contact-dynamics: Add % at end of Latex line to avoid Wcomment warning

src/algorithm/contact-dynamics.hpp

@@ -14,7 +14,7 @@ namespace pinocchio
   ///
   /// \brief Compute the forward dynamics with contact constraints. Internally, pinocchio::computeAllTerms is called.
   /// \note It computes the following problem: <BR>
-  ///       <CENTER> \f$ \begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\
+  ///       <CENTER> \f$ \begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\ %
   ///           \text{s.t.} & & J (q) \ddot{q} + \gamma (q, \dot{q}) = 0 \end{eqnarray} \f$ </CENTER> <BR>
   ///       where \f$ \ddot{q}_{\text{free}} \f$ is the free acceleration (i.e. without constraints),
   ///       \f$ M \f$ is the mass matrix, \f$ J \f$ the constraint Jacobian and \f$ \gamma \f$ is the constraint drift.
@@ -55,7 +55,7 @@ namespace pinocchio
   ///
   /// \brief Compute the forward dynamics with contact constraints, assuming pinocchio::computeAllTerms has been called.
   /// \note It computes the following problem: <BR>
-  ///       <CENTER> \f$ \begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\
+  ///       <CENTER> \f$ \begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\ %
   ///           \text{s.t.} & & J (q) \ddot{q} + \gamma (q, \dot{q}) = 0 \end{eqnarray} \f$ </CENTER> <BR>
   ///       where \f$ \ddot{q}_{\text{free}} \f$ is the free acceleration (i.e. without constraints),
   ///       \f$ M \f$ is the mass matrix, \f$ J \f$ the constraint Jacobian and \f$ \gamma \f$ is the constraint drift.
@@ -97,7 +97,7 @@ namespace pinocchio
   ///             Please change for the new signature of forwardDynamics(model,data[,q],v,tau,J,gamma[,inv_damping]).
   ///
   /// \note It computes the following problem: <BR>
-  ///       <CENTER> \f$ \begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\
+  ///       <CENTER> \f$ \begin{eqnarray} \underset{\ddot{q}}{\min} & & \| \ddot{q} - \ddot{q}_{\text{free}} \|_{M(q)} \\ %
   ///           \text{s.t.} & & J (q) \ddot{q} + \gamma (q, \dot{q}) = 0 \end{eqnarray} \f$ </CENTER> <BR>
   ///       where \f$ \ddot{q}_{\text{free}} \f$ is the free acceleration (i.e. without constraints),
   ///       \f$ M \f$ is the mass matrix, \f$ J \f$ the constraint Jacobian and \f$ \gamma \f$ is the constraint drift.
@@ -119,7 +119,7 @@ namespace pinocchio
   /// \param[in] J The Jacobian of the constraints (dim nb_constraints*model.nv).
   /// \param[in] gamma The drift of the constraints (dim nb_constraints).
   /// \param[in] inv_damping Damping factor for Cholesky decomposition of JMinvJt. Set to zero if constraints are full rank.
-  /// \param[in] updateKinematics If true, the algorithm calls first pinocchio::computeAllTerms. Otherwise, it uses the current dynamic values stored in data. \\
+  /// \param[in] updateKinematics If true, the algorithm calls first pinocchio::computeAllTerms. Otherwise, it uses the current dynamic values stored in data. \\ %
   ///            \note A hint: 1e-12 as the damping factor gave good result in the particular case of redundancy in contact constraints on the two feet.
   ///
   /// \return A reference to the joint acceleration stored in data.ddq. The Lagrange Multipliers linked to the contact forces are available throw data.lambda_c vector.
@@ -165,7 +165,7 @@ namespace pinocchio
   ///
   /// \brief Compute the impulse dynamics with contact constraints. Internally, pinocchio::crba is called.
   /// \note It computes the following problem: <BR>
-  ///       <CENTER> \f$ \begin{eqnarray} \underset{\dot{q}^{+}}{\min} & & \| \dot{q}^{+} - \dot{q}^{-} \|_{M(q)} \\
+  ///       <CENTER> \f$ \begin{eqnarray} \underset{\dot{q}^{+}}{\min} & & \| \dot{q}^{+} - \dot{q}^{-} \|_{M(q)} \\ %
   ///           \text{s.t.} & & J (q) \dot{q}^{+} = - \epsilon J (q) \dot{q}^{-}  \end{eqnarray} \f$ </CENTER> <BR>
   ///       where \f$ \dot{q}^{-} \f$ is the generalized velocity before impact,
   ///       \f$ M \f$ is the joint space mass matrix, \f$ J \f$ the constraint Jacobian and \f$ \epsilon \f$ is the coefficient of restitution (1 for a fully elastic impact or 0 for a rigid impact).
@@ -198,7 +198,7 @@ namespace pinocchio
   ///
   /// \brief Compute the impulse dynamics with contact constraints, assuming pinocchio::crba has been called.
   /// \note It computes the following problem: <BR>
-  ///       <CENTER> \f$ \begin{eqnarray} \underset{\dot{q}^{+}}{\min} & & \| \dot{q}^{+} - \dot{q}^{-} \|_{M(q)} \\
+  ///       <CENTER> \f$ \begin{eqnarray} \underset{\dot{q}^{+}}{\min} & & \| \dot{q}^{+} - \dot{q}^{-} \|_{M(q)} \\ %
   ///           \text{s.t.} & & J (q) \dot{q}^{+} = - \epsilon J (q) \dot{q}^{-}  \end{eqnarray} \f$ </CENTER> <BR>
   ///       where \f$ \dot{q}^{-} \f$ is the generalized velocity before impact,
   ///       \f$ M \f$ is the joint space mass matrix, \f$ J \f$ the constraint Jacobian and \f$ \epsilon \f$ is the coefficient of restitution (1 for a fully elastic impact or 0 for a rigid impact).
@@ -233,7 +233,7 @@ namespace pinocchio
   ///             Please change for the new signature of impulseDynamics(model,data[,q],v_before,J[,r_coeff[,inv_damping]]).
   ///
   /// \note It computes the following problem: <BR>
-  ///       <CENTER> \f$ \begin{eqnarray} \underset{\dot{q}^{+}}{\min} & & \| \dot{q}^{+} - \dot{q}^{-} \|_{M(q)} \\
+  ///       <CENTER> \f$ \begin{eqnarray} \underset{\dot{q}^{+}}{\min} & & \| \dot{q}^{+} - \dot{q}^{-} \|_{M(q)} \\ %
   ///           \text{s.t.} & & J (q) \dot{q}^{+} = - \epsilon J (q) \dot{q}^{-}  \end{eqnarray} \f$ </CENTER> <BR>
   ///       where \f$ \dot{q}^{-} \f$ is the generalized velocity before impact,
   ///       \f$ M \f$ is the joint space mass matrix, \f$ J \f$ the constraint Jacobian and \f$ \epsilon \f$ is the coefficient of restitution (1 for a fully elastic impact or 0 for a rigid impact).