+# <http://www.gnu.org/licenses/>.
+
 import numpy as np
 import libpinocchio_pywrap as se3
 import utils
diff --git a/src/python/romeo_wrapper.py b/src/python/romeo_wrapper.py
index 5ff87b59ae5fdf7667fb5ca85b15edee277c3083..426d18cd9cdc273ed67fa99a7f62b8804d091c67 100644
--- a/src/python/romeo_wrapper.py
+++ b/src/python/romeo_wrapper.py
@@ -1,3 +1,19 @@
+#
+# Copyright (c) 2015 CNRS
+#
+# This file is part of Pinocchio
+# Pinocchio is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+# Pinocchio is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# Pinocchio If not, see
+# <http://www.gnu.org/licenses/>.
+
 from robot_wrapper import RobotWrapper
 import numpy as np
 
diff --git a/src/python/rpy.py b/src/python/rpy.py
index 2323a7529ed26f345a21f090437451477df2d30a..6f489fcff021a6a10843b64d1833f6da5ba3f296 100644
--- a/src/python/rpy.py
+++ b/src/python/rpy.py
@@ -1,3 +1,19 @@
+#
+# Copyright (c) 2015 CNRS
+#
+# This file is part of Pinocchio
+# Pinocchio is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+# Pinocchio is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# Pinocchio If not, see
+# <http://www.gnu.org/licenses/>.
+
 import math
 import numpy as np
 import libpinocchio_pywrap as se3
diff --git a/src/python/se3.hpp b/src/python/se3.hpp
index 0166dbea9d5264ad0e49a0eebf7429f5e4e5e99a..9a68ce2d70b1493334bfb164490e56104e0ebd76 100644
--- a/src/python/se3.hpp
+++ b/src/python/se3.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_python_se3_hpp__
 #define __se3_python_se3_hpp__
 
diff --git a/src/python/utils.py b/src/python/utils.py
index 5ef6f38086f5175f8b1915467a370eaa515cb2fd..07f8e743dc641188abbd824a6420343a918ae26e 100644
--- a/src/python/utils.py
+++ b/src/python/utils.py
@@ -1,3 +1,19 @@
+#
+# Copyright (c) 2015 CNRS
+#
+# This file is part of Pinocchio
+# Pinocchio is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+# Pinocchio is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# Pinocchio If not, see
+# <http://www.gnu.org/licenses/>.
+
 import numpy as np
 import numpy.linalg as npl
 
diff --git a/src/simulation/compute-all-terms.hpp b/src/simulation/compute-all-terms.hpp
index 7b88ffdb564e805c1669e1a066b2fcc77e91fde4..a490770f01ec036e0a4a8c4a097fff2f7770f5d9 100644
--- a/src/simulation/compute-all-terms.hpp
+++ b/src/simulation/compute-all-terms.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_compute_all_terms_hpp__
 #define __se3_compute_all_terms_hpp__
 
diff --git a/src/spatial/act-on-set.hpp b/src/spatial/act-on-set.hpp
index e5f57c5241b8751dd523f6212276d77bfdc865fe..5ec1d5cc304b5f04a14171a757ed421a9d94d68c 100644
--- a/src/spatial/act-on-set.hpp
+++ b/src/spatial/act-on-set.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_act_on_set_hpp__
 #define __se3_act_on_set_hpp__
 
diff --git a/src/spatial/force.hpp b/src/spatial/force.hpp
index 7c2e7398f96abbb29fcb6af0971e52e34501d3ef..f59d1fca488a3d06221681f50471eeecabf5cea5 100644
--- a/src/spatial/force.hpp
+++ b/src/spatial/force.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_force_hpp__
 #define __se3_force_hpp__
 
diff --git a/src/spatial/fwd.hpp b/src/spatial/fwd.hpp
index 980553c215d8139296b577fbd4a6fb9caf3c81bd..6800b617e1efde70eb276344916565fc6bb6dfd0 100644
--- a/src/spatial/fwd.hpp
+++ b/src/spatial/fwd.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_fwd_hpp__
 #define __se3_fwd_hpp__
 
diff --git a/src/spatial/inertia.hpp b/src/spatial/inertia.hpp
index 208a0dd9e6aac510f8156650a4ffb768ce61fe53..dbea407489c528bba4482e84fa769c826e145b00 100644
--- a/src/spatial/inertia.hpp
+++ b/src/spatial/inertia.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_inertia_hpp__
 #define __se3_inertia_hpp__
 
diff --git a/src/spatial/motion.hpp b/src/spatial/motion.hpp
index 3e636cbf392b869208ba1554a9934d90f4cb0a42..86448a15e1f37150f050e10547502c7ba5405c5b 100644
--- a/src/spatial/motion.hpp
+++ b/src/spatial/motion.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_motion_hpp__
 #define __se3_motion_hpp__
 
diff --git a/src/spatial/se3.hpp b/src/spatial/se3.hpp
index c7b7228f4d7231714c8719b1e35c1f693f20bb99..7649b836aeb77d8612dd2fb3c8ab9bcea84349ac 100644
--- a/src/spatial/se3.hpp
+++ b/src/spatial/se3.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_se3_hpp__
 #define __se3_se3_hpp__
 
diff --git a/src/spatial/skew.hpp b/src/spatial/skew.hpp
index 06c3cdaf9a9a179398445c2c38b667063968afe0..942ae539e0817dac567405356572f47ab6fb4035 100644
--- a/src/spatial/skew.hpp
+++ b/src/spatial/skew.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifndef __se3_skew_hpp__
 #define __se3_skew_hpp__
 namespace se3
diff --git a/src/spatial/symmetric3.hpp b/src/spatial/symmetric3.hpp
index 5bbcd0b5acea274593551118d1d1a7974f5d4075..a951fe13a5ac223cfa7347e52a73de6cbde6a2e8 100644
--- a/src/spatial/symmetric3.hpp
+++ b/src/spatial/symmetric3.hpp
@@ -1,15 +1,14 @@
-/* Copyright LAAS-CNRS, 2014
- *
- * This file is originally copied from metapod/tools/spatial/lti.hh.
- * Authors: Olivier Stasse (LAAS, CNRS) and Sébastien Barthélémy (Aldebaran Robotics)
- * The file was modified in pinocchio by Nicolas Mansard (LAAS, CNRS)
- *
- * metapod is free software, distributed under the terms of the GNU Lesser
- * General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- */
+
+// Copyright LAAS-CNRS, 2014
+
+// This file is originally copied from metapod/tools/spatial/lti.hh.
+// Authors: Olivier Stasse (LAAS, CNRS) and Sébastien Barthélémy (Aldebaran Robotics)
+// The file was modified in pinocchio by Nicolas Mansard (LAAS, CNRS)
+
+// metapod is free software, distributed under the terms of the GNU Lesser
+// General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
 
 #ifndef __se3__symmetric3_hpp__
 #define __se3__symmetric3_hpp__
diff --git a/src/tools/matrix-comparison.hpp b/src/tools/matrix-comparison.hpp
index 6607b934fa6f3a04e5e3f1d7315a3f0e0e5defd4..2e597d235f139cad0a8019243517fcc3723019e0 100644
--- a/src/tools/matrix-comparison.hpp
+++ b/src/tools/matrix-comparison.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #include <Eigen/Core>
 #include <limits>
 
diff --git a/src/tools/timer.hpp b/src/tools/timer.hpp
index 6208505908430a686fd7f481cab0067355eeab5d..87a9860343fd1500776759fd62b6e8cf00dd1511 100644
--- a/src/tools/timer.hpp
+++ b/src/tools/timer.hpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #include <sys/time.h>
 #include <iostream>
 #include <stack>
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index e92241e6a0f9f76a2c95fed4e02fd0e90b2d3978..1e9e0862194b25a3bf2334269a6552accb47537d 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -1,3 +1,19 @@
+#
+# Copyright (c) 2015 CNRS
+#
+# This file is part of Pinocchio
+# hpp-core is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+# hpp-core is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# hpp-core If not, see
+# <http://www.gnu.org/licenses/>.
+
 # --- MACROS ------------------------------------------------------------------
 # --- MACROS ------------------------------------------------------------------
 # --- MACROS ------------------------------------------------------------------
diff --git a/unittest/cholesky.cpp b/unittest/cholesky.cpp
index 9e35eaad2eecb062b26b294b1dcbe5403d553013..e62b866bb9f2e59e3e72797ec6f55d853ddfafd8 100644
--- a/unittest/cholesky.cpp
+++ b/unittest/cholesky.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 /*
  * Validate the sparse Cholesky decomposition of the mass matrix.  The code
  * tests both the numerical value and the computation time. For a strong
diff --git a/unittest/com.cpp b/unittest/com.cpp
index 00811c366c2f3c370c2df37d795596578dae4eab..cf377e0070abe98cd97d2821681d3680c79fb21d 100644
--- a/unittest/com.cpp
+++ b/unittest/com.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #ifdef NDEBUG
 #pragma GCC diagnostic ignored "-Wunused-but-set-variable"
 #endif
diff --git a/unittest/compute-all-terms.cpp b/unittest/compute-all-terms.cpp
index 71c952ad563382beb5aa8a6a82c33edb5c4010b9..f288b617f483a847909d95dce1516eaeb4afb4a5 100644
--- a/unittest/compute-all-terms.cpp
+++ b/unittest/compute-all-terms.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 /*
  * Unittest of the RNE algorithm. The code simply test that the algorithm does
  * not cause any serious errors. The numerical values are not cross validated
diff --git a/unittest/constraint.cpp b/unittest/constraint.cpp
index f31478db97fd5e1e67b04c798548c004398e047f..3aa1c4c4beaf2f77b79aa044af741b9e5e828a9c 100644
--- a/unittest/constraint.cpp
+++ b/unittest/constraint.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #include <iostream>
 
 #include "pinocchio/spatial/force.hpp"
diff --git a/unittest/crba.cpp b/unittest/crba.cpp
index 6c7418475007838e360e196679e720d72f5b93fd..0a6ccee759786d796540a8b1426f14d5fb5d119e 100644
--- a/unittest/crba.cpp
+++ b/unittest/crba.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 /*
  * Test the CRBA algorithm. The code validates both the computation times and
  * the value by comparing the results of the CRBA with the reconstruction of
diff --git a/unittest/fusion.cpp b/unittest/fusion.cpp
index cd2dc6e690825f50736f196d232d1af0d81e8b60..e0c8911790eddeab45148ef9ed0d92350ccd07e3 100644
--- a/unittest/fusion.cpp
+++ b/unittest/fusion.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 
 #define     BOOST_FUSION_INVOKE_MAX_ARITY 10
 
diff --git a/unittest/jacobian.cpp b/unittest/jacobian.cpp
index b813840fe2f4628e0d77362f8b6a8f6069371ff6..eeac9715f9e5ddca9a528355792a2df0bfa2e374 100644
--- a/unittest/jacobian.cpp
+++ b/unittest/jacobian.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/algorithm/jacobian.hpp"
 #include "pinocchio/algorithm/rnea.hpp"
diff --git a/unittest/joints.cpp b/unittest/joints.cpp
index 9fbfa4af6f44346d26afe57a8886e85454712c4f..8aaa193bf50d6293baea1943bb6ab131c47cc462 100644
--- a/unittest/joints.cpp
+++ b/unittest/joints.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #include <iostream>
 
 #include "pinocchio/spatial/force.hpp"
diff --git a/unittest/non-linear-effects.cpp b/unittest/non-linear-effects.cpp
index 5dd5d85651ad3d99245b3cc671eb457a8c834479..a170385d47998c1022b6343bb649d6a8644c3e49 100644
--- a/unittest/non-linear-effects.cpp
+++ b/unittest/non-linear-effects.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 /*
  * Unittest of the RNE algorithm. The code simply test that the algorithm does
  * not cause any serious errors. The numerical values are not cross validated
diff --git a/unittest/rnea.cpp b/unittest/rnea.cpp
index 0426f11dc5ce5f5559d71a4b0dbc88c8f04fcd10..6fd434dc6ef07e9ea85adc1358d1858feee5f0e9 100644
--- a/unittest/rnea.cpp
+++ b/unittest/rnea.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 /*
  * Unittest of the RNE algorithm. The code simply test that the algorithm does
  * not cause any serious errors. The numerical values are not cross validated
diff --git a/unittest/symmetric.cpp b/unittest/symmetric.cpp
index d8cb9a41ee238e8133f0c540258b88e37b60275e..7b9993ef574b4eb8a96baa784a12f8267045ec07 100644
--- a/unittest/symmetric.cpp
+++ b/unittest/symmetric.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 /* --- Unitary test symmetric.cpp This code tests and compares three ways of
  * expressing symmetric matrices. In addition to the unitary validation (test
  * of the basic operations), the code is validating the computation
diff --git a/unittest/tspatial.cpp b/unittest/tspatial.cpp
index 4d8da25847ffebde7aba09e0d4164453bb1fc264..c26c732954f587064cfc2e5bad46dccfaf68fcdf 100644
--- a/unittest/tspatial.cpp
+++ b/unittest/tspatial.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #include <iostream>
 
 #include "pinocchio/spatial/force.hpp"
diff --git a/unittest/udut.cpp b/unittest/udut.cpp
index fe0df4f7827ddb8c184da9e87502af38197f84cc..ba97730ae80fda44be9efbb7625393e9ab26d042 100644
--- a/unittest/udut.cpp
+++ b/unittest/udut.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #include <iostream>
 #include <Eigen/Core>
 #include <pinocchio/spatial/skew.hpp>
diff --git a/unittest/urdf.cpp b/unittest/urdf.cpp
index a0bd72f751eecf345f87deed653b6b14a01e6f91..280c5a81dee5dfb6f62d279b088b7921f611eab7 100644
--- a/unittest/urdf.cpp
+++ b/unittest/urdf.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 #include <iostream>
 
 #include "pinocchio/multibody/model.hpp"
diff --git a/unittest/value.cpp b/unittest/value.cpp
index f534106de01627c8ab41634dc369e04651ea44e6..24652226f44994ed0244d49a01d8bf6d464d3757 100644
--- a/unittest/value.cpp
+++ b/unittest/value.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 /*
  * Compare the value obtained with the RNEA with the values obtained from
  * RBDL. The test is not complete. It only validates the RNEA for the revolute
diff --git a/unittest/variant.cpp b/unittest/variant.cpp
index 0cc0bbd29661008f0a4cd68a51bbbbe5fba2342e..360a43f67bcbfaebdf84bdaaca0b781626de37fb 100644
--- a/unittest/variant.cpp
+++ b/unittest/variant.cpp
@@ -1,3 +1,20 @@
+//
+// Copyright (c) 2015 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
 
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/multibody/joint/joint-generic.hpp"