diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
index 27c2d816eb3f2d09ea6e166c0b7523edc80f76b2..16c2c547b955dd182889e191dba47249f0ec6b49 100644
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
@@ -1,3 +1 @@
 FILE_PATTERNS          = *.h  *.hh  *.hxx
-
-GENERATE_TREEVIEW      = NO
diff --git a/include/hpp/fcl/BV/AABB.h b/include/hpp/fcl/BV/AABB.h
index 64e940aedafc50c00e29ce7e6f5db5a98bc816ae..96681d0f689c3ab92b70eab8ab353fdc0749a056 100644
--- a/include/hpp/fcl/BV/AABB.h
+++ b/include/hpp/fcl/BV/AABB.h
@@ -47,8 +47,8 @@ namespace fcl
 
 struct CollisionRequest;
 
-/// @defgroup Bounding_Volume 
-/// regroup class of differents types of bounding volume.
+/// @defgroup Bounding_Volume Bounding volumes
+/// Classes of different types of bounding volume.
 /// @{
 
 /// @brief A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points
diff --git a/include/hpp/fcl/BV/BV_node.h b/include/hpp/fcl/BV/BV_node.h
index 901a9fcb1f6d9035200a165d99af10fbaf7b4a6a..13e681278872efd0fa6459c8ccfc7c7ef7d3e7c8 100644
--- a/include/hpp/fcl/BV/BV_node.h
+++ b/include/hpp/fcl/BV/BV_node.h
@@ -49,8 +49,8 @@ namespace hpp
 namespace fcl
 {
 
-/// @defgroup Construction_Of_BVH 
-/// regroup class which are used to build BVH (Bounding Volume Hierarchy)
+/// @defgroup Construction_Of_BVH Construction of BVHModel
+/// Classes which are used to build a BVHModel (Bounding Volume Hierarchy)
 /// @{
 
 /// @brief BVNodeBase encodes the tree structure for BVH
diff --git a/include/hpp/fcl/BV/OBBRSS.h b/include/hpp/fcl/BV/OBBRSS.h
index e7ef5c7edfb926eebe896d343a2126ba9bf66835..cc3ff2a03e1056294fbc9669891d4e641ae648ca 100644
--- a/include/hpp/fcl/BV/OBBRSS.h
+++ b/include/hpp/fcl/BV/OBBRSS.h
@@ -158,9 +158,10 @@ inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const
 }
 
 /// Check collision between two OBBRSS
+/// @param  R0, T0 configuration of b1
 /// @param  b1 first OBBRSS in configuration (R0, T0)
 /// @param  b2 second OBBRSS in identity position
-/// @retval squared lower bound on the distance if OBBRSS do not overlap.
+/// @retval sqrDistLowerBound squared lower bound on the distance if OBBRSS do not overlap.
 inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                     const OBBRSS& b2, const CollisionRequest& request,
 	            FCL_REAL& sqrDistLowerBound)
diff --git a/include/hpp/fcl/BVH/BVH_model.h b/include/hpp/fcl/BVH/BVH_model.h
index 095ff21c250877fb5b5c42a94aa0b6a89d7b3756..16383a2edf217cfd5e14ec0d4fb0b34547381ee1 100644
--- a/include/hpp/fcl/BVH/BVH_model.h
+++ b/include/hpp/fcl/BVH/BVH_model.h
@@ -250,6 +250,7 @@ protected:
 };
 
 /// @brief A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
+/// \tparam BV one of the bounding volume class in \ref Bounding_Volume.
 template<typename BV>
 class BVHModel : public BVHModelBase
 {
diff --git a/include/hpp/fcl/collision_data.h b/include/hpp/fcl/collision_data.h
index 2b22ade856d5f07481aa8e2d84c46c329b9eec54..941b9a28493347ff7b281d8dd7e0c4430052a1e3 100644
--- a/include/hpp/fcl/collision_data.h
+++ b/include/hpp/fcl/collision_data.h
@@ -288,7 +288,7 @@ struct DistanceRequest
   FCL_REAL rel_err; // relative error, between 0 and 1
   FCL_REAL abs_err; // absoluate error
 
-  /// \deprected the last argument should be removed.
+  /// \deprecated the last argument should be removed.
   DistanceRequest(bool enable_nearest_points_,
                   FCL_REAL rel_err_,
                   FCL_REAL abs_err_,
diff --git a/include/hpp/fcl/data_types.h b/include/hpp/fcl/data_types.h
index 3d3c3beab99fbb660b46e55b09fa37d4e47f2616..2af6ec255001264383b23ff5c5674e25d2b65840 100644
--- a/include/hpp/fcl/data_types.h
+++ b/include/hpp/fcl/data_types.h
@@ -95,7 +95,7 @@ public:
     vids[0] = p1; vids[1] = p2; vids[2] = p3;
   }
 
-  /// @access the triangle index
+  /// @brief Access the triangle index
   inline index_type operator[](int i) const { return vids[i]; }
 
   inline index_type& operator[](int i) { return vids[i]; }
diff --git a/include/hpp/fcl/doc.hh b/include/hpp/fcl/doc.hh
index a5442cefd3695ed8d8069e0b3b4084b44efa2342..5a22f44c385719478293d9c4161af7c564af08a1 100644
--- a/include/hpp/fcl/doc.hh
+++ b/include/hpp/fcl/doc.hh
@@ -47,5 +47,5 @@
 /// \par Using hpp-fcl
 ///
 /// The main entry points to the library are functions
-/// \li hpp::fcl::collide and
-/// \li hpp::fcl::distance.
+/// \li hpp::fcl::collide(const CollisionObject*, const CollisionObject*, const CollisionRequest&, CollisionResult&)
+/// \li hpp::fcl::distance(const CollisionObject*, const CollisionObject*, const DistanceRequest&, DistanceResult&)
diff --git a/include/hpp/fcl/mesh_loader/assimp.h b/include/hpp/fcl/mesh_loader/assimp.h
index 68748291dd9c9ce494040948dafc23d12e394bef..ded5ef893cc09aaa48dcd1af182be743816f90c5 100644
--- a/include/hpp/fcl/mesh_loader/assimp.h
+++ b/include/hpp/fcl/mesh_loader/assimp.h
@@ -75,7 +75,6 @@ struct Loader {
  *
  * @param[in]  scale           Scale to apply when reading the ressource
  * @param[in]  scene           Pointer to the assimp scene
- * @param[in]  node            Current node of the scene
  * @param[in]  vertices_offset Current number of vertices in the model
  * @param      tv              Triangles and Vertices of the mesh submodels
  */
diff --git a/include/hpp/fcl/shape/convex.h b/include/hpp/fcl/shape/convex.h
index cafbddd040b474fbab5204eb4c7d156869530db7..04b12daacb4f4c8dc729ee88d3eaed67a6898d55 100644
--- a/include/hpp/fcl/shape/convex.h
+++ b/include/hpp/fcl/shape/convex.h
@@ -46,15 +46,15 @@ namespace hpp
 namespace fcl
 {
 
-/// @brief Convex polytope 
+/// @brief Convex polytope
 /// @tparam PolygonT the polygon class. It must have method \c size() and
 ///         \c operator[](int i)
 template <typename PolygonT>
 class Convex : public ConvexBase
 {
 public:
-  /// @brief Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information 
-  /// \param own_storage whether this class owns the pointers of points and
+  /// @brief Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information
+  /// \param ownStorage whether this class owns the pointers of points and
   ///                    polygons. If owned, they are deleted upon destruction.
   /// \param points_ list of 3D points
   /// \param num_points_ number of 3D points
diff --git a/include/hpp/fcl/shape/geometric_shapes.h b/include/hpp/fcl/shape/geometric_shapes.h
index e0a9dfb343227f9d7c34f368b6485cc327d767d1..d2f2d77a06b3e96de5fd649964d1cd99f05dc245 100644
--- a/include/hpp/fcl/shape/geometric_shapes.h
+++ b/include/hpp/fcl/shape/geometric_shapes.h
@@ -62,8 +62,8 @@ public:
   OBJECT_TYPE getObjectType() const { return OT_GEOM; }
 };
 
-/// @defgroup Geometric_Shapes
-/// regroup class of differents types of geometric shapes.
+/// @defgroup Geometric_Shapes Geometric shapes
+/// Classes of different types of geometric shapes.
 /// @{
 
 /// @brief Triangle stores the points instead of only indices of points