diff --git a/COPYING.LESSER b/COPYING.LESSER
index f56378b5f5e21a04147fac7c27505b8da5001b0b..d3d9f11f91b0e2f3d0c52da40653c344fd1a8791 100644
--- a/COPYING.LESSER
+++ b/COPYING.LESSER
@@ -1,4 +1,4 @@
-Copyright (c) 2014-2018, CNRS INRIA
+Copyright (c) 2014-2019, CNRS INRIA
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/README.md b/README.md
index 0f4d476e7b63de30427e5feeda7741ef5718de7a..1e91c93cd20c0611917ea5ada3026d1516a9a3fb 100644
--- a/README.md
+++ b/README.md
@@ -62,7 +62,7 @@ To cite **Pinocchio** in your academic research, please use the following bibtex
       author = {Justin Carpentier and Florian Valenza and Nicolas Mansard and others},
       title = {Pinocchio: fast forward and inverse dynamics for poly-articulated systems},
       howpublished = {https://stack-of-tasks.github.io/pinocchio},
-      year = {2015--2018}
+      year = {2015--2019}
      }
 ```
 
diff --git a/bindings/python/algorithm/expose-centroidal.cpp b/bindings/python/algorithm/expose-centroidal.cpp
index a23e7d88531a64d34c7496a383a964028fba4c0d..32bc0f8aada96514f967f4c57de44bd4a08162c5 100644
--- a/bindings/python/algorithm/expose-centroidal.cpp
+++ b/bindings/python/algorithm/expose-centroidal.cpp
@@ -27,7 +27,7 @@ namespace pinocchio
               bp::args("Model","Data",
                        "Joint configuration q (size Model::nq)",
                        "Joint velocity v (size Model::nv)"),
-              "Computes the time derivative of the centroidal momentum matrix Ag in terms of q and v. It computes also the same information than ccrtba for the same price.",
+              "Computes the time derivative of the centroidal momentum matrix Ag in terms of q and v. It computes also the same information than ccrba for the same price.",
               bp::return_value_policy<bp::return_by_value>());
       
     }
diff --git a/cmake b/cmake
index a921f1ead10e551804da70d6080a95dba1e673bd..e336033ac082730b483a22a13ab1054583581cce 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit a921f1ead10e551804da70d6080a95dba1e673bd
+Subproject commit e336033ac082730b483a22a13ab1054583581cce
diff --git a/unittest/finite-differences.cpp b/unittest/finite-differences.cpp
index 4bae7f29d8d558fe08551728d7c09016230e0dbe..54d1d83813b68e8fc1c41f0e58a6d1cd730370e9 100644
--- a/unittest/finite-differences.cpp
+++ b/unittest/finite-differences.cpp
@@ -1,5 +1,5 @@
 //
-// Copyright (c) 2016-2018 CNRS
+// Copyright (c) 2016-2019 CNRS, INRIA
 //
 
 #include "pinocchio/multibody/model.hpp"
@@ -21,7 +21,7 @@ Data::Matrix6x finiteDiffJacobian(const Model & model, Data & data, const Eigen:
 {
   Data::Matrix6x res(6,model.nv); res.setZero();
   VectorXd q_integrate (model.nq);
-  VectorXd v_integrate (model.nq); v_integrate.setZero();
+  VectorXd v_integrate (model.nv); v_integrate.setZero();
   
   forwardKinematics(model,data,q);
   const SE3 oMi_ref = data.oMi[joint_id];