liegroups: fix default template operator + add doc

src/multibody/liegroup/liegroup-base.hpp

@@ -88,14 +88,16 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
      *
      * @param[in]  q    configuration vector.
      * @param[in]  v    tangent vector.
+     * @param[in]  op   assignment operator (SETTO, ADDTO or RMTO).
      * @tparam     arg  ARG0 (resp. ARG1) to get the Jacobian with respect to q (resp. v).
      *
      * @param[out] J    the Jacobian of the Integrate operation w.r.t. the argument arg.
      */
-    template <ArgumentPosition arg, class Config_t, class Tangent_t, class JacobianOut_t, AssignmentOperatorType op = SETTO>
+    template <ArgumentPosition arg, class Config_t, class Tangent_t, class JacobianOut_t>
     void dIntegrate(const Eigen::MatrixBase<Config_t >  & q,
                     const Eigen::MatrixBase<Tangent_t>  & v,
-                    const Eigen::MatrixBase<JacobianOut_t> & J) const
+                    const Eigen::MatrixBase<JacobianOut_t> & J,
+                    AssignmentOperatorType op = SETTO) const
     {
       PINOCCHIO_STATIC_ASSERT(arg==ARG0||arg==ARG1, arg_SHOULD_BE_ARG0_OR_ARG1);
       return dIntegrate(q.derived(),v.derived(),PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J),arg,op);
@@ -110,6 +112,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
      * @param[in]  q    configuration vector.
      * @param[in]  v    tangent vector.
      * @param[in] arg  ARG0 (resp. ARG1) to get the Jacobian with respect to q (resp. v).
+     * @param[in]  op   assignment operator (SETTO, ADDTO and RMTO).
      *
      * @param[out] J    the Jacobian of the Integrate operation w.r.t. the argument arg.
      */
@@ -128,6 +131,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
      *
      * @param[in]  q    configuration vector.
      * @param[in]  v    tangent vector.
+     * @param[in]  op   assignment operator (SETTO, ADDTO or RMTO).
      *
      * @param[out] J    the Jacobian of the Integrate operation w.r.t. the configuration vector q.
      */
@@ -145,6 +149,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
      *
      * @param[in]  q    configuration vector.
      * @param[in]  v    tangent vector.
+     * @param[in]  op   assignment operator (SETTO, ADDTO or RMTO).
      *
      * @param[out] J    the Jacobian of the Integrate operation w.r.t. the tangent vector v.
      */
@@ -154,7 +159,6 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
                        const Eigen::MatrixBase<JacobianOut_t> & J,
                        const AssignmentOperatorType op = SETTO) const;
 
-
     /**
      *
      * @brief   Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments.