diff --git a/classiDynTree_1_1ArticulatedBodyInertia.html b/classiDynTree_1_1ArticulatedBodyInertia.html
index 644d7c6277..1b890a202d 100644
--- a/classiDynTree_1_1ArticulatedBodyInertia.html
+++ b/classiDynTree_1_1ArticulatedBodyInertia.html
@@ -93,9 +93,9 @@
$U d^{-1} U^\top$
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$U d^{-1} U^\top$
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diff --git a/classiDynTree_1_1AttitudeMahonyFilter.html b/classiDynTree_1_1AttitudeMahonyFilter.html
index 05e8b03ea8..4eb7d741ed 100644
--- a/classiDynTree_1_1AttitudeMahonyFilter.html
+++ b/classiDynTree_1_1AttitudeMahonyFilter.html
@@ -181,6 +181,8 @@ Contents
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$ \omega_{mes} = -(\Sigma{n}{i=1} \frac{k_i}{2} (v_i \hat{v}_i^T - \hat{v}_i v_i^T) )^{\vee} $
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$ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $
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$ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $
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diff --git a/classiDynTree_1_1AttitudeQuaternionEKF.html b/classiDynTree_1_1AttitudeQuaternionEKF.html
index 16b508820d..c7d4a9d930 100644
--- a/classiDynTree_1_1AttitudeQuaternionEKF.html
+++ b/classiDynTree_1_1AttitudeQuaternionEKF.html
@@ -181,22 +181,22 @@ Contents
\[ \hat{{x}}_{k+1} = \begin{bmatrix} q_{k} \otimes \text{exp}(\omega \Delta T) \\ y_{gyro_{k}} - b_{k} \\ (1 - \lambda_{b} \Delta t)b_k \end{bmatrix} \]
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\[ h_{acc}(\hat{x}_{k+1}) = \begin{bmatrix} 2(q_1q_3 - q_0q_2) \\ 2(q_2q_3 - q_0q_1) \\ q_0^2 - q_1^2 - q_2^2 + q_3^2 \end{bmatrix} \]
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$ h_{acc}(X) = R^T \begin{bmatrix} 0 \\ 0 \\ -1 \end{bmatrix} $
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$ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $
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$ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $
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diff --git a/classiDynTree_1_1DiscreteExtendedKalmanFilterHelper.html b/classiDynTree_1_1DiscreteExtendedKalmanFilterHelper.html
index b45b08e4ab..003288df66 100644
--- a/classiDynTree_1_1DiscreteExtendedKalmanFilterHelper.html
+++ b/classiDynTree_1_1DiscreteExtendedKalmanFilterHelper.html
@@ -451,11 +451,11 @@
$ K_{k+1} = \hat{P}_{k+1} H_{k+1}^T S_{k+1}^{-1} $
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$ K_{k+1} = \hat{P}_{k+1} H_{k+1}^T S_{k+1}^{-1} $
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diff --git a/classiDynTree_1_1ExtWrenchesAndJointTorquesEstimator.html b/classiDynTree_1_1ExtWrenchesAndJointTorquesEstimator.html
index 48ada494b2..d486590b5a 100644
--- a/classiDynTree_1_1ExtWrenchesAndJointTorquesEstimator.html
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diff --git a/classiDynTree_1_1IAttitudeEstimator.html b/classiDynTree_1_1IAttitudeEstimator.html
index d2dbcdcfce..8a652838bd 100644
--- a/classiDynTree_1_1IAttitudeEstimator.html
+++ b/classiDynTree_1_1IAttitudeEstimator.html
@@ -1114,10 +1114,10 @@
$ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $
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$ X = \begin{bmatrix} 1.0 \\ 0_{1 \times 3} \\ 0_{1 \times 3} \\ 0_{1 \times 3} \end{bmatrix}^T $
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diff --git a/classiDynTree_1_1KinDynComputations.html b/classiDynTree_1_1KinDynComputations.html
index a5fefacf5e..66b76f88d9 100644
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