diff --git a/bindings/python/algorithm/expose-centroidal.cpp b/bindings/python/algorithm/expose-centroidal.cpp
index 60fe9265dfb656e666c52ab4a4f4befa3ab5bdb3..2460b7a70cefd025abcf354592ec13863ba4129a 100644
--- a/bindings/python/algorithm/expose-centroidal.cpp
+++ b/bindings/python/algorithm/expose-centroidal.cpp
@@ -52,8 +52,8 @@ namespace pinocchio
               "For the same price, it also computes the total joint jacobians (data.J).",
               bp::return_value_policy<bp::return_by_value>());
       
-      bp::def("computeCentroidalMapping",
-              &computeCentroidalMapping<double,0,JointCollectionDefaultTpl,VectorXd>,
+      bp::def("computeCentroidalMap",
+              &computeCentroidalMap<double,0,JointCollectionDefaultTpl,VectorXd>,
               bp::args("Model","Data",
                        "Joint configuration q (size Model::nq)"),
               "Computes the centroidal mapping, puts the result in Data.Ag and returns the centroidal mapping.\n"
@@ -70,8 +70,8 @@ namespace pinocchio
               "and the related joint jacobians time derivative (data.dJ)",
               bp::return_value_policy<bp::return_by_value>());
       
-      bp::def("computeCentroidalMappingTimeVariation",
-              computeCentroidalMappingTimeVariation<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>,
+      bp::def("computeCentroidalMapTimeVariation",
+              computeCentroidalMapTimeVariation<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>,
               bp::args("Model","Data",
                        "Joint configuration q (size Model::nq)",
                        "Joint velocity v (size Model::nv)"),
diff --git a/src/algorithm/centroidal.hpp b/src/algorithm/centroidal.hpp
index 067fd8e6969d699e42563d00ac08c1867354c91c..0fb727c2cfdf2ead3ddbffbbf41f864046732d23 100644
--- a/src/algorithm/centroidal.hpp
+++ b/src/algorithm/centroidal.hpp
@@ -186,7 +186,7 @@ namespace pinocchio
   ///
   template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
   inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
-  computeCentroidalMapping(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+  computeCentroidalMap(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                            DataTpl<Scalar,Options,JointCollectionTpl> & data,
                            const Eigen::MatrixBase<ConfigVectorType> & q);
   
@@ -233,7 +233,7 @@ namespace pinocchio
   ///
   template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
   inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
-  computeCentroidalMappingTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+  computeCentroidalMapTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                         DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                         const Eigen::MatrixBase<ConfigVectorType> & q,
                                         const Eigen::MatrixBase<TangentVectorType> & v);
diff --git a/src/algorithm/centroidal.hxx b/src/algorithm/centroidal.hxx
index 0bf6d4922e29b82bdc3025f4706fa133b314a973..d023b2f519d5cd12d0ef1b893b1e74604384dc92 100644
--- a/src/algorithm/centroidal.hxx
+++ b/src/algorithm/centroidal.hxx
@@ -183,7 +183,7 @@ namespace pinocchio
   
   template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
   inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
-  computeCentroidalMapping(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+  computeCentroidalMap(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                            DataTpl<Scalar,Options,JointCollectionTpl> & data,
                            const Eigen::MatrixBase<ConfigVectorType> & q)
   {
@@ -324,7 +324,7 @@ namespace pinocchio
 
   template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
   inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::Matrix6x &
-  computeCentroidalMappingTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+  computeCentroidalMapTimeVariation(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                         DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                         const Eigen::MatrixBase<ConfigVectorType> & q,
                                         const Eigen::MatrixBase<TangentVectorType> & v)
diff --git a/unittest/centroidal.cpp b/unittest/centroidal.cpp
index 91c688decc0ce3eaacf9f005aa56e34a4fa9d7c9..026975a998464dff04cef852764436a04855df17 100644
--- a/unittest/centroidal.cpp
+++ b/unittest/centroidal.cpp
@@ -95,7 +95,7 @@ BOOST_AUTO_TEST_CASE(test_centroidal_mapping)
   Eigen::VectorXd q = randomConfiguration(model);
   Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
   
-  computeCentroidalMapping(model, data, q);
+  computeCentroidalMap(model, data, q);
   ccrba(model,data_ref,q,v);
   
   BOOST_CHECK(data.J.isApprox(data_ref.J));
@@ -271,7 +271,7 @@ BOOST_AUTO_TEST_CASE(test_centroidal_mapping_time_derivative)
   Eigen::VectorXd q = randomConfiguration(model);
   Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
   
-  computeCentroidalMappingTimeVariation(model, data, q, v);
+  computeCentroidalMapTimeVariation(model, data, q, v);
   dccrba(model,data_ref,q,v);
   
   BOOST_CHECK(data.J.isApprox(data_ref.J));