[Doc] Minor correction of the doc for ccrba

src/algorithm/crba.hpp

@@ -43,6 +43,24 @@ namespace se3
        Data & data,
        const Eigen::VectorXd & q);
   
+  ///
+  /// \brief Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal momenta
+  ///        according to the current joint configuration and velocity.
+  ///
+  ///
+  /// \param[in] model The model structure of the rigid body system.
+  /// \param[in] data The data structure of the rigid body system.
+  /// \param[in] q The joint configuration vector (dim model.nq).
+  /// \param[in] v The joint velocity vector (dim model.nv).
+  ///
+  /// \return The Centroidal Momentum Matrix Ag. 
+  ///
+  inline const Data::Matrix6x &
+  ccrba(const Model & model,
+        Data & data,
+        const Eigen::VectorXd & q,
+        const Eigen::VectorXd & v);
+  
   ///
   /// \brief Computes the upper triangular part of the joint space inertia matrix M by
   ///        using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008).

src/multibody/model.hpp

@@ -417,11 +417,11 @@ namespace se3
     
     // CCRBA return quantities
     /// \brief Centroidal Momentum Matrix
-    /// \note \f$ hg = Ag \dot{q}\f$ maps the joint velocity set to the centroidal momentum.
+    /// \note \f$ hg = A_g \dot{q}\f$ maps the joint velocity set to the centroidal momentum.
     Matrix6x Ag;
     
     /// \brief Centroidal momentum quantity.
-    /// \note The centroidal momentum is expressed in the frame centered at the CoM and aligned with the inertial frame.
+    /// \note The centroidal momentum is expressed in the frame centered at the CoM and aligned with the inertial frame (i.e. the world frame).
     ///
     Force hg;