Fix CentroidalMPC documentation

ami-iit · Jun 23, 2023 · 900a7fa · 900a7fa
1 parent 91ad0cf
commit 900a7fa
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/...ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/CentroidalMPC.h b/...ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/CentroidalMPC.h
@@ -60,7 +60,7 @@ class CentroidalMPC : public System::Source<CentroidalMPCOutput>
      */
     ~CentroidalMPC();
 
-    // clang-format off
+    /* clang-format off */
     /**
      * Initialize the controller.
      * @param handler pointer to the parameter handler.
@@ -82,7 +82,7 @@ class CentroidalMPC : public System::Source<CentroidalMPCOutput>
      * |     `is_warm_start_enabled`     |      `bool`      |                                 True if the user wants to warm start the CoM, angular momentum, and contact location with the nominal value (Default `false`)                                |     No    |
      * |         `is_cse_enabled`        |      `bool`      | True if the Common subexpression elimination casadi option is enabled. This option is supported only by casadi 3.6.0 https://github.com/casadi/casadi/releases/tag/3.6.3  (Default `false` ) |     No    |
      *
-     * Moreover for each contact \f$i\f$ where $\f 0\le \le i \le \f$ `number_of_maximum_contacts-1` it is required to define a group `CONTACT_<i>` that contains the following parameters
+     * Moreover for each contact \f$i\f$ where \f$ 0 \le i \le \f$ `number_of_maximum_contacts-1` it is required to define a group `CONTACT_<i>` that contains the following parameters
      * |       Parameter Name       |        Type      |                                                          Description                                                             | Mandatory |
      * |:--------------------------:|:----------------:|:--------------------------------------------------------------------------------------------------------------------------------:|:---------:|
      * |      `contact_name`        |     `string`     |                                                 Name associated to the contact.                                                  |    Yes    |
@@ -93,7 +93,7 @@ class CentroidalMPC : public System::Source<CentroidalMPCOutput>
      * @return true in case of success/false otherwise.
      */
     bool initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) final;
-    // clang-format on
+    /* clang-format on */
 
     /**
      * Set the contact phase list considered by the controller as nominal contact location.