diff --git a/CMakeLists.txt b/CMakeLists.txt
index d3827bcc9378ab04fa6bcdc93571a01d63d3804c..e730b265b5135c287ddf7b1381251f597fae7759 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,6 +25,21 @@ IF(UNIX)
   SET(LIB_EXT "")
 ENDIF(UNIX)
 
+# -------------------------------------------------------------------
+# --- UTILS ---------------------------------------------------------
+# -------------------------------------------------------------------
+MACRO(LIST2STRING _VAR_ARG _LIST_ARG)
+  SET(${_VAR_ARG})
+  SET(_FIRST_STEP 1)
+  FOREACH(_ITEM ${ARGV})
+     IF(_FIRST_STEP)
+	SET(_FIRST_STEP 0)
+     ELSE(_FIRST_STEP)
+           SET (${_VAR_ARG} "${${_VAR_ARG}} ${_ITEM}")
+     ENDIF(_FIRST_STEP)
+  ENDFOREACH(_ITEM)
+ENDMACRO(LIST2STRING)
+
 #
 # Look for dependencies
 #
@@ -58,12 +73,13 @@ ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
 # --- HRP2DYNAMICS ---------------------------------------
 SET(HRP2DYNAMICS_FOUND 0)
 SET(HRP2DYNAMICS_REQUIRED "hrp2Dynamics >= 1.3.0")
-#PKG_CHECK_MODULES(HRP2DYNAMICS REQUIRED ${HRP2DYNAMICS_REQUIRED})
-PKG_CHECK_MODULES(HRP2DYNAMICS ${HRP2DYNAMICS_REQUIRED})
+PKG_CHECK_MODULES(HRP2DYNAMICS REQUIRED ${HRP2DYNAMICS_REQUIRED})
 
 IF(${HRP2DYNAMICS_FOUND})
 SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${HRP2DYNAMICS_REQUIRED}")
 #  MESSAGE(FATAL_ERROR "Check that package hrp2Dynamics is installed in a directory pointed out by PKG_CONFIG_PATH.")
+LIST2STRING(temp ${HRP2DYNAMICS_LIBRARIES})
+#SET(HRP2DYNAMICS_LIBRARIES ${temp})
 MESSAGE(STATUS "h2D libs are '${HRP2DYNAMICS_LIBRARIES}'")
 ENDIF(${HRP2DYNAMICS_FOUND})
 
diff --git a/doc/additionalDoc/package.hh b/doc/additionalDoc/package.hh
index bfced4d80d289fee9583b2ca234a7ae1fe0f3014..0be58c2db9b243fe8f809e5db057054eefddf386 100644
--- a/doc/additionalDoc/package.hh
+++ b/doc/additionalDoc/package.hh
@@ -1,20 +1,8 @@
 /** \mainpage
 \section sec_intro Introduction
 
-This library implements a modular architecture to test and experiment
-controllers in the Stack of Tasks Framework as defined in \ref Mansard2007.
-It is specifically targeted to retain real-time capabilities while
-having high level software capabilities such as:
-\li On-line plugin loading and unloading,
-\li Scripting of the control,
-\li A strong software model which allow a clear identification
-of the library application field.
-
-\section sec_RequirementsInstallation Requirements and Installation
- The library assumes that Boost is installed.
+The sot-dynamic package is a bridge between the stack of tasks framework and the dynamicsJRLJapan library.
+It provides an inverse dynamic model of the robot through dynamic-graph entities.
 
-\section sec_organization Organization of the code
-
-The code is divided mostly in two parts: the controller also called
-Tasks, and the signals providing the information necessary to compute
-the command.
+This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks
+controllers in the Stack of Tasks Framework as defined in \ref Mansard2007.
diff --git a/doc/package.dox.cmake b/doc/package.dox.cmake
index 192147778a323e2d43084c5e71fe8be74af713ba..182779cc73dc526590b86a05cd23a0d9bfaab51f 100644
--- a/doc/package.dox.cmake
+++ b/doc/package.dox.cmake
@@ -209,7 +209,7 @@ SHOW_DIRECTORIES       = NO
 #---------------------------------------------------------------------------
 # configuration options related to the input files
 #---------------------------------------------------------------------------
-FILE_PATTERNS          = *.hh *.idl
+FILE_PATTERNS          = *.h *.hh *.idl
 EXCLUDE_PATTERNS       = 
 INPUT                  = ${${PROJECT_NAME}_SOURCE_DIR}/include \
                          ${CMAKE_CURRENT_SOURCE_DIR}/additionalDoc