diff --git a/include/hpp/centroidal-dynamics/centroidal_dynamics.hh b/include/hpp/centroidal-dynamics/centroidal_dynamics.hh
index ce95c148c13ac0a5745c9263d0cf24abe93d648b..5f4f90d79788edd4e2e267c4f56b6f215185ae7b 100644
--- a/include/hpp/centroidal-dynamics/centroidal_dynamics.hh
+++ b/include/hpp/centroidal-dynamics/centroidal_dynamics.hh
@@ -297,7 +297,9 @@ public:
 
   /**
    * @brief Retrieve the inequalities that define the admissible wrenchs
-   * for the current contact set.
+   * for the current contact set. WARNING. The H and h matrices are defined
+   * in such a way that H w >= h is verified if w is an admissible wrench. This is different
+   * from the ICRA 15 paper from Del Prete et al., where the negative matrices are used.
    * @param H reference to the H matrix to initialize
    * @param h reference to the h vector to initialize
    * @return The status of the inequalities. If the inequalities are not defined