dintegratetransport: minor modifs in doc

src/algorithm/joint-configuration.hpp

@@ -287,7 +287,7 @@ namespace pinocchio
                   const Eigen::MatrixBase<JacobianMatrixType> & J,
                   const ArgumentPosition arg,
                   const AssignmentOperatorType op);
-  
+
   /**
    *
    * @brief   Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity.

src/multibody/liegroup/liegroup-base.hpp

@@ -163,7 +163,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
      *          We are moving our input matrix onto this manifold M.
      * @param[in]  q    configuration vector.
      * @param[in]  v    tangent vector
-     * @param[in]  J    the input matrix
+     * @param[in]  Jin    the input matrix
      * @param[in] arg  ARG0 (resp. ARG1) to get the Jacobian with respect to q (resp. v).
      *
      * @param[out] Jout    Transported matrix
@@ -184,7 +184,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
      *          We are moving our input matrix onto this manifold M.
      * @param[in]  q    configuration vector.
      * @param[in]  v    tangent vector
-     * @param[in]  J    the input matrix
+     * @param[in]  Jin    the input matrix
      *
      * @param[out] Jout    Transported matrix
      */
@@ -201,7 +201,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
      *          We are moving our input matrix onto this manifold M.
      * @param[in]  q    configuration vector.
      * @param[in]  v    tangent vector
-     * @param[in]  J    the input matrix
+     * @param[in]  Jin    the input matrix
      *
      * @param[out] Jout    Transported matrix
      */

src/multibody/liegroup/liegroup-base.hxx

@@ -87,7 +87,6 @@ namespace pinocchio {
                                  PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J),
                                  op);
   }
-  
 
   template <class Derived>
   template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>