Fix some comments

src/processor/processor_force_torque_inertial_preint_dynamics.cpp

@@ -273,7 +273,8 @@ void ProcessorForceTorqueInertialPreintDynamics::computeCurrentDelta(const Eigen
      *
      *  J_delta_data  = J_delta_tangent * J_tangent_data
      *  J_delta_model = J_delta_model   + J_delta_tangent * J_tangent_model <-- remember all Jacobians are PARTIAL
-     * derivatives. J_delta_bias  = J_delta_tangent * J_tangent_bias
+     * derivatives.
+     *  J_delta_bias  = J_delta_tangent * J_tangent_bias
      *
      * Finally we can assemble the Jacobian `J_delta_calib` as the concatenation of bias and model:
      *
@@ -354,9 +355,6 @@ void ProcessorForceTorqueInertialPreintDynamics::computeCurrentDelta(const Eigen
 
     // 3. Compose jacobians
     Matrix<double, 18, 6> J_delta_bias = J_delta_tangent * J_tangent_bias;
-    // !!!!!! Now J_delta_model seems to be calculated in function tangent2delta as J_delta_tangent * J_tangent_model
-    // !!!!!!!!!!!
-    // TODO: Check the calculation od the J_delta_model in fti::tangent2delta()
     J_delta_model += J_delta_tangent * J_tangent_model;
     _jacobian_calib << J_delta_bias, J_delta_model;  // J_delta_calib = [J_delta_bias ; J_delta_model]
     const auto& J_delta_data = J_delta_tangent * J_tangent_data;