[Minor] Fix compilation warning + duplicated function declaration

src/multibody/liegroup/liegroup-variant-visitors.hpp

@@ -75,19 +75,6 @@ namespace se3
                         const Eigen::MatrixBase<Tangent_t>  & v,
                         const Eigen::MatrixBase<ConfigOut_t>& qout);
   
-  
-  /**
-   * @brief      Visit a LieGroupVariant to call its integrate method
-   *
-   * @param[in]  lg  The LieGroupVariant.
-   *
-   */
-  template <class ConfigIn_t, class Tangent_t, class ConfigOut_t>
-  inline void integrate(const LieGroupVariant & lg,
-                        const Eigen::MatrixBase<ConfigIn_t> & q,
-                        const Eigen::MatrixBase<Tangent_t>  & v,
-                        const Eigen::MatrixBase<ConfigOut_t>& qout);
-  
 }
 
 /// Details

src/spatial/explog.hpp

@@ -368,23 +368,24 @@ namespace se3
     Jout.template bottomLeftCorner<3,3>().setZero();
   }
 
-  /// \brief Derivative of log6
-  /// \f[
-  /// \left(\begin{array}{cc}
-  /// Jlog3(R) & J * Jlog3(R) \\
-  ///     0    &     Jlog3(R) \\
-  /// \end{array}\right)
-  /// where
-  /// \f[
-  /// \begin{eqnarray}
-  /// J &=& 
-  /// \frac{1}{2}[\mathbf{p}]_{\times} + \dot{\beta} (\normr) \frac{\rot^T\mathbf{p}}{\normr}\rot\rot^T
-  /// - (\normr\dot{\beta} (\normr) + 2 \beta(\normr)) \mathbf{p}\rot^T\right.\\
-  /// &&\left. + \rot^T\mathbf{p}\beta (\normr)I_3 + \beta (\normr)\rot\mathbf{p}^T
-  /// \end{eqnarray}
-  /// \f]
-  /// and
-  /// \f[ \beta(x)=\left(\frac{1}{x^2} - \frac{\sin x}{2x(1-\cos x)}\right) \f]
+  /** \brief Derivative of log6
+   *  \f[
+   *  \left(\begin{array}{cc}
+   *  Jlog3(R) & J * Jlog3(R) \\
+   *      0    &     Jlog3(R) \\
+   *  \end{array}\right)
+   *  where
+   *  \f[
+   *  \begin{eqnarray}
+   *  J &=& 
+   *  \frac{1}{2}[\mathbf{p}]_{\times} + \dot{\beta} (\normr) \frac{\rot^T\mathbf{p}}{\normr}\rot\rot^T
+   *  - (\normr\dot{\beta} (\normr) + 2 \beta(\normr)) \mathbf{p}\rot^T\right.\\
+   *  &&\left. + \rot^T\mathbf{p}\beta (\normr)I_3 + \beta (\normr)\rot\mathbf{p}^T
+   *  \end{eqnarray}
+   *  \f]
+   *  and
+   *  \f[ \beta(x)=\left(\frac{1}{x^2} - \frac{\sin x}{2x(1-\cos x)}\right) \f]
+   */
   template<typename Scalar, int Options, typename Matrix6Like>
   void Jlog6(const SE3Tpl<Scalar, Options> & M,
              const Eigen::MatrixBase<Matrix6Like> & Jlog)