diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index e6ea5d6954..5c3f8ed018 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -4,14 +4,14 @@ ci:
   autoupdate_schedule: quarterly
 repos:
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.8
+    rev: v19.1.1
     hooks:
       - id: clang-format
         types_or: []
         types: [text]
         files: \.(cpp|cxx|c|h|hpp|hxx|txx)$
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -27,7 +27,7 @@ repos:
               doc/doxygen-awesome.*
           )$
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.6.2
+    rev: v0.6.9
     hooks:
       - id: ruff
       - id: ruff-format
diff --git a/bindings/python/algorithm/expose-com.cpp b/bindings/python/algorithm/expose-com.cpp
index d11f4dae6d..1f3397e6d9 100644
--- a/bindings/python/algorithm/expose-com.cpp
+++ b/bindings/python/algorithm/expose-com.cpp
@@ -101,21 +101,23 @@ namespace pinocchio
 
       bp::def(
         "computeTotalMass",
-        (Scalar(*)(const context::Model &))
-          & computeTotalMass<Scalar, Options, JointCollectionDefaultTpl>,
+        (Scalar(*)(
+          const context::Model &))&computeTotalMass<Scalar, Options, JointCollectionDefaultTpl>,
         bp::args("model"), "Compute the total mass of the model and return it.");
 
       bp::def(
         "computeTotalMass",
-        (Scalar(*)(const context::Model &, context::Data &))
-          & computeTotalMass<Scalar, Options, JointCollectionDefaultTpl>,
+        (Scalar(*)(
+          const context::Model &,
+          context::Data &))&computeTotalMass<Scalar, Options, JointCollectionDefaultTpl>,
         bp::args("model", "data"),
         "Compute the total mass of the model, put it in data.mass[0] and return it.");
 
       bp::def(
         "computeSubtreeMasses",
-        (void (*)(const context::Model &, context::Data &))
-          & computeSubtreeMasses<Scalar, Options, JointCollectionDefaultTpl>,
+        (void (*)(
+          const context::Model &,
+          context::Data &))&computeSubtreeMasses<Scalar, Options, JointCollectionDefaultTpl>,
         bp::args("model", "data"),
         "Compute the mass of each kinematic subtree and store it in the vector data.mass.");
 
diff --git a/bindings/python/algorithm/expose-frames.cpp b/bindings/python/algorithm/expose-frames.cpp
index 56c5c38c65..0deb64174e 100644
--- a/bindings/python/algorithm/expose-frames.cpp
+++ b/bindings/python/algorithm/expose-frames.cpp
@@ -235,8 +235,7 @@ namespace pinocchio
         "computeFrameJacobian",
         (context::Data::Matrix6x(*)(
           const context::Model &, context::Data &, const context::VectorXs &,
-          context::Data::FrameIndex, ReferenceFrame))
-          & compute_frame_jacobian_proxy,
+          context::Data::FrameIndex, ReferenceFrame))&compute_frame_jacobian_proxy,
         bp::args("model", "data", "q", "frame_id", "reference_frame"),
         "Computes the Jacobian of the frame given by its frame_id in the coordinate system "
         "given by reference_frame.\n");
@@ -245,8 +244,7 @@ namespace pinocchio
         "computeFrameJacobian",
         (context::Data::Matrix6x(*)(
           const context::Model &, context::Data &, const context::VectorXs &,
-          context::Data::FrameIndex))
-          & compute_frame_jacobian_proxy,
+          context::Data::FrameIndex))&compute_frame_jacobian_proxy,
         bp::args("model", "data", "q", "frame_id"),
         "Computes the Jacobian of the frame given by its frame_id.\n"
         "The columns of the Jacobian are expressed in the coordinates system of the Frame itself.\n"
diff --git a/bindings/python/algorithm/expose-kinematic-regressor.cpp b/bindings/python/algorithm/expose-kinematic-regressor.cpp
index 4ee013c8a7..323a840019 100644
--- a/bindings/python/algorithm/expose-kinematic-regressor.cpp
+++ b/bindings/python/algorithm/expose-kinematic-regressor.cpp
@@ -22,8 +22,8 @@ namespace pinocchio
         "computeJointKinematicRegressor",
         (context::Data::Matrix6x(*)(
           const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame,
-          const context::SE3 &))
-          & computeJointKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
+          const context::
+            SE3 &))&computeJointKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
         bp::args("model", "data", "joint_id", "reference_frame", "placement"),
         "Computes the kinematic regressor that links the joint placements variations of the whole "
         "kinematic tree to the placement variation of the frame rigidly attached to the joint and "
@@ -39,8 +39,8 @@ namespace pinocchio
       bp::def(
         "computeJointKinematicRegressor",
         (context::Data::Matrix6x(*)(
-          const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame))
-          & computeJointKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
+          const context::Model &, const context::Data &, const JointIndex,
+          const ReferenceFrame))&computeJointKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
         bp::args("model", "data", "joint_id", "reference_frame"),
         "Computes the kinematic regressor that links the joint placement variations of the "
         "whole kinematic tree to the placement variation of the joint given as input.\n\n"
@@ -54,8 +54,8 @@ namespace pinocchio
       bp::def(
         "computeFrameKinematicRegressor",
         (context::Data::Matrix6x(*)(
-          const context::Model &, context::Data &, const FrameIndex, const ReferenceFrame))
-          & computeFrameKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
+          const context::Model &, context::Data &, const FrameIndex,
+          const ReferenceFrame))&computeFrameKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
         bp::args("model", "data", "frame_id", "reference_frame"),
         "Computes the kinematic regressor that links the joint placement variations of the "
         "whole kinematic tree to the placement variation of the frame given as input.\n\n"
diff --git a/bindings/python/algorithm/expose-model.cpp b/bindings/python/algorithm/expose-model.cpp
index 36b6f447fc..0b38ec4630 100644
--- a/bindings/python/algorithm/expose-model.cpp
+++ b/bindings/python/algorithm/expose-model.cpp
@@ -34,8 +34,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     bp::tuple buildReducedModel(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -57,8 +56,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     bp::tuple buildReducedModel(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -95,8 +93,9 @@ namespace pinocchio
 
       bp::def(
         "appendModel",
-        (Model(*)(const Model &, const Model &, const FrameIndex, const SE3 &))
-          & appendModel<double, 0, JointCollectionDefaultTpl>,
+        (Model(*)(
+          const Model &, const Model &, const FrameIndex,
+          const SE3 &))&appendModel<double, 0, JointCollectionDefaultTpl>,
         bp::args("modelA", "modelB", "frame_in_modelA", "aMb"),
         "Append a child model into a parent model, after a specific frame given by its index.\n\n"
         "Parameters:\n"
@@ -121,8 +120,9 @@ namespace pinocchio
       bp::def(
         "buildReducedModel",
         (Model(*)(
-          const Model &, const std::vector<JointIndex> &, const Eigen::MatrixBase<VectorXd> &))
-          & pinocchio::buildReducedModel<double, 0, JointCollectionDefaultTpl, VectorXd>,
+          const Model &, const std::vector<JointIndex> &,
+          const Eigen::MatrixBase<VectorXd> &))&pinocchio::
+          buildReducedModel<double, 0, JointCollectionDefaultTpl, VectorXd>,
         bp::args("model", "list_of_joints_to_lock", "reference_configuration"),
         "Build a reduce model from a given input model and a list of joint to lock.\n\n"
         "Parameters:\n"
@@ -135,8 +135,8 @@ namespace pinocchio
         "buildReducedModel",
         (bp::tuple(*)(
           const Model &, const GeometryModel &, const std::vector<JointIndex> &,
-          const Eigen::MatrixBase<VectorXd> &))
-          & buildReducedModel<double, 0, JointCollectionDefaultTpl, VectorXd>,
+          const Eigen::MatrixBase<
+            VectorXd> &))&buildReducedModel<double, 0, JointCollectionDefaultTpl, VectorXd>,
         bp::args("model", "geom_model", "list_of_joints_to_lock", "reference_configuration"),
         "Build a reduced model and a reduced geometry model from a given input model,"
         "an input geometry model and a list of joints to lock.\n\n"
diff --git a/bindings/python/collision/expose-broadphase.cpp b/bindings/python/collision/expose-broadphase.cpp
index 6bf5a067aa..1e65c38ab8 100644
--- a/bindings/python/collision/expose-broadphase.cpp
+++ b/bindings/python/collision/expose-broadphase.cpp
@@ -31,14 +31,14 @@ namespace pinocchio
       typedef BroadPhaseManagerBase<BroadPhaseManager> BaseManager;
 
       bp::def(
-        "computeCollisions", (bool (*)(BaseManager &, CollisionCallBackBase *)) & computeCollisions,
+        "computeCollisions", (bool (*)(BaseManager &, CollisionCallBackBase *))&computeCollisions,
         (bp::arg("manager"), bp::arg("callback")),
         "Determine if all collision pairs are effectively in collision or not.\n"
         "This function assumes that updateGeometryPlacements and broadphase_manager.update() "
         "have been called first.");
 
       bp::def(
-        "computeCollisions", (bool (*)(BaseManager &, const bool)) & computeCollisions,
+        "computeCollisions", (bool (*)(BaseManager &, const bool))&computeCollisions,
         (bp::arg("manager"), bp::arg("stop_at_first_collision") = false),
         "Determine if all collision pairs are effectively in collision or not.\n"
         "This function assumes that updateGeometryPlacements and broadphase_manager.update() "
@@ -48,8 +48,7 @@ namespace pinocchio
         "computeCollisions",
         (bool (*)(
           const Model &, Data &, BaseManager &, const Eigen::MatrixBase<Eigen::VectorXd> &,
-          const bool))
-          & computeCollisions<double, 0, JointCollectionDefaultTpl, Manager, Eigen::VectorXd>,
+          const bool))&computeCollisions<double, 0, JointCollectionDefaultTpl, Manager, Eigen::VectorXd>,
         (bp::arg("model"), bp::arg("data"), bp::arg("broadphase_manager"), bp::arg("q"),
          bp::arg("stop_at_first_collision") = false),
         "Compute the forward kinematics, update the geometry placements and run the "
@@ -59,8 +58,9 @@ namespace pinocchio
         "computeCollisions",
         (bool (*)(
           const Model &, Data &, BaseManager &, CollisionCallBackBase *,
-          const Eigen::MatrixBase<Eigen::VectorXd> &))
-          & computeCollisions<double, 0, JointCollectionDefaultTpl, Manager, Eigen::VectorXd>,
+          const Eigen::MatrixBase<
+            Eigen::
+              VectorXd> &))&computeCollisions<double, 0, JointCollectionDefaultTpl, Manager, Eigen::VectorXd>,
         (bp::arg("model"), bp::arg("data"), bp::arg("broadphase_manager"), bp::arg("callback"),
          bp::arg("q")),
         "Compute the forward kinematics, update the geometry placements and run the "
diff --git a/bindings/python/collision/expose-collision.cpp b/bindings/python/collision/expose-collision.cpp
index bccfb1da9e..fafd7067e1 100644
--- a/bindings/python/collision/expose-collision.cpp
+++ b/bindings/python/collision/expose-collision.cpp
@@ -20,8 +20,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     static std::size_t computeDistances_proxy(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -70,7 +69,7 @@ namespace pinocchio
 
       bp::def(
         "computeCollisions",
-        (bool (*)(const GeometryModel &, GeometryData &, const bool)) & computeCollisions,
+        (bool (*)(const GeometryModel &, GeometryData &, const bool))&computeCollisions,
         (bp::arg("geometry_model"), bp::arg("geometry_data"),
          bp::arg("stop_at_first_collision") = false),
         "Determine if all collision pairs are effectively in collision or not.");
@@ -92,7 +91,7 @@ namespace pinocchio
 
       bp::def(
         "computeDistances",
-        (std::size_t(*)(const GeometryModel &, GeometryData &)) & computeDistances,
+        (std::size_t (*)(const GeometryModel &, GeometryData &))&computeDistances,
         bp::args("geometry_model", "geometry_data"),
         "Compute the distance between each collision pair for a given GeometryModel and "
         "associated GeometryData.");
diff --git a/bindings/python/math/expose-linalg.cpp b/bindings/python/math/expose-linalg.cpp
index a65f4b08f7..a9e283cc95 100644
--- a/bindings/python/math/expose-linalg.cpp
+++ b/bindings/python/math/expose-linalg.cpp
@@ -33,8 +33,9 @@ namespace pinocchio
 #ifndef PINOCCHIO_PYTHON_SKIP_CASADI_UNSUPPORTED
         bp::def(
           "computeLargestEigenvector",
-          (context::VectorXs(*)(const context::MatrixXs &, const int, const context::Scalar))
-            & computeLargestEigenvector<context::MatrixXs>,
+          (context::VectorXs(*)(
+            const context::MatrixXs &, const int,
+            const context::Scalar))&computeLargestEigenvector<context::MatrixXs>,
           (bp::arg("mat"), bp::arg("max_it") = 10, bp::arg("rel_tol") = 1e-8),
           "Compute the lagest eigenvector of a given matrix according to a given eigenvector "
           "estimate.");
diff --git a/bindings/python/spatial/expose-explog.cpp b/bindings/python/spatial/expose-explog.cpp
index ffcfbd81c7..09267d2e35 100644
--- a/bindings/python/spatial/expose-explog.cpp
+++ b/bindings/python/spatial/expose-explog.cpp
@@ -113,8 +113,7 @@ namespace pinocchio
         " the tangent of SE(3) at Identity.");
 
       bp::def(
-        "log6",
-        (context::Motion(*)(const context::SE3 &)) & log6<context::Scalar, context::Options>,
+        "log6", (context::Motion(*)(const context::SE3 &))&log6<context::Scalar, context::Options>,
         bp::arg("M"),
         "Log: SE3 -> se3. Pseudo-inverse of exp from SE3"
         " -> { v,w in se3, ||w|| < 2pi }.");
diff --git a/include/pinocchio/algorithm/aba-derivatives.hpp b/include/pinocchio/algorithm/aba-derivatives.hpp
index 6206702bc0..152e4a9063 100644
--- a/include/pinocchio/algorithm/aba-derivatives.hpp
+++ b/include/pinocchio/algorithm/aba-derivatives.hpp
@@ -42,8 +42,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -90,8 +89,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -134,8 +132,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -177,8 +174,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -216,8 +212,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename MatrixType1,
     typename MatrixType2,
     typename MatrixType3>
@@ -276,8 +271,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename MatrixType1,
     typename MatrixType2,
     typename MatrixType3>
diff --git a/include/pinocchio/algorithm/aba-derivatives.hxx b/include/pinocchio/algorithm/aba-derivatives.hxx
index 61c67406f2..2e2205c471 100644
--- a/include/pinocchio/algorithm/aba-derivatives.hxx
+++ b/include/pinocchio/algorithm/aba-derivatives.hxx
@@ -16,8 +16,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     struct ComputeABADerivativesForwardStep1
@@ -83,8 +82,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename MatrixType>
     struct ComputeABADerivativesBackwardStep1
     : public fusion::JointUnaryVisitorBase<
@@ -175,8 +173,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename MatrixType>
     struct ComputeABADerivativesForwardStep2
     : public fusion::JointUnaryVisitorBase<
@@ -373,8 +370,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2,
@@ -458,8 +454,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2,
@@ -550,8 +545,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class JointCollectionTpl,
+        template<typename, int> class JointCollectionTpl,
         typename MatrixType>
       struct ComputeABADerivativesBackwardStep1
       : public fusion::JointUnaryVisitorBase<
@@ -619,8 +613,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class JointCollectionTpl,
+        template<typename, int> class JointCollectionTpl,
         typename MatrixType>
       struct ComputeABADerivativesForwardStep2
       : public fusion::JointUnaryVisitorBase<
@@ -709,8 +702,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename MatrixType1,
       typename MatrixType2,
       typename MatrixType3>
@@ -774,8 +766,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename MatrixType1,
       typename MatrixType2,
       typename MatrixType3>
@@ -844,8 +835,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -867,8 +857,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -907,8 +896,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -933,8 +921,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -960,8 +947,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -983,8 +969,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -1003,8 +988,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename MatrixType1,
     typename MatrixType2,
     typename MatrixType3>
@@ -1035,8 +1019,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename MatrixType1,
     typename MatrixType2,
     typename MatrixType3>
diff --git a/include/pinocchio/algorithm/aba.hpp b/include/pinocchio/algorithm/aba.hpp
index 0f1b46eec2..c782d0c25e 100644
--- a/include/pinocchio/algorithm/aba.hpp
+++ b/include/pinocchio/algorithm/aba.hpp
@@ -34,8 +34,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -72,8 +71,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -103,8 +101,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs & computeMinverse(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/aba.hxx b/include/pinocchio/algorithm/aba.hxx
index 760c651d59..e0798504d4 100644
--- a/include/pinocchio/algorithm/aba.hxx
+++ b/include/pinocchio/algorithm/aba.hxx
@@ -79,8 +79,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     struct AbaWorldConventionForwardStep1
@@ -235,8 +234,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -296,8 +294,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2,
@@ -354,8 +351,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     struct AbaLocalConventionForwardStep1
@@ -479,8 +475,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -542,8 +537,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2,
@@ -607,8 +601,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     struct ComputeMinverseForwardStep1
     : public fusion::JointUnaryVisitorBase<
@@ -833,8 +826,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs & computeMinverse(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -924,8 +916,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -949,8 +940,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -976,8 +966,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs & computeMinverse(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/center-of-mass-derivatives.hpp b/include/pinocchio/algorithm/center-of-mass-derivatives.hpp
index a8a548e205..0c512c76b5 100644
--- a/include/pinocchio/algorithm/center-of-mass-derivatives.hpp
+++ b/include/pinocchio/algorithm/center-of-mass-derivatives.hpp
@@ -27,8 +27,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xOut>
   void getCenterOfMassVelocityDerivatives(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/center-of-mass-derivatives.hxx b/include/pinocchio/algorithm/center-of-mass-derivatives.hxx
index 154cb7c79c..6bd999b8f6 100644
--- a/include/pinocchio/algorithm/center-of-mass-derivatives.hxx
+++ b/include/pinocchio/algorithm/center-of-mass-derivatives.hxx
@@ -13,8 +13,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xOut>
   struct CoMVelocityDerivativesForwardStep
   : public fusion::JointUnaryVisitorBase<
@@ -66,8 +65,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xOut>
   void getCenterOfMassVelocityDerivatives(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/center-of-mass.hpp b/include/pinocchio/algorithm/center-of-mass.hpp
index c51a41cbca..e01e558a15 100644
--- a/include/pinocchio/algorithm/center-of-mass.hpp
+++ b/include/pinocchio/algorithm/center-of-mass.hpp
@@ -73,8 +73,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 & centerOfMass(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -106,8 +105,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 & centerOfMass(
@@ -143,8 +141,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -225,8 +222,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x & jacobianCenterOfMass(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -280,8 +276,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename Matrix3xLike>
   void jacobianSubtreeCenterOfMass(
@@ -308,8 +303,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xLike>
   void jacobianSubtreeCenterOfMass(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -335,8 +329,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xLike>
   void getJacobianSubtreeCenterOfMass(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/center-of-mass.hxx b/include/pinocchio/algorithm/center-of-mass.hxx
index d181ce8356..11ff1cea47 100644
--- a/include/pinocchio/algorithm/center-of-mass.hxx
+++ b/include/pinocchio/algorithm/center-of-mass.hxx
@@ -59,8 +59,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 & centerOfMass(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -77,8 +76,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 & centerOfMass(
@@ -97,8 +95,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -227,8 +224,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3x>
   struct JacobianCenterOfMassBackwardStep
   : public fusion::JointUnaryVisitorBase<
@@ -280,8 +276,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x & jacobianCenterOfMass(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -340,8 +335,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3x>
   struct JacobianSubtreeCenterOfMassBackwardStep
   : public fusion::JointUnaryVisitorBase<
@@ -388,8 +382,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename Matrix3xLike>
     void jacobianSubtreeCenterOfMass(
@@ -406,8 +399,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix3xLike>
     void jacobianSubtreeCenterOfMass(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -497,8 +489,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix3xLike>
     void getJacobianSubtreeCenterOfMass(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -562,8 +553,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 & centerOfMass(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -577,8 +567,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 & centerOfMass(
@@ -595,8 +584,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -615,8 +603,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x & jacobianCenterOfMass(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -630,8 +617,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename Matrix3xLike>
   void jacobianSubtreeCenterOfMass(
@@ -647,8 +633,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xLike>
   void jacobianSubtreeCenterOfMass(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -662,8 +647,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xLike>
   void getJacobianSubtreeCenterOfMass(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/centroidal-derivatives.hpp b/include/pinocchio/algorithm/centroidal-derivatives.hpp
index 1ff73f7ba6..209a904748 100644
--- a/include/pinocchio/algorithm/centroidal-derivatives.hpp
+++ b/include/pinocchio/algorithm/centroidal-derivatives.hpp
@@ -47,8 +47,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -94,8 +93,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xLike0,
     typename Matrix6xLike1,
     typename Matrix6xLike2,
diff --git a/include/pinocchio/algorithm/centroidal-derivatives.hxx b/include/pinocchio/algorithm/centroidal-derivatives.hxx
index c307ae9115..68dafb3a06 100644
--- a/include/pinocchio/algorithm/centroidal-derivatives.hxx
+++ b/include/pinocchio/algorithm/centroidal-derivatives.hxx
@@ -19,8 +19,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -247,8 +246,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2,
@@ -407,8 +405,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix6xLike0,
       typename Matrix6xLike1,
       typename Matrix6xLike2,
@@ -496,8 +493,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -524,8 +520,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xLike0,
     typename Matrix6xLike1,
     typename Matrix6xLike2,
diff --git a/include/pinocchio/algorithm/centroidal.hpp b/include/pinocchio/algorithm/centroidal.hpp
index f3fdc37210..a7fa11ea7f 100644
--- a/include/pinocchio/algorithm/centroidal.hpp
+++ b/include/pinocchio/algorithm/centroidal.hpp
@@ -52,8 +52,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Force & computeCentroidalMomentum(
@@ -111,8 +110,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -146,8 +144,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & ccrba(
@@ -174,8 +171,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & computeCentroidalMap(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -207,8 +203,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & dccrba(
@@ -238,8 +233,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &
diff --git a/include/pinocchio/algorithm/centroidal.hxx b/include/pinocchio/algorithm/centroidal.hxx
index e37545346b..3e9f1aaafe 100644
--- a/include/pinocchio/algorithm/centroidal.hxx
+++ b/include/pinocchio/algorithm/centroidal.hxx
@@ -149,8 +149,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & ccrba(
@@ -200,8 +199,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & computeCentroidalMap(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -291,8 +289,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & dccrba(
@@ -353,8 +350,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &
@@ -412,8 +408,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::Force & computeCentroidalMomentum(
@@ -429,8 +424,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -450,8 +444,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Force & computeCentroidalMomentum(
@@ -466,8 +459,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -486,8 +478,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & ccrba(
@@ -502,8 +493,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & computeCentroidalMap(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -516,8 +506,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & dccrba(
@@ -532,8 +521,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &
diff --git a/include/pinocchio/algorithm/cholesky.hpp b/include/pinocchio/algorithm/cholesky.hpp
index 6edf856758..5b2275d197 100644
--- a/include/pinocchio/algorithm/cholesky.hpp
+++ b/include/pinocchio/algorithm/cholesky.hpp
@@ -59,8 +59,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & solve(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -82,8 +81,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     typename PINOCCHIO_EIGEN_PLAIN_TYPE(Mat) Mv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -106,8 +104,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat,
       typename MatRes>
     MatRes & Mv(
@@ -131,8 +128,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & UDUtv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -154,8 +150,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & Uv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -178,8 +173,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & Utv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -204,8 +198,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & Uiv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -231,8 +224,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & Utiv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -256,8 +248,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & solve(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -279,8 +270,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & computeMinv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/cholesky.hxx b/include/pinocchio/algorithm/cholesky.hxx
index 47404d2c5e..0edea8947c 100644
--- a/include/pinocchio/algorithm/cholesky.hxx
+++ b/include/pinocchio/algorithm/cholesky.hxx
@@ -111,8 +111,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & Uv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -174,8 +173,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & Utv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -238,8 +236,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & Uiv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -298,8 +295,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & Utiv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -368,8 +364,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat,
       typename MatRes>
     MatRes & Mv(
@@ -386,8 +381,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     typename PINOCCHIO_EIGEN_PLAIN_TYPE(Mat) Mv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -443,8 +437,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & UDUtv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -500,8 +493,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & solve(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -518,8 +510,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class JointCollectionTpl,
+        template<typename, int> class JointCollectionTpl,
         typename VectorLike>
       VectorLike & Miunit(
         const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -565,8 +556,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Mat>
     Mat & computeMinv(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/compute-all-terms.hpp b/include/pinocchio/algorithm/compute-all-terms.hpp
index 5de8b7de8a..e7ff343571 100644
--- a/include/pinocchio/algorithm/compute-all-terms.hpp
+++ b/include/pinocchio/algorithm/compute-all-terms.hpp
@@ -39,8 +39,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   void computeAllTerms(
diff --git a/include/pinocchio/algorithm/compute-all-terms.hxx b/include/pinocchio/algorithm/compute-all-terms.hxx
index 785a7ec213..3ca4fa2866 100644
--- a/include/pinocchio/algorithm/compute-all-terms.hxx
+++ b/include/pinocchio/algorithm/compute-all-terms.hxx
@@ -18,8 +18,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     struct CATForwardStep
@@ -145,8 +144,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     void computeAllTerms(
@@ -229,8 +227,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   void computeAllTerms(
diff --git a/include/pinocchio/algorithm/constrained-dynamics-derivatives.hpp b/include/pinocchio/algorithm/constrained-dynamics-derivatives.hpp
index 95f8da3e20..68621d31d2 100644
--- a/include/pinocchio/algorithm/constrained-dynamics-derivatives.hpp
+++ b/include/pinocchio/algorithm/constrained-dynamics-derivatives.hpp
@@ -14,8 +14,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class ConstraintModelAllocator,
     class ConstraintDataAllocator,
     typename MatrixType1,
@@ -42,8 +41,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class ConstraintModelAllocator,
     class ConstraintDataAllocator,
     typename MatrixType1,
@@ -77,8 +75,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class ConstraintModelAllocator,
     class ConstraintDataAllocator>
   PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
@@ -98,8 +95,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class ConstraintModelAllocator,
     class ConstraintDataAllocator>
   PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
diff --git a/include/pinocchio/algorithm/constrained-dynamics-derivatives.hxx b/include/pinocchio/algorithm/constrained-dynamics-derivatives.hxx
index 9db9078780..fb986b8295 100644
--- a/include/pinocchio/algorithm/constrained-dynamics-derivatives.hxx
+++ b/include/pinocchio/algorithm/constrained-dynamics-derivatives.hxx
@@ -20,8 +20,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     bool ContactMode>
   struct ComputeConstraintDynamicsDerivativesForwardStep
   : public fusion::JointUnaryVisitorBase<ComputeConstraintDynamicsDerivativesForwardStep<
@@ -115,8 +114,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     bool ContactMode>
   struct ComputeContactDynamicDerivativesBackwardStep
   : public fusion::JointUnaryVisitorBase<ComputeContactDynamicDerivativesBackwardStep<
@@ -230,8 +228,7 @@ namespace pinocchio
 
       template<
         int Options,
-        template<typename, int>
-        class JointCollectionTpl,
+        template<typename, int> class JointCollectionTpl,
         class ConstraintModelAllocator,
         class ConstraintDataAllocator>
       static void run(
@@ -347,8 +344,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class ConstraintModelAllocator,
     class ConstraintDataAllocator,
     typename MatrixType1,
diff --git a/include/pinocchio/algorithm/constrained-dynamics.hpp b/include/pinocchio/algorithm/constrained-dynamics.hpp
index f68158cfd4..90922c00e7 100644
--- a/include/pinocchio/algorithm/constrained-dynamics.hpp
+++ b/include/pinocchio/algorithm/constrained-dynamics.hpp
@@ -29,8 +29,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class Allocator>
   PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
   inline void initConstraintDynamics(
@@ -80,8 +79,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -138,8 +136,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -164,8 +161,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
diff --git a/include/pinocchio/algorithm/constrained-dynamics.hxx b/include/pinocchio/algorithm/constrained-dynamics.hxx
index 95fc1d9f79..f1bc7fbb3d 100644
--- a/include/pinocchio/algorithm/constrained-dynamics.hxx
+++ b/include/pinocchio/algorithm/constrained-dynamics.hxx
@@ -21,8 +21,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class Allocator>
   inline void initConstraintDynamics(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -64,8 +63,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     bool ContactMode>
@@ -142,8 +140,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     bool ContactMode>
   struct ContactAndImpulseDynamicsBackwardStep
   : public fusion::JointUnaryVisitorBase<
@@ -185,8 +182,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -527,8 +523,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   struct ContactABAForwardStep1
@@ -594,8 +589,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename TangentVectorType>
   struct ContactABABackwardStep1
   : public fusion::JointUnaryVisitorBase<
@@ -657,8 +651,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename TangentVectorType>
   struct ContactABABackwardStepAugmented
   : public fusion::JointUnaryVisitorBase<
@@ -745,8 +738,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -976,8 +968,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
diff --git a/include/pinocchio/algorithm/constraints/constraint-data-generic.hpp b/include/pinocchio/algorithm/constraints/constraint-data-generic.hpp
index d65f25cba0..0d5c44e703 100644
--- a/include/pinocchio/algorithm/constraints/constraint-data-generic.hpp
+++ b/include/pinocchio/algorithm/constraints/constraint-data-generic.hpp
@@ -16,8 +16,7 @@ namespace pinocchio
   template<
     typename _Scalar,
     int _Options,
-    template<typename S, int O>
-    class ConstraintCollectionTpl>
+    template<typename S, int O> class ConstraintCollectionTpl>
   struct traits<ConstraintDataTpl<_Scalar, _Options, ConstraintCollectionTpl>>
   {
     typedef _Scalar Scalar;
@@ -31,8 +30,7 @@ namespace pinocchio
   template<
     typename _Scalar,
     int _Options,
-    template<typename S, int O>
-    class ConstraintCollectionTpl>
+    template<typename S, int O> class ConstraintCollectionTpl>
   struct ConstraintDataTpl
   : ConstraintDataBase<ConstraintDataTpl<_Scalar, _Options, ConstraintCollectionTpl>>
   , ConstraintCollectionTpl<_Scalar, _Options>::ConstraintDataVariant
@@ -102,8 +100,7 @@ namespace pinocchio
     typename ConstraintDataDerived,
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class ConstraintCollectionTpl>
+    template<typename S, int O> class ConstraintCollectionTpl>
   bool operator==(
     const ConstraintDataBase<ConstraintDataDerived> & data1,
     const ConstraintDataTpl<Scalar, Options, ConstraintCollectionTpl> & data2)
diff --git a/include/pinocchio/algorithm/constraints/constraint-model-generic.hpp b/include/pinocchio/algorithm/constraints/constraint-model-generic.hpp
index 6e1846123f..1b8ff1604c 100644
--- a/include/pinocchio/algorithm/constraints/constraint-model-generic.hpp
+++ b/include/pinocchio/algorithm/constraints/constraint-model-generic.hpp
@@ -16,8 +16,7 @@ namespace pinocchio
   template<
     typename _Scalar,
     int _Options,
-    template<typename S, int O>
-    class ConstraintCollectionTpl>
+    template<typename S, int O> class ConstraintCollectionTpl>
   struct traits<ConstraintModelTpl<_Scalar, _Options, ConstraintCollectionTpl>>
   {
     typedef _Scalar Scalar;
@@ -31,8 +30,7 @@ namespace pinocchio
   template<
     typename _Scalar,
     int _Options,
-    template<typename S, int O>
-    class ConstraintCollectionTpl>
+    template<typename S, int O> class ConstraintCollectionTpl>
   struct ConstraintModelTpl
   : ConstraintModelBase<ConstraintModelTpl<_Scalar, _Options, ConstraintCollectionTpl>>
   , ConstraintCollectionTpl<_Scalar, _Options>::ConstraintModelVariant
diff --git a/include/pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp b/include/pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp
index 96fcd96aef..5cbecd13ee 100644
--- a/include/pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp
+++ b/include/pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp
@@ -28,8 +28,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class ConstraintCollectionTpl,
+        template<typename, int> class ConstraintCollectionTpl,
         typename ArgsTmp>
       static ReturnType run(
         const ConstraintModelTpl<Scalar, Options, ConstraintCollectionTpl> & cmodel,
@@ -45,8 +44,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class ConstraintCollectionTpl,
+        template<typename, int> class ConstraintCollectionTpl,
         typename ArgsTmp>
       static ReturnType
       run(const ConstraintDataTpl<Scalar, Options, ConstraintCollectionTpl> & cdata, ArgsTmp args)
@@ -60,8 +58,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class ConstraintCollectionTpl,
+        template<typename, int> class ConstraintCollectionTpl,
         typename ArgsTmp>
       struct InternalVisitorModel : public boost::static_visitor<ReturnType>
       {
@@ -95,8 +92,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class ConstraintCollectionTpl,
+        template<typename, int> class ConstraintCollectionTpl,
         typename ArgsTmp>
       struct InternalVisitorModelAndData : public boost::static_visitor<ReturnType>
       {
@@ -154,10 +150,8 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
-    template<typename S, int O>
-    class ConstraintCollectionTpl>
+    template<typename S, int O> class JointCollectionTpl,
+    template<typename S, int O> class ConstraintCollectionTpl>
   void calc(
     const ConstraintModelTpl<Scalar, Options, ConstraintCollectionTpl> & cmodel,
     ConstraintDataTpl<Scalar, Options, ConstraintCollectionTpl> & cdata,
@@ -174,8 +168,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename JacobianMatrix>
   struct ConstraintModelJacobianVisitor
   : fusion::ConstraintUnaryVisitorBase<
@@ -200,10 +193,8 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
-    template<typename S, int O>
-    class ConstraintCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
+    template<typename S, int O> class ConstraintCollectionTpl,
     typename JacobianMatrix>
   void jacobian(
     const ConstraintModelTpl<Scalar, Options, ConstraintCollectionTpl> & cmodel,
@@ -253,8 +244,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class ConstraintCollectionTpl,
+    template<typename S, int O> class ConstraintCollectionTpl,
     typename ConstraintDataDerived>
   struct ConstraintDataComparisonOperatorVisitor
   : fusion::ConstraintUnaryVisitorBase<
@@ -278,8 +268,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class ConstraintCollectionTpl,
+    template<typename S, int O> class ConstraintCollectionTpl,
     typename ConstraintDataDerived>
   bool isEqual(
     const ConstraintDataTpl<Scalar, Options, ConstraintCollectionTpl> & cdata_generic,
diff --git a/include/pinocchio/algorithm/contact-cholesky.hpp b/include/pinocchio/algorithm/contact-cholesky.hpp
index 6d5a32b8ef..e2ec77a762 100644
--- a/include/pinocchio/algorithm/contact-cholesky.hpp
+++ b/include/pinocchio/algorithm/contact-cholesky.hpp
@@ -288,8 +288,7 @@ namespace pinocchio
     template<
       typename S1,
       int O1,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       class ConstraintModelAllocator,
       class ConstraintDataAllocator>
     void compute(
@@ -321,8 +320,7 @@ namespace pinocchio
     template<
       typename S1,
       int O1,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       class ConstraintModelAllocator,
       class ConstraintDataAllocator,
       typename VectorLike>
diff --git a/include/pinocchio/algorithm/contact-cholesky.hxx b/include/pinocchio/algorithm/contact-cholesky.hxx
index 07d6e4fefd..d16f36928e 100644
--- a/include/pinocchio/algorithm/contact-cholesky.hxx
+++ b/include/pinocchio/algorithm/contact-cholesky.hxx
@@ -174,8 +174,7 @@ namespace pinocchio
   template<
     typename S1,
     int O1,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class ConstraintModelAllocator,
     class ConstraintDataAllocator,
     typename VectorLike>
diff --git a/include/pinocchio/algorithm/contact-dynamics.hpp b/include/pinocchio/algorithm/contact-dynamics.hpp
index e21810632d..f8ea27a8cf 100644
--- a/include/pinocchio/algorithm/contact-dynamics.hpp
+++ b/include/pinocchio/algorithm/contact-dynamics.hpp
@@ -55,8 +55,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -118,8 +117,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename TangentVectorType,
     typename ConstraintMatrixType,
     typename DriftVectorType>
@@ -151,8 +149,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename ConstraintMatrixType,
     typename KKTMatrixType>
@@ -189,8 +186,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConstraintMatrixType,
     typename KKTMatrixType>
   PINOCCHIO_DEPRECATED void getKKTContactDynamicMatrixInverse(
@@ -236,8 +232,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename ConstraintMatrixType>
@@ -288,8 +283,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename ConstraintMatrixType>
diff --git a/include/pinocchio/algorithm/contact-dynamics.hxx b/include/pinocchio/algorithm/contact-dynamics.hxx
index 85ab2e5118..fb918d6e12 100644
--- a/include/pinocchio/algorithm/contact-dynamics.hxx
+++ b/include/pinocchio/algorithm/contact-dynamics.hxx
@@ -82,8 +82,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename TangentVectorType,
     typename ConstraintMatrixType,
     typename DriftVectorType>
@@ -141,8 +140,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -170,8 +168,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename ConstraintMatrixType,
     typename KKTMatrixType>
@@ -215,8 +212,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConstraintMatrixType,
     typename KKTMatrixType>
   void getKKTContactDynamicMatrixInverse(
@@ -255,8 +251,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename ConstraintMatrixType>
@@ -281,8 +276,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename TangentVectorType,
     typename ConstraintMatrixType>
   inline const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType &
diff --git a/include/pinocchio/algorithm/contact-info.hpp b/include/pinocchio/algorithm/contact-info.hpp
index 987b2b9437..cbb648e9eb 100644
--- a/include/pinocchio/algorithm/contact-info.hpp
+++ b/include/pinocchio/algorithm/contact-info.hpp
@@ -496,8 +496,7 @@ namespace pinocchio
     template<
       typename InputMatrix,
       typename OutputMatrix,
-      template<typename, int>
-      class JointCollectionTpl>
+      template<typename, int> class JointCollectionTpl>
     void jacobian_matrix_product(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
       const DataTpl<Scalar, Options, JointCollectionTpl> & data,
diff --git a/include/pinocchio/algorithm/contact-inverse-dynamics.hpp b/include/pinocchio/algorithm/contact-inverse-dynamics.hpp
index 56a8d3dc0f..068e19de7e 100644
--- a/include/pinocchio/algorithm/contact-inverse-dynamics.hpp
+++ b/include/pinocchio/algorithm/contact-inverse-dynamics.hpp
@@ -43,8 +43,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename VectorLikeC,
     class ConstraintModelAllocator,
     class ConstraintDataAllocator,
@@ -176,8 +175,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
diff --git a/include/pinocchio/algorithm/contact-jacobian.hpp b/include/pinocchio/algorithm/contact-jacobian.hpp
index c5e2749094..01dadb5e9e 100644
--- a/include/pinocchio/algorithm/contact-jacobian.hpp
+++ b/include/pinocchio/algorithm/contact-jacobian.hpp
@@ -23,8 +23,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6Like>
   PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
   void getConstraintJacobian(
@@ -47,8 +46,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename DynamicMatrixLike,
     class ConstraintModelAllocator,
     class ConstraintDataAllocator>
diff --git a/include/pinocchio/algorithm/contact-jacobian.hxx b/include/pinocchio/algorithm/contact-jacobian.hxx
index cf93876b35..c2c718a448 100644
--- a/include/pinocchio/algorithm/contact-jacobian.hxx
+++ b/include/pinocchio/algorithm/contact-jacobian.hxx
@@ -14,8 +14,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6or3Like>
   void getConstraintJacobian(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -147,8 +146,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename DynamicMatrixLike,
     class ConstraintModelAllocator,
     class ConstraintDataAllocator>
diff --git a/include/pinocchio/algorithm/crba.hpp b/include/pinocchio/algorithm/crba.hpp
index 97a8fd8996..6f3165ae28 100644
--- a/include/pinocchio/algorithm/crba.hpp
+++ b/include/pinocchio/algorithm/crba.hpp
@@ -42,8 +42,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & crba(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/crba.hxx b/include/pinocchio/algorithm/crba.hxx
index 74b9453859..a97fefa1bd 100644
--- a/include/pinocchio/algorithm/crba.hxx
+++ b/include/pinocchio/algorithm/crba.hxx
@@ -19,8 +19,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     struct CrbaWorldConventionForwardStep
     : public fusion::JointUnaryVisitorBase<
@@ -94,8 +93,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     struct CrbaLocalConventionForwardStep
     : public fusion::JointUnaryVisitorBase<
@@ -178,8 +176,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & crbaLocalConvention(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -215,8 +212,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & crbaWorldConvention(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -313,8 +309,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & crba(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/delassus.hpp b/include/pinocchio/algorithm/delassus.hpp
index 31ab648086..ab4c690d1f 100644
--- a/include/pinocchio/algorithm/delassus.hpp
+++ b/include/pinocchio/algorithm/delassus.hpp
@@ -14,8 +14,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class Allocator>
   PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
   inline void initPvDelassus(
@@ -44,8 +43,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     class ModelAllocator,
     class DataAllocator,
@@ -86,8 +84,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     class ModelAllocator,
     class DataAllocator,
diff --git a/include/pinocchio/algorithm/delassus.hxx b/include/pinocchio/algorithm/delassus.hxx
index 9b674e8bda..61c1efb033 100644
--- a/include/pinocchio/algorithm/delassus.hxx
+++ b/include/pinocchio/algorithm/delassus.hxx
@@ -17,8 +17,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   struct ComputeOSIMForwardStep
   : public fusion::JointUnaryVisitorBase<
@@ -111,8 +110,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     class ModelAllocator,
     class DataAllocator,
@@ -285,8 +283,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class Allocator>
   inline void initPvDelassus(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -464,8 +461,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     class ModelAllocator,
     class DataAllocator,
@@ -790,8 +786,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     class ModelAllocator,
     class DataAllocator,
diff --git a/include/pinocchio/algorithm/energy.hpp b/include/pinocchio/algorithm/energy.hpp
index 91f49e7d38..e3916d20bc 100644
--- a/include/pinocchio/algorithm/energy.hpp
+++ b/include/pinocchio/algorithm/energy.hpp
@@ -47,8 +47,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   Scalar computeKineticEnergy(
@@ -103,8 +102,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   Scalar computePotentialEnergy(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -146,8 +144,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   Scalar computeMechanicalEnergy(
diff --git a/include/pinocchio/algorithm/energy.hxx b/include/pinocchio/algorithm/energy.hxx
index 9216bab77a..a0bd50208a 100644
--- a/include/pinocchio/algorithm/energy.hxx
+++ b/include/pinocchio/algorithm/energy.hxx
@@ -120,8 +120,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     Scalar computeKineticEnergy(
@@ -137,8 +136,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     Scalar computePotentialEnergy(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -152,8 +150,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     Scalar computeMechanicalEnergy(
@@ -170,8 +167,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   Scalar computeKineticEnergy(
@@ -186,8 +182,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   Scalar computePotentialEnergy(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -200,8 +195,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   Scalar computeMechanicalEnergy(
diff --git a/include/pinocchio/algorithm/frames-derivatives.hpp b/include/pinocchio/algorithm/frames-derivatives.hpp
index 70c6a4d7d6..660158a54c 100644
--- a/include/pinocchio/algorithm/frames-derivatives.hpp
+++ b/include/pinocchio/algorithm/frames-derivatives.hpp
@@ -34,8 +34,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2>
   void getFrameVelocityDerivatives(
@@ -69,8 +68,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2>
   void getFrameVelocityDerivatives(
@@ -129,8 +127,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2,
     typename Matrix6xOut3,
@@ -176,8 +173,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2,
     typename Matrix6xOut3,
@@ -244,8 +240,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2,
     typename Matrix6xOut3,
@@ -305,8 +300,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2,
     typename Matrix6xOut3,
diff --git a/include/pinocchio/algorithm/frames-derivatives.hxx b/include/pinocchio/algorithm/frames-derivatives.hxx
index 40d0b428ac..92ddab5eec 100644
--- a/include/pinocchio/algorithm/frames-derivatives.hxx
+++ b/include/pinocchio/algorithm/frames-derivatives.hxx
@@ -14,8 +14,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2>
   void getFrameVelocityDerivatives(
@@ -84,8 +83,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2,
     typename Matrix6xOut3,
diff --git a/include/pinocchio/algorithm/frames.hpp b/include/pinocchio/algorithm/frames.hpp
index ae6680543b..9c3ba9a1a4 100644
--- a/include/pinocchio/algorithm/frames.hpp
+++ b/include/pinocchio/algorithm/frames.hpp
@@ -57,8 +57,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   inline void framesForwardKinematics(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -265,8 +264,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xLike>
   void getFrameJacobian(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -345,8 +343,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xLike>
   inline void getFrameJacobian(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -435,8 +432,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename Matrix6xLike>
   inline void computeFrameJacobian(
@@ -474,8 +470,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename Matrix6xLike>
   inline void computeFrameJacobian(
@@ -510,8 +505,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xLike>
   void getFrameJacobianTimeVariation(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/frames.hxx b/include/pinocchio/algorithm/frames.hxx
index cbe6a6efc0..9faf3badc6 100644
--- a/include/pinocchio/algorithm/frames.hxx
+++ b/include/pinocchio/algorithm/frames.hxx
@@ -54,8 +54,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   inline void framesForwardKinematics(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -152,8 +151,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xLike>
   inline void getFrameJacobian(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -180,8 +178,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename Matrix6xLike>
   inline void computeFrameJacobian(
@@ -269,8 +266,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xLike>
   void getFrameJacobianTimeVariation(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/geometry.hpp b/include/pinocchio/algorithm/geometry.hpp
index e79d83ea00..b0a85625ec 100644
--- a/include/pinocchio/algorithm/geometry.hpp
+++ b/include/pinocchio/algorithm/geometry.hpp
@@ -29,8 +29,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   inline void updateGeometryPlacements(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/geometry.hxx b/include/pinocchio/algorithm/geometry.hxx
index c5929ee52b..89093d8ea7 100644
--- a/include/pinocchio/algorithm/geometry.hxx
+++ b/include/pinocchio/algorithm/geometry.hxx
@@ -16,8 +16,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   inline void updateGeometryPlacements(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/impulse-dynamics-derivatives.hpp b/include/pinocchio/algorithm/impulse-dynamics-derivatives.hpp
index ed8228ed10..c45981f6a8 100644
--- a/include/pinocchio/algorithm/impulse-dynamics-derivatives.hpp
+++ b/include/pinocchio/algorithm/impulse-dynamics-derivatives.hpp
@@ -13,8 +13,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class ConstraintModelAllocator,
     class ConstraintDataAllocator,
     typename MatrixType1,
@@ -38,8 +37,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class ConstraintModelAllocator,
     class ConstraintDataAllocator>
   PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
diff --git a/include/pinocchio/algorithm/impulse-dynamics-derivatives.hxx b/include/pinocchio/algorithm/impulse-dynamics-derivatives.hxx
index 8bed80a08a..e94b59830b 100644
--- a/include/pinocchio/algorithm/impulse-dynamics-derivatives.hxx
+++ b/include/pinocchio/algorithm/impulse-dynamics-derivatives.hxx
@@ -17,8 +17,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xOut1,
     typename Matrix3xOut2>
   struct JointImpulseVelocityDerivativesBackwardStep3D
@@ -124,8 +123,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2>
   struct JointImpulseVelocityDerivativesBackwardStep6D
@@ -235,8 +233,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class ConstraintModelAllocator,
     class ConstraintDataAllocator,
     typename MatrixType1,
diff --git a/include/pinocchio/algorithm/impulse-dynamics.hpp b/include/pinocchio/algorithm/impulse-dynamics.hpp
index ff8367b980..5ae97280c4 100644
--- a/include/pinocchio/algorithm/impulse-dynamics.hpp
+++ b/include/pinocchio/algorithm/impulse-dynamics.hpp
@@ -48,8 +48,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     class ConstraintModelAllocator,
diff --git a/include/pinocchio/algorithm/impulse-dynamics.hxx b/include/pinocchio/algorithm/impulse-dynamics.hxx
index 19b3bb16bc..6a32329de2 100644
--- a/include/pinocchio/algorithm/impulse-dynamics.hxx
+++ b/include/pinocchio/algorithm/impulse-dynamics.hxx
@@ -15,8 +15,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     class ConstraintModelAllocator,
diff --git a/include/pinocchio/algorithm/jacobian.hpp b/include/pinocchio/algorithm/jacobian.hpp
index 75b6dfc6a3..b818716732 100644
--- a/include/pinocchio/algorithm/jacobian.hpp
+++ b/include/pinocchio/algorithm/jacobian.hpp
@@ -32,8 +32,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & computeJointJacobians(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -103,8 +102,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6Like>
   void getJointJacobian(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -169,8 +167,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename Matrix6Like>
   void computeJointJacobian(
@@ -199,8 +196,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &
@@ -229,8 +225,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6Like>
   void getJointJacobianTimeVariation(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/jacobian.hxx b/include/pinocchio/algorithm/jacobian.hxx
index 9005995c5d..32cd99a916 100644
--- a/include/pinocchio/algorithm/jacobian.hxx
+++ b/include/pinocchio/algorithm/jacobian.hxx
@@ -17,8 +17,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename Matrix6xLike>
     struct JointJacobiansForwardStep
@@ -65,8 +64,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & computeJointJacobians(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -171,8 +169,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix6xLikeIn,
       typename Matrix6xLikeOut>
     void translateJointJacobian(
@@ -243,8 +240,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix6xLikeIn,
       typename Matrix6xLikeOut>
     void translateJointJacobian(
@@ -269,8 +265,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix6xLike>
     void getJointJacobian(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -289,8 +284,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename Matrix6xLike>
     struct JointJacobianForwardStep
@@ -333,8 +327,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename Matrix6xLike>
     void computeJointJacobian(
@@ -367,8 +360,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     struct JointJacobiansTimeVariationForwardStep
@@ -438,8 +430,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &
@@ -473,8 +464,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix6xLike>
     void getJointJacobianTimeVariation(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -491,8 +481,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x & computeJointJacobians(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -505,8 +494,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6Like>
   void getJointJacobian(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -521,8 +509,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename Matrix6Like>
   void computeJointJacobian(
@@ -538,8 +525,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &
@@ -557,8 +543,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6Like>
   void getJointJacobianTimeVariation(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/joint-configuration.hpp b/include/pinocchio/algorithm/joint-configuration.hpp
index 0806f65c7c..6124295c59 100644
--- a/include/pinocchio/algorithm/joint-configuration.hpp
+++ b/include/pinocchio/algorithm/joint-configuration.hpp
@@ -34,8 +34,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename ReturnType>
@@ -64,8 +63,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename ReturnType>
@@ -96,8 +94,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2,
     typename ReturnType>
@@ -123,8 +120,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2,
     typename ReturnType>
@@ -161,8 +157,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2,
     typename ReturnType>
@@ -191,8 +186,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2,
     typename ReturnType>
@@ -223,8 +217,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2,
     typename ReturnType>
@@ -249,8 +242,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2,
     typename ReturnType>
@@ -286,8 +278,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2,
     typename ReturnType>
@@ -317,8 +308,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2,
     typename ReturnType>
@@ -349,8 +339,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ReturnType>
   void neutral(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -369,8 +358,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ReturnType>
   void neutral(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -408,8 +396,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename JacobianMatrixType>
@@ -448,8 +435,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename JacobianMatrixType>
@@ -494,8 +480,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename JacobianMatrixType>
@@ -542,8 +527,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename JacobianMatrixType1,
@@ -584,8 +568,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename JacobianMatrixType1,
@@ -633,8 +616,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename JacobianMatrixType>
@@ -672,8 +654,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename JacobianMatrixType>
@@ -717,8 +698,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVector1,
     typename ConfigVector2,
     typename JacobianMatrix>
@@ -755,8 +735,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVector1,
     typename ConfigVector2,
     typename JacobianMatrix>
@@ -787,8 +766,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   Scalar squaredDistanceSum(
@@ -811,8 +789,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   Scalar squaredDistanceSum(
@@ -841,8 +818,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   Scalar distance(
@@ -864,8 +840,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   Scalar distance(
@@ -890,8 +865,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void normalize(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -908,8 +882,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void normalize(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -934,8 +907,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   bool isNormalized(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -956,8 +928,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   bool isNormalized(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -988,8 +959,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   bool isSameConfiguration(
@@ -1017,8 +987,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   bool isSameConfiguration(
@@ -1048,8 +1017,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVector,
     typename JacobianMatrix>
   void integrateCoeffWiseJacobian(
@@ -1072,8 +1040,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVector,
     typename JacobianMatrix>
   void integrateCoeffWiseJacobian(
@@ -1108,8 +1075,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorType) integrate(
@@ -1133,8 +1099,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorType) integrate(
@@ -1164,8 +1129,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) interpolate(
@@ -1190,8 +1154,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) interpolate(
@@ -1221,8 +1184,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) difference(
@@ -1245,8 +1207,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) difference(
@@ -1276,8 +1237,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) squaredDistance(
@@ -1301,8 +1261,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) squaredDistance(
@@ -1337,8 +1296,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS(
@@ -1369,8 +1327,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS(
@@ -1407,8 +1364,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl>
+    template<typename, int> class JointCollectionTpl>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS(
     (typename ModelTpl<Scalar, Options, JointCollectionTpl>::ConfigVectorType))
     randomConfiguration(const ModelTpl<Scalar, Options, JointCollectionTpl> & model);
@@ -1453,8 +1409,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl>
+    template<typename, int> class JointCollectionTpl>
   Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options>
   neutral(const ModelTpl<Scalar, Options, JointCollectionTpl> & model);
 
diff --git a/include/pinocchio/algorithm/joint-configuration.hxx b/include/pinocchio/algorithm/joint-configuration.hxx
index bdebdfcd7c..d55ca1e6fd 100644
--- a/include/pinocchio/algorithm/joint-configuration.hxx
+++ b/include/pinocchio/algorithm/joint-configuration.hxx
@@ -18,8 +18,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename ReturnType>
@@ -52,8 +51,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2,
     typename ReturnType>
@@ -87,8 +85,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2,
     typename ReturnType>
@@ -121,8 +118,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2,
     typename ReturnType>
@@ -155,8 +151,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2,
     typename ReturnType>
@@ -190,8 +185,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ReturnType>
   void neutral(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -215,8 +209,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename JacobianMatrixType>
@@ -254,8 +247,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename JacobianMatrixType1,
@@ -298,8 +290,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType,
     typename JacobianMatrixType>
@@ -334,8 +325,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVector1,
     typename ConfigVector2,
     typename JacobianMatrix>
@@ -371,8 +361,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   Scalar squaredDistanceSum(
@@ -403,8 +392,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   Scalar distance(
@@ -422,8 +410,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void normalize(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -448,8 +435,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn>
   bool isNormalized(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -481,8 +467,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   bool isSameConfiguration(
@@ -518,8 +503,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVector,
     typename JacobianMatrix>
   void integrateCoeffWiseJacobian(
@@ -547,8 +531,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorType) integrate(
@@ -568,8 +551,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) interpolate(
@@ -590,8 +572,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) difference(
@@ -611,8 +592,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE(ConfigVectorIn1) squaredDistance(
@@ -632,8 +612,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorIn1,
     typename ConfigVectorIn2>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS(
@@ -656,8 +635,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl>
+    template<typename, int> class JointCollectionTpl>
   typename PINOCCHIO_EIGEN_PLAIN_TYPE_NO_PARENS(
     (typename ModelTpl<Scalar, Options, JointCollectionTpl>::ConfigVectorType))
     randomConfiguration(const ModelTpl<Scalar, Options, JointCollectionTpl> & model)
@@ -673,8 +651,7 @@ namespace pinocchio
     typename LieGroup_t,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl>
+    template<typename, int> class JointCollectionTpl>
   Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options>
   neutral(const ModelTpl<Scalar, Options, JointCollectionTpl> & model)
   {
diff --git a/include/pinocchio/algorithm/kinematics-derivatives.hpp b/include/pinocchio/algorithm/kinematics-derivatives.hpp
index 4c274e00e2..76f86f15aa 100644
--- a/include/pinocchio/algorithm/kinematics-derivatives.hpp
+++ b/include/pinocchio/algorithm/kinematics-derivatives.hpp
@@ -36,8 +36,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -67,8 +66,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2>
   void getJointVelocityDerivatives(
@@ -108,8 +106,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2,
     typename Matrix6xOut3,
@@ -155,8 +152,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2,
     typename Matrix6xOut3,
@@ -195,8 +191,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xOut1,
     typename Matrix3xOut2>
   void getPointVelocityDerivatives(
@@ -239,8 +234,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xOut1,
     typename Matrix3xOut2,
     typename Matrix3xOut3,
@@ -288,8 +282,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xOut1,
     typename Matrix3xOut2,
     typename Matrix3xOut3,
@@ -346,8 +339,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void computeJointKinematicHessians(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/algorithm/kinematics-derivatives.hxx b/include/pinocchio/algorithm/kinematics-derivatives.hxx
index 92cfbdfa83..0e0e171bbe 100644
--- a/include/pinocchio/algorithm/kinematics-derivatives.hxx
+++ b/include/pinocchio/algorithm/kinematics-derivatives.hxx
@@ -17,8 +17,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -97,8 +96,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -137,8 +135,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix6xOut1,
       typename Matrix6xOut2>
     struct JointVelocityDerivativesBackwardStep
@@ -245,8 +242,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix6xOut1,
       typename Matrix6xOut2>
     void getJointVelocityDerivatives(
@@ -285,8 +281,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix6xOut1,
       typename Matrix6xOut2,
       typename Matrix6xOut3,
@@ -466,8 +461,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix6xOut1,
       typename Matrix6xOut2,
       typename Matrix6xOut3,
@@ -518,8 +512,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix6xOut1,
       typename Matrix6xOut2,
       typename Matrix6xOut3,
@@ -548,8 +541,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix3xOut1,
       typename Matrix3xOut2>
     struct PointVelocityDerivativesBackwardStep
@@ -651,8 +643,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix3xOut1,
       typename Matrix3xOut2>
     void getPointVelocityDerivatives(
@@ -701,8 +692,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix3xOut1,
       typename Matrix3xOut2,
       typename Matrix3xOut3,
@@ -878,8 +868,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix3xOut1,
       typename Matrix3xOut2,
       typename Matrix3xOut3,
@@ -940,8 +929,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix3xOut1,
       typename Matrix3xOut2,
       typename Matrix3xOut3,
@@ -1286,8 +1274,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -1305,8 +1292,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2>
   void getJointVelocityDerivatives(
@@ -1324,8 +1310,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2,
     typename Matrix6xOut3,
@@ -1348,8 +1333,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xOut1,
     typename Matrix6xOut2,
     typename Matrix6xOut3,
@@ -1374,8 +1358,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xOut1,
     typename Matrix3xOut2>
   void getPointVelocityDerivatives(
@@ -1395,8 +1378,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xOut1,
     typename Matrix3xOut2,
     typename Matrix3xOut3,
@@ -1420,8 +1402,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix3xOut1,
     typename Matrix3xOut2,
     typename Matrix3xOut3,
diff --git a/include/pinocchio/algorithm/kinematics.hpp b/include/pinocchio/algorithm/kinematics.hpp
index 066ca9e7ae..cc0bfe8ebe 100644
--- a/include/pinocchio/algorithm/kinematics.hpp
+++ b/include/pinocchio/algorithm/kinematics.hpp
@@ -41,8 +41,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void forwardKinematics(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -65,8 +64,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   void forwardKinematics(
@@ -92,8 +90,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
diff --git a/include/pinocchio/algorithm/kinematics.hxx b/include/pinocchio/algorithm/kinematics.hxx
index cb9538c1e3..fc7230cc6f 100644
--- a/include/pinocchio/algorithm/kinematics.hxx
+++ b/include/pinocchio/algorithm/kinematics.hxx
@@ -36,8 +36,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     struct ForwardKinematicZeroStep
     : fusion::JointUnaryVisitorBase<
@@ -75,8 +74,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     void forwardKinematics(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -100,8 +98,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     struct ForwardKinematicFirstStep
@@ -151,8 +148,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     void forwardKinematics(
@@ -184,8 +180,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -246,8 +241,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -351,8 +345,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void forwardKinematics(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -365,8 +358,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   void forwardKinematics(
@@ -381,8 +373,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
diff --git a/include/pinocchio/algorithm/model.hpp b/include/pinocchio/algorithm/model.hpp
index dfd92df173..697e7a5ad2 100644
--- a/include/pinocchio/algorithm/model.hpp
+++ b/include/pinocchio/algorithm/model.hpp
@@ -104,8 +104,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void buildReducedModel(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -130,8 +129,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   ModelTpl<Scalar, Options, JointCollectionTpl> buildReducedModel(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -165,8 +163,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void buildReducedModel(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -195,8 +192,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename GeometryModelAllocator,
     typename ConfigVectorType>
   void buildReducedModel(
diff --git a/include/pinocchio/algorithm/model.hxx b/include/pinocchio/algorithm/model.hxx
index 462048ca64..472f9e5009 100644
--- a/include/pinocchio/algorithm/model.hxx
+++ b/include/pinocchio/algorithm/model.hxx
@@ -457,8 +457,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void buildReducedModel(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & input_model,
@@ -693,8 +692,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void buildReducedModel(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & input_model,
@@ -717,8 +715,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename GeometryModelAllocator,
     typename ConfigVectorType>
   void buildReducedModel(
diff --git a/include/pinocchio/algorithm/parallel/aba.hpp b/include/pinocchio/algorithm/parallel/aba.hpp
index 06ebe2e2f9..9af6077f1b 100644
--- a/include/pinocchio/algorithm/parallel/aba.hpp
+++ b/include/pinocchio/algorithm/parallel/aba.hpp
@@ -32,8 +32,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorPool,
     typename TangentVectorPool1,
     typename TangentVectorPool2,
diff --git a/include/pinocchio/algorithm/parallel/rnea.hpp b/include/pinocchio/algorithm/parallel/rnea.hpp
index e8fef43b33..2434fcaef6 100644
--- a/include/pinocchio/algorithm/parallel/rnea.hpp
+++ b/include/pinocchio/algorithm/parallel/rnea.hpp
@@ -31,8 +31,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorPool,
     typename TangentVectorPool1,
     typename TangentVectorPool2,
diff --git a/include/pinocchio/algorithm/pv.hpp b/include/pinocchio/algorithm/pv.hpp
index 0d070be494..566aab97ac 100644
--- a/include/pinocchio/algorithm/pv.hpp
+++ b/include/pinocchio/algorithm/pv.hpp
@@ -27,8 +27,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class Allocator>
   PINOCCHIO_UNSUPPORTED_MESSAGE("The API will change towards more flexibility")
   inline void initPvSolver(
@@ -65,8 +64,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -114,8 +112,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
diff --git a/include/pinocchio/algorithm/pv.hxx b/include/pinocchio/algorithm/pv.hxx
index 904d05fe0b..eacc35523a 100644
--- a/include/pinocchio/algorithm/pv.hxx
+++ b/include/pinocchio/algorithm/pv.hxx
@@ -20,8 +20,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     class Allocator>
   inline void initPvSolver(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -108,8 +107,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   struct PvForwardStep1
@@ -393,8 +391,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -590,8 +587,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
diff --git a/include/pinocchio/algorithm/regressor.hpp b/include/pinocchio/algorithm/regressor.hpp
index bdc14d3951..643dbdb5c0 100644
--- a/include/pinocchio/algorithm/regressor.hpp
+++ b/include/pinocchio/algorithm/regressor.hpp
@@ -22,8 +22,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xReturnType>
   void computeJointKinematicRegressor(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -75,8 +74,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xReturnType>
   void computeJointKinematicRegressor(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -125,8 +123,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xReturnType>
   void computeFrameKinematicRegressor(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -187,8 +184,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   inline typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x & computeStaticRegressor(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -307,8 +303,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -341,8 +336,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowVectorXs &
@@ -371,8 +365,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowVectorXs &
   computePotentialEnergyRegressor(
diff --git a/include/pinocchio/algorithm/regressor.hxx b/include/pinocchio/algorithm/regressor.hxx
index 485447baf0..88f7cffa51 100644
--- a/include/pinocchio/algorithm/regressor.hxx
+++ b/include/pinocchio/algorithm/regressor.hxx
@@ -18,8 +18,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename Matrix6xReturnType>
     void computeJointKinematicRegressorGeneric(
       const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -71,8 +70,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xReturnType>
   void computeJointKinematicRegressor(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -89,8 +87,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xReturnType>
   void computeJointKinematicRegressor(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -114,8 +111,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Matrix6xReturnType>
   void computeFrameKinematicRegressor(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -140,8 +136,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   inline typename DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x & computeStaticRegressor(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -334,8 +329,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -425,8 +419,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -474,8 +467,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowVectorXs &
@@ -523,8 +515,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowVectorXs &
   computePotentialEnergyRegressor(
diff --git a/include/pinocchio/algorithm/rnea-derivatives.hpp b/include/pinocchio/algorithm/rnea-derivatives.hpp
index 1fe4ac7897..87824fcca2 100644
--- a/include/pinocchio/algorithm/rnea-derivatives.hpp
+++ b/include/pinocchio/algorithm/rnea-derivatives.hpp
@@ -35,8 +35,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename ReturnMatrixType>
   void computeGeneralizedGravityDerivatives(
@@ -69,8 +68,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename ReturnMatrixType>
   void computeStaticTorqueDerivatives(
@@ -112,8 +110,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -164,8 +161,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -209,8 +205,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -249,8 +244,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
diff --git a/include/pinocchio/algorithm/rnea-derivatives.hxx b/include/pinocchio/algorithm/rnea-derivatives.hxx
index 729eb308cb..c9f4812bc5 100644
--- a/include/pinocchio/algorithm/rnea-derivatives.hxx
+++ b/include/pinocchio/algorithm/rnea-derivatives.hxx
@@ -15,8 +15,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     struct ComputeGeneralizedGravityDerivativeForwardStep
     : public fusion::JointUnaryVisitorBase<ComputeGeneralizedGravityDerivativeForwardStep<
@@ -70,8 +69,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ReturnMatrixType>
     struct ComputeGeneralizedGravityDerivativeBackwardStep
     : public fusion::JointUnaryVisitorBase<ComputeGeneralizedGravityDerivativeBackwardStep<
@@ -142,8 +140,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename ReturnMatrixType>
     void computeGeneralizedGravityDerivatives(
@@ -187,8 +184,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename ReturnMatrixType>
     void computeStaticTorqueDerivatives(
@@ -237,8 +233,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -357,8 +352,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename MatrixType1,
       typename MatrixType2,
       typename MatrixType3>
@@ -466,8 +460,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2,
@@ -547,8 +540,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2,
@@ -629,8 +621,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -648,8 +639,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -671,8 +661,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename ReturnMatrixType>
   void computeGeneralizedGravityDerivatives(
@@ -688,8 +677,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename ReturnMatrixType>
   void computeStaticTorqueDerivatives(
@@ -706,8 +694,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -732,8 +719,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -759,8 +745,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -779,8 +764,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
diff --git a/include/pinocchio/algorithm/rnea-second-order-derivatives.hpp b/include/pinocchio/algorithm/rnea-second-order-derivatives.hpp
index 8eef6f0858..1020ddf2b5 100644
--- a/include/pinocchio/algorithm/rnea-second-order-derivatives.hpp
+++ b/include/pinocchio/algorithm/rnea-second-order-derivatives.hpp
@@ -71,8 +71,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -132,8 +131,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
diff --git a/include/pinocchio/algorithm/rnea-second-order-derivatives.hxx b/include/pinocchio/algorithm/rnea-second-order-derivatives.hxx
index 99b621e2d6..b5c1fe412b 100644
--- a/include/pinocchio/algorithm/rnea-second-order-derivatives.hxx
+++ b/include/pinocchio/algorithm/rnea-second-order-derivatives.hxx
@@ -13,8 +13,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -121,8 +120,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename Tensor1,
     typename Tensor2,
     typename Tensor3,
@@ -394,8 +392,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
diff --git a/include/pinocchio/algorithm/rnea.hpp b/include/pinocchio/algorithm/rnea.hpp
index 3650508b58..499b69a005 100644
--- a/include/pinocchio/algorithm/rnea.hpp
+++ b/include/pinocchio/algorithm/rnea.hpp
@@ -30,8 +30,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -66,8 +65,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -101,8 +99,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & nonLinearEffects(
@@ -130,8 +127,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType &
   computeGeneralizedGravity(
@@ -161,8 +157,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType &
   computeStaticTorque(
@@ -192,8 +187,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & computeCoriolisMatrix(
diff --git a/include/pinocchio/algorithm/rnea.hxx b/include/pinocchio/algorithm/rnea.hxx
index 4d1b775a87..f9ba3c7266 100644
--- a/include/pinocchio/algorithm/rnea.hxx
+++ b/include/pinocchio/algorithm/rnea.hxx
@@ -17,8 +17,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -111,8 +110,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2>
@@ -162,8 +160,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType1,
       typename TangentVectorType2,
@@ -218,8 +215,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     struct NLEForwardStep
@@ -292,8 +288,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType &
@@ -336,8 +331,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     struct ComputeGeneralizedGravityForwardStep
     : public fusion::JointUnaryVisitorBase<
@@ -402,8 +396,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType &
     computeGeneralizedGravity(
@@ -441,8 +434,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType &
     computeStaticTorque(
@@ -485,8 +477,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     struct CoriolisMatrixForwardStep
@@ -624,8 +615,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       typename TangentVectorType>
     const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & computeCoriolisMatrix(
@@ -751,8 +741,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2>
@@ -769,8 +758,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType1,
     typename TangentVectorType2,
@@ -789,8 +777,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & nonLinearEffects(
@@ -805,8 +792,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType &
   computeGeneralizedGravity(
@@ -820,8 +806,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType &
   computeStaticTorque(
@@ -836,8 +821,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & computeCoriolisMatrix(
diff --git a/include/pinocchio/bindings/python/algorithm/contact-cholesky.hpp b/include/pinocchio/bindings/python/algorithm/contact-cholesky.hpp
index b89be0dc62..34b31c7b69 100644
--- a/include/pinocchio/bindings/python/algorithm/contact-cholesky.hpp
+++ b/include/pinocchio/bindings/python/algorithm/contact-cholesky.hpp
@@ -65,15 +65,14 @@ namespace pinocchio
             "numContacts", &Self::numContacts, bp::arg("self"),
             "Returns the number of contacts associated to this decomposition.")
           .def(
-            "matrix", (Matrix(Self::*)(void) const) & Self::matrix, bp::arg("self"),
+            "matrix", (Matrix(Self::*)(void) const)&Self::matrix, bp::arg("self"),
             "Returns the matrix resulting from the decomposition.")
 
           .def(
             "compute",
             (void (*)(
               Self & self, const Model &, Data &, const RigidConstraintModelVector &,
-              RigidConstraintDataVector &, const Scalar))
-              & compute,
+              RigidConstraintDataVector &, const Scalar))&compute,
             (bp::arg("self"), bp::arg("model"), bp::arg("data"), bp::arg("contact_models"),
              bp::arg("contact_datas"), bp::arg("mu") = 0),
             "Computes the Cholesky decompostion of the augmented matrix containing the KKT matrix\n"
@@ -86,8 +85,7 @@ namespace pinocchio
             "compute",
             (void (*)(
               Self & self, const Model &, Data &, const RigidConstraintModelVector &,
-              RigidConstraintDataVector &, const Vector &))
-              & compute,
+              RigidConstraintDataVector &, const Vector &))&compute,
             (bp::arg("self"), bp::arg("model"), bp::arg("data"), bp::arg("contact_models"),
              bp::arg("contact_datas"), bp::arg("mus")),
             "Computes the Cholesky decompostion of the augmented matrix containing the KKT matrix\n"
@@ -109,7 +107,7 @@ namespace pinocchio
 
           .def(
             "getInverseOperationalSpaceInertiaMatrix",
-            (Matrix(Self::*)(void) const) & Self::getInverseOperationalSpaceInertiaMatrix,
+            (Matrix(Self::*)(void) const)&Self::getInverseOperationalSpaceInertiaMatrix,
             bp::arg("self"),
             "Returns the Inverse of the Operational Space Inertia Matrix resulting from the "
             "decomposition.",
@@ -117,12 +115,12 @@ namespace pinocchio
 
           .def(
             "getOperationalSpaceInertiaMatrix",
-            (Matrix(Self::*)(void) const) & Self::getOperationalSpaceInertiaMatrix, bp::arg("self"),
+            (Matrix(Self::*)(void) const)&Self::getOperationalSpaceInertiaMatrix, bp::arg("self"),
             "Returns the Operational Space Inertia Matrix resulting from the decomposition.",
             bp::return_value_policy<bp::return_by_value>())
 
           .def(
-            "getInverseMassMatrix", (Matrix(Self::*)(void) const) & Self::getInverseMassMatrix,
+            "getInverseMassMatrix", (Matrix(Self::*)(void) const)&Self::getInverseMassMatrix,
             bp::arg("self"),
             "Returns the inverse of the Joint Space Inertia Matrix or \"mass matrix\".",
             bp::return_value_policy<bp::return_by_value>())
@@ -134,7 +132,7 @@ namespace pinocchio
             bp::return_value_policy<bp::return_by_value>())
 
           .def(
-            "inverse", (Matrix(Self::*)(void) const) & Self::inverse, bp::arg("self"),
+            "inverse", (Matrix(Self::*)(void) const)&Self::inverse, bp::arg("self"),
             "Returns the inverse matrix resulting from the decomposition.")
 
           .def(
diff --git a/include/pinocchio/bindings/python/algorithm/delassus-operator.hpp b/include/pinocchio/bindings/python/algorithm/delassus-operator.hpp
index 48a5431014..b7bf1eaf78 100644
--- a/include/pinocchio/bindings/python/algorithm/delassus-operator.hpp
+++ b/include/pinocchio/bindings/python/algorithm/delassus-operator.hpp
@@ -43,15 +43,15 @@ namespace pinocchio
 
           .def(
             "computeLargestEigenValue",
-            (Scalar(DelassusOperator::*)(const bool, const int, const Scalar) const)
-              & DelassusOperator::computeLargestEigenValue,
+            (Scalar(DelassusOperator::*)(const bool, const int, const Scalar)
+               const)&DelassusOperator::computeLargestEigenValue,
             (bp::arg("self"), bp::arg("reset") = true, bp::arg("max_it") = 10,
              bp::arg("prec") = Scalar(1e-8)),
             "Compute the largest eigenvalue associated to the underlying Delassus matrix.")
           .def(
             "computeLowestEigenValue",
-            (Scalar(DelassusOperator::*)(const bool, const bool, const int, const Scalar) const)
-              & DelassusOperator::computeLowestEigenValue,
+            (Scalar(DelassusOperator::*)(const bool, const bool, const int, const Scalar)
+               const)&DelassusOperator::computeLowestEigenValue,
             (bp::arg("self"), bp::arg("reset") = true, bp::arg("compute_largest") = true,
              bp::arg("max_it") = 10, bp::arg("prec") = Scalar(1e-8)),
             "Compute the lowest eigenvalue associated to the underlying Delassus matrix.")
diff --git a/include/pinocchio/bindings/python/spatial/force.hpp b/include/pinocchio/bindings/python/spatial/force.hpp
index 4ccb66506c..52ff424eb3 100644
--- a/include/pinocchio/bindings/python/spatial/force.hpp
+++ b/include/pinocchio/bindings/python/spatial/force.hpp
@@ -121,7 +121,7 @@ namespace pinocchio
             "Set the linear and angular components of *this to random values.")
 
           .def(
-            "dot", (Scalar(Force::*)(const MotionDense<context::Motion> &) const) & Force::dot,
+            "dot", (Scalar(Force::*)(const MotionDense<context::Motion> &) const)&Force::dot,
             bp::args("self", "m"), "Dot product between *this and a Motion m.")
 
           .def(bp::self + bp::self)
diff --git a/include/pinocchio/bindings/python/spatial/inertia.hpp b/include/pinocchio/bindings/python/spatial/inertia.hpp
index 1432c4f59b..6023575c89 100644
--- a/include/pinocchio/bindings/python/spatial/inertia.hpp
+++ b/include/pinocchio/bindings/python/spatial/inertia.hpp
@@ -77,8 +77,8 @@ namespace pinocchio
             "Rotational part of the Spatial Inertia, i.e. a symmetric matrix "
             "representing the rotational inertia around the center of mass.")
 
-          .def("matrix", (Matrix6(Inertia::*)() const) & Inertia::matrix, bp::arg("self"))
-          .def("inverse", (Matrix6(Inertia::*)() const) & Inertia::inverse, bp::arg("self"))
+          .def("matrix", (Matrix6(Inertia::*)() const)&Inertia::matrix, bp::arg("self"))
+          .def("inverse", (Matrix6(Inertia::*)() const)&Inertia::inverse, bp::arg("self"))
           .def(
             "se3Action", &Inertia::template se3Action<Scalar, Options>, bp::args("self", "M"),
             "Returns the result of the action of M on *this.")
@@ -102,7 +102,7 @@ namespace pinocchio
           .def(bp::self -= bp::self)
           .def(bp::self * bp::other<Motion>())
 
-          .add_property("np", (Matrix6(Inertia::*)() const) & Inertia::matrix)
+          .add_property("np", (Matrix6(Inertia::*)() const)&Inertia::matrix)
           .def(
             "vxiv", &Inertia::template vxiv<Motion>, bp::args("self", "v"),
             "Returns the result of v x Iv.")
@@ -111,18 +111,16 @@ namespace pinocchio
             "Returns the result of v.T * Iv.")
           .def(
             "vxi",
-            (Matrix6(Inertia::*)(const MotionDense<Motion> &) const)
-              & Inertia::template vxi<Motion>,
+            (Matrix6(Inertia::*)(const MotionDense<Motion> &) const)&Inertia::template vxi<Motion>,
             bp::args("self", "v"), "Returns the result of v x* I, a 6x6 matrix.")
           .def(
             "ivx",
-            (Matrix6(Inertia::*)(const MotionDense<Motion> &) const)
-              & Inertia::template ivx<Motion>,
+            (Matrix6(Inertia::*)(const MotionDense<Motion> &) const)&Inertia::template ivx<Motion>,
             bp::args("self", "v"), "Returns the result of I vx, a 6x6 matrix.")
           .def(
             "variation",
-            (Matrix6(Inertia::*)(const MotionDense<Motion> &) const)
-              & Inertia::template variation<Motion>,
+            (Matrix6(Inertia::*)(const MotionDense<Motion> &)
+               const)&Inertia::template variation<Motion>,
             bp::args("self", "v"), "Returns the time derivative of the inertia.")
 
 #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
@@ -207,7 +205,7 @@ namespace pinocchio
             "Returns the Inertia created from log Cholesky parameters.")
           .staticmethod("FromLogCholeskyParameters")
 
-          .def("__array__", (Matrix6(Inertia::*)() const) & Inertia::matrix)
+          .def("__array__", (Matrix6(Inertia::*)() const)&Inertia::matrix)
           .def(
             "__array__", &__array__,
             (bp::arg("self"), bp::arg("dtype") = bp::object(), bp::arg("copy") = bp::object()))
diff --git a/include/pinocchio/bindings/python/spatial/motion.hpp b/include/pinocchio/bindings/python/spatial/motion.hpp
index 5606682b1e..9f3b1f781f 100644
--- a/include/pinocchio/bindings/python/spatial/motion.hpp
+++ b/include/pinocchio/bindings/python/spatial/motion.hpp
@@ -135,14 +135,14 @@ namespace pinocchio
             "Set the linear and angular components of *this to random values.")
 
           .def(
-            "dot", (Scalar(Motion::*)(const ForceBase<Force> &) const) & Motion::dot,
+            "dot", (Scalar(Motion::*)(const ForceBase<Force> &) const)&Motion::dot,
             bp::args("self", "f"), "Dot product between *this and a Force f.")
 
           .def(
-            "cross", (Motion(Motion::*)(const Motion &) const) & Motion::cross,
-            bp::args("self", "m"), "Action of *this onto another Motion m. Returns ¨*this x m.")
+            "cross", (Motion(Motion::*)(const Motion &) const)&Motion::cross, bp::args("self", "m"),
+            "Action of *this onto another Motion m. Returns ¨*this x m.")
           .def(
-            "cross", (Force(Motion::*)(const Force &) const) & Motion::cross, bp::args("self", "f"),
+            "cross", (Force(Motion::*)(const Force &) const)&Motion::cross, bp::args("self", "f"),
             "Dual action of *this onto a Force f. Returns *this x* f.")
 
           .def(bp::self + bp::self)
diff --git a/include/pinocchio/bindings/python/spatial/se3.hpp b/include/pinocchio/bindings/python/spatial/se3.hpp
index 7fe855a9e5..646a61f7bd 100644
--- a/include/pinocchio/bindings/python/spatial/se3.hpp
+++ b/include/pinocchio/bindings/python/spatial/se3.hpp
@@ -87,25 +87,25 @@ namespace pinocchio
             "homogeneous", &SE3::toHomogeneousMatrix,
             "Returns the equivalent homegeneous matrix (acting on SE3).")
           .add_property(
-            "action", (ActionMatrixType(SE3::*)() const) & SE3::toActionMatrix,
+            "action", (ActionMatrixType(SE3::*)() const)&SE3::toActionMatrix,
             "Returns the related action matrix (acting on Motion).")
           .def(
-            "toActionMatrix", (ActionMatrixType(SE3::*)() const) & SE3::toActionMatrix,
+            "toActionMatrix", (ActionMatrixType(SE3::*)() const)&SE3::toActionMatrix,
             bp::arg("self"), "Returns the related action matrix (acting on Motion).")
           .add_property(
-            "actionInverse", (ActionMatrixType(SE3::*)() const) & SE3::toActionMatrixInverse,
+            "actionInverse", (ActionMatrixType(SE3::*)() const)&SE3::toActionMatrixInverse,
             "Returns the inverse of the action matrix (acting on Motion).\n"
             "This is equivalent to do m.inverse().action")
           .def(
-            "toActionMatrixInverse",
-            (ActionMatrixType(SE3::*)() const) & SE3::toActionMatrixInverse, bp::arg("self"),
+            "toActionMatrixInverse", (ActionMatrixType(SE3::*)() const)&SE3::toActionMatrixInverse,
+            bp::arg("self"),
             "Returns the inverse of the action matrix (acting on Motion).\n"
             "This is equivalent to do m.inverse().toActionMatrix()")
           .add_property(
-            "dualAction", (ActionMatrixType(SE3::*)() const) & SE3::toDualActionMatrix,
+            "dualAction", (ActionMatrixType(SE3::*)() const)&SE3::toDualActionMatrix,
             "Returns the related dual action matrix (acting on Force).")
           .def(
-            "toDualActionMatrix", (ActionMatrixType(SE3::*)() const) & SE3::toDualActionMatrix,
+            "toDualActionMatrix", (ActionMatrixType(SE3::*)() const)&SE3::toDualActionMatrix,
             bp::arg("self"), "Returns the related dual action matrix (acting on Force).")
 
           .def(
@@ -118,39 +118,39 @@ namespace pinocchio
           .def("inverse", &SE3::inverse, bp::arg("self"), "Returns the inverse transform")
 
           .def(
-            "act", (Vector3(SE3::*)(const Vector3 &) const) & SE3::act, bp::args("self", "point"),
+            "act", (Vector3(SE3::*)(const Vector3 &) const)&SE3::act, bp::args("self", "point"),
             "Returns a point which is the result of the entry point transforms by *this.")
           .def(
-            "actInv", (Vector3(SE3::*)(const Vector3 &) const) & SE3::actInv,
+            "actInv", (Vector3(SE3::*)(const Vector3 &) const)&SE3::actInv,
             bp::args("self", "point"),
             "Returns a point which is the result of the entry point by the inverse of *this.")
 
           .def(
-            "act", (SE3(SE3::*)(const SE3 & other) const) & SE3::act, bp::args("self", "M"),
+            "act", (SE3(SE3::*)(const SE3 & other) const)&SE3::act, bp::args("self", "M"),
             "Returns the result of *this * M.")
           .def(
-            "actInv", (SE3(SE3::*)(const SE3 & other) const) & SE3::actInv, bp::args("self", "M"),
+            "actInv", (SE3(SE3::*)(const SE3 & other) const)&SE3::actInv, bp::args("self", "M"),
             "Returns the result of the inverse of *this times M.")
 
           .def(
-            "act", (Motion(SE3::*)(const Motion &) const) & SE3::act, bp::args("self", "motion"),
+            "act", (Motion(SE3::*)(const Motion &) const)&SE3::act, bp::args("self", "motion"),
             "Returns the result action of *this onto a Motion.")
           .def(
-            "actInv", (Motion(SE3::*)(const Motion &) const) & SE3::actInv,
+            "actInv", (Motion(SE3::*)(const Motion &) const)&SE3::actInv,
             bp::args("self", "motion"), "Returns the result of the inverse of *this onto a Motion.")
 
           .def(
-            "act", (Force(SE3::*)(const Force &) const) & SE3::act, bp::args("self", "force"),
+            "act", (Force(SE3::*)(const Force &) const)&SE3::act, bp::args("self", "force"),
             "Returns the result of *this onto a Force.")
           .def(
-            "actInv", (Force(SE3::*)(const Force &) const) & SE3::actInv, bp::args("self", "force"),
+            "actInv", (Force(SE3::*)(const Force &) const)&SE3::actInv, bp::args("self", "force"),
             "Returns the result of the inverse of *this onto an Inertia.")
 
           .def(
-            "act", (Inertia(SE3::*)(const Inertia &) const) & SE3::act, bp::args("self", "inertia"),
+            "act", (Inertia(SE3::*)(const Inertia &) const)&SE3::act, bp::args("self", "inertia"),
             "Returns the result of *this onto a Force.")
           .def(
-            "actInv", (Inertia(SE3::*)(const Inertia &) const) & SE3::actInv,
+            "actInv", (Inertia(SE3::*)(const Inertia &) const)&SE3::actInv,
             bp::args("self", "inertia"),
             "Returns the result of the inverse of *this onto an Inertia.")
 
diff --git a/include/pinocchio/collision/broadphase.hpp b/include/pinocchio/collision/broadphase.hpp
index c758fd83dd..bc8d99ecf5 100644
--- a/include/pinocchio/collision/broadphase.hpp
+++ b/include/pinocchio/collision/broadphase.hpp
@@ -88,8 +88,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename BroadPhaseManagerDerived,
     typename ConfigVectorType>
   inline bool computeCollisions(
@@ -128,8 +127,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename BroadPhaseManagerDerived,
     typename ConfigVectorType>
   inline bool computeCollisions(
diff --git a/include/pinocchio/collision/collision.hpp b/include/pinocchio/collision/collision.hpp
index 73277ef2ae..db76242ab3 100644
--- a/include/pinocchio/collision/collision.hpp
+++ b/include/pinocchio/collision/collision.hpp
@@ -88,8 +88,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   bool computeCollisions(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/collision/collision.hxx b/include/pinocchio/collision/collision.hxx
index 039cdd5db5..113ed301de 100644
--- a/include/pinocchio/collision/collision.hxx
+++ b/include/pinocchio/collision/collision.hxx
@@ -112,8 +112,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   inline bool computeCollisions(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/collision/distance.hpp b/include/pinocchio/collision/distance.hpp
index d10fa0da73..944b53fd15 100644
--- a/include/pinocchio/collision/distance.hpp
+++ b/include/pinocchio/collision/distance.hpp
@@ -33,8 +33,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   std::size_t computeDistances(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -60,8 +59,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   std::size_t computeDistances(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/collision/distance.hxx b/include/pinocchio/collision/distance.hxx
index 3d40b782b7..9de77d4e16 100644
--- a/include/pinocchio/collision/distance.hxx
+++ b/include/pinocchio/collision/distance.hxx
@@ -27,8 +27,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   inline std::size_t computeDistances(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/collision/parallel/broadphase.hpp b/include/pinocchio/collision/parallel/broadphase.hpp
index 2ebee8b11e..ee69d25ccc 100644
--- a/include/pinocchio/collision/parallel/broadphase.hpp
+++ b/include/pinocchio/collision/parallel/broadphase.hpp
@@ -19,8 +19,7 @@ namespace pinocchio
     typename BroadPhaseManagerDerived,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorPool,
     typename CollisionVectorResult>
   void computeCollisionsInParallel(
@@ -101,8 +100,7 @@ namespace pinocchio
     typename BroadPhaseManagerDerived,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl>
+    template<typename, int> class JointCollectionTpl>
   void computeCollisionsInParallel(
     const size_t num_threads,
     BroadPhaseManagerPoolBase<BroadPhaseManagerDerived, Scalar, Options, JointCollectionTpl> & pool,
diff --git a/include/pinocchio/collision/parallel/geometry.hpp b/include/pinocchio/collision/parallel/geometry.hpp
index 8579da9065..3d0e5a4192 100644
--- a/include/pinocchio/collision/parallel/geometry.hpp
+++ b/include/pinocchio/collision/parallel/geometry.hpp
@@ -62,8 +62,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   bool computeCollisionsInParallel(
     const size_t num_threads,
@@ -81,8 +80,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorPool,
     typename CollisionVectorResult>
   void computeCollisionsInParallel(
diff --git a/include/pinocchio/collision/pool/broadphase-manager.hpp b/include/pinocchio/collision/pool/broadphase-manager.hpp
index 2f0d166249..ec74743be3 100644
--- a/include/pinocchio/collision/pool/broadphase-manager.hpp
+++ b/include/pinocchio/collision/pool/broadphase-manager.hpp
@@ -17,8 +17,7 @@ namespace pinocchio
     typename _BroadPhaseManagerDerived,
     typename _Scalar,
     int _Options,
-    template<typename, int>
-    class JointCollectionTpl>
+    template<typename, int> class JointCollectionTpl>
   class BroadPhaseManagerPoolBase : public GeometryPoolTpl<_Scalar, _Options, JointCollectionTpl>
   {
   public:
diff --git a/include/pinocchio/extra/reachable-workspace.hpp b/include/pinocchio/extra/reachable-workspace.hpp
index bccc144833..1f50d5cc3e 100644
--- a/include/pinocchio/extra/reachable-workspace.hpp
+++ b/include/pinocchio/extra/reachable-workspace.hpp
@@ -58,8 +58,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void reachableWorkspace(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -85,8 +84,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void reachableWorkspaceHull(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -114,8 +112,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void reachableWorkspaceWithCollisions(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -145,8 +142,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void reachableWorkspaceWithCollisionsHull(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -179,8 +175,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       class FilterFunction>
     void computeVertex(
diff --git a/include/pinocchio/extra/reachable-workspace.hxx b/include/pinocchio/extra/reachable-workspace.hxx
index f847ef14ff..d2b3996f57 100644
--- a/include/pinocchio/extra/reachable-workspace.hxx
+++ b/include/pinocchio/extra/reachable-workspace.hxx
@@ -20,8 +20,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void reachableWorkspace(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -44,8 +43,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void reachableWorkspaceHull(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -63,8 +61,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void reachableWorkspaceWithCollisions(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -95,8 +92,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl,
+    template<typename, int> class JointCollectionTpl,
     typename ConfigVectorType>
   void reachableWorkspaceWithCollisionsHull(
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
@@ -118,8 +114,7 @@ namespace pinocchio
     template<
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl,
+      template<typename, int> class JointCollectionTpl,
       typename ConfigVectorType,
       class FilterFunction>
     void computeVertex(
diff --git a/include/pinocchio/macros.hpp b/include/pinocchio/macros.hpp
index 916a6e5af9..df9fb43798 100644
--- a/include/pinocchio/macros.hpp
+++ b/include/pinocchio/macros.hpp
@@ -38,9 +38,8 @@
   #define PINOCCHIO_PRAGMA_DEPRECATED(the_message)                                                 \
     PINOCCHIO_PRAGMA_WARNING(Deprecated : #the_message)
   #define PINOCCHIO_PRAGMA_DEPRECATED_HEADER(old_header, new_header)                               \
-    PINOCCHIO_PRAGMA_WARNING(Deprecated header file                                                \
-                             : #old_header has been replaced                                       \
-                                 by #new_header.\n Please use #new_header instead of #old_header.)
+    PINOCCHIO_PRAGMA_WARNING(Deprecated header file : #old_header has been replaced                \
+                               by #new_header.\n Please use #new_header instead of #old_header.)
 #else
   #define PINOCCHIO_PRAGMA(x)
   #define PINOCCHIO_PRAGMA_MESSAGE(the_message)
diff --git a/include/pinocchio/multibody/joint/joint-basic-visitors.hpp b/include/pinocchio/multibody/joint/joint-basic-visitors.hpp
index afad59f002..4aa7a32358 100644
--- a/include/pinocchio/multibody/joint/joint-basic-visitors.hpp
+++ b/include/pinocchio/multibody/joint/joint-basic-visitors.hpp
@@ -38,8 +38,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename ConfigVectorType>
   inline void calc_zero_order(
     const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
@@ -63,8 +62,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   inline void calc_first_order(
@@ -88,8 +86,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename TangentVectorType>
   inline void calc_first_order(
     const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
@@ -115,8 +112,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename VectorLike,
     typename Matrix6Type>
   inline void calc_aba(
@@ -246,8 +242,7 @@ namespace pinocchio
     typename NewScalar,
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl>
+    template<typename S, int O> class JointCollectionTpl>
   typename CastType<NewScalar, JointModelTpl<Scalar, Options, JointCollectionTpl>>::type
   cast_joint(const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel);
 
@@ -262,8 +257,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointModelDerived>
   bool isEqual(
     const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel_generic,
@@ -282,8 +276,7 @@ namespace pinocchio
     typename NewScalar,
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointModelDerived>
   bool hasSameIndexes(
     const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel_generic,
@@ -424,8 +417,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointDataDerived>
   bool isEqual(
     const JointDataTpl<Scalar, Options, JointCollectionTpl> & jmodel_generic,
diff --git a/include/pinocchio/multibody/joint/joint-basic-visitors.hxx b/include/pinocchio/multibody/joint/joint-basic-visitors.hxx
index b74d806cfb..548b1926c0 100644
--- a/include/pinocchio/multibody/joint/joint-basic-visitors.hxx
+++ b/include/pinocchio/multibody/joint/joint-basic-visitors.hxx
@@ -63,8 +63,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename ConfigVectorType>
   inline void calc_zero_order(
     const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
@@ -99,8 +98,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   inline void calc_first_order(
@@ -137,8 +135,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename TangentVectorType>
   inline void calc_first_order(
     const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
@@ -178,8 +175,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename VectorLike,
     typename Matrix6Type>
   inline void calc_aba(
@@ -434,8 +430,7 @@ namespace pinocchio
     typename NewScalar,
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl>
+    template<typename S, int O> class JointCollectionTpl>
   struct JointCastVisitor
   : fusion::JointUnaryVisitorBase<
       JointCastVisitor<NewScalar, Scalar, Options, JointCollectionTpl>,
@@ -457,8 +452,7 @@ namespace pinocchio
     typename NewScalar,
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl>
+    template<typename S, int O> class JointCollectionTpl>
   typename CastType<NewScalar, JointModelTpl<Scalar, Options, JointCollectionTpl>>::type
   cast_joint(const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel)
   {
@@ -469,8 +463,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointModelDerived>
   struct JointModelComparisonOperatorVisitor
   : fusion::JointUnaryVisitorBase<
@@ -490,8 +483,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointModelDerived>
   bool isEqual(
     const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel_generic,
@@ -506,8 +498,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointModelDerived>
   struct JointModelHasSameIndexesVisitor
   : fusion::JointUnaryVisitorBase<
@@ -527,8 +518,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointModelDerived>
   bool hasSameIndexes(
     const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel_generic,
@@ -843,8 +833,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointDataDerived>
   struct JointDataComparisonOperatorVisitor
   : fusion::JointUnaryVisitorBase<
@@ -863,8 +852,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointDataDerived>
   bool isEqual(
     const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata_generic,
diff --git a/include/pinocchio/multibody/joint/joint-composite.hpp b/include/pinocchio/multibody/joint/joint-composite.hpp
index 0da341fdf5..9216238396 100644
--- a/include/pinocchio/multibody/joint/joint-composite.hpp
+++ b/include/pinocchio/multibody/joint/joint-composite.hpp
@@ -167,8 +167,7 @@ namespace pinocchio
     typename NewScalar,
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl>
+    template<typename S, int O> class JointCollectionTpl>
   struct CastType<NewScalar, JointModelCompositeTpl<Scalar, Options, JointCollectionTpl>>
   {
     typedef JointModelCompositeTpl<NewScalar, Options, JointCollectionTpl> type;
diff --git a/include/pinocchio/multibody/joint/joint-composite.hxx b/include/pinocchio/multibody/joint/joint-composite.hxx
index d4670cac63..0df33be829 100644
--- a/include/pinocchio/multibody/joint/joint-composite.hxx
+++ b/include/pinocchio/multibody/joint/joint-composite.hxx
@@ -13,8 +13,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename ConfigVectorType>
   struct JointCompositeCalcZeroOrderStep
   : fusion::JointUnaryVisitorBase<
@@ -81,8 +80,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename ConfigVectorType,
     typename TangentVectorType>
   struct JointCompositeCalcFirstOrderStep
@@ -172,8 +170,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename TangentVectorType>
   struct JointCompositeCalcFirstOrderStep<
     Scalar,
diff --git a/include/pinocchio/multibody/joint/joint-generic.hpp b/include/pinocchio/multibody/joint/joint-generic.hpp
index 95da461ab5..478c1278b8 100644
--- a/include/pinocchio/multibody/joint/joint-generic.hpp
+++ b/include/pinocchio/multibody/joint/joint-generic.hpp
@@ -249,8 +249,7 @@ namespace pinocchio
     typename NewScalar,
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl>
+    template<typename S, int O> class JointCollectionTpl>
   struct CastType<NewScalar, JointModelTpl<Scalar, Options, JointCollectionTpl>>
   {
     typedef JointModelTpl<NewScalar, Options, JointCollectionTpl> type;
@@ -431,8 +430,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointDataDerived>
   bool operator==(
     const JointDataBase<JointDataDerived> & joint_data,
@@ -444,8 +442,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointDataDerived>
   bool operator!=(
     const JointDataBase<JointDataDerived> & joint_data,
@@ -457,8 +454,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointModelDerived>
   bool operator==(
     const JointModelBase<JointModelDerived> & joint_model,
@@ -470,8 +466,7 @@ namespace pinocchio
   template<
     typename Scalar,
     int Options,
-    template<typename S, int O>
-    class JointCollectionTpl,
+    template<typename S, int O> class JointCollectionTpl,
     typename JointModelDerived>
   bool operator!=(
     const JointModelBase<JointModelDerived> & joint_model,
diff --git a/include/pinocchio/multibody/liegroup/liegroup-algo.hxx b/include/pinocchio/multibody/liegroup/liegroup-algo.hxx
index a44506bd1f..374d5aaea7 100644
--- a/include/pinocchio/multibody/liegroup/liegroup-algo.hxx
+++ b/include/pinocchio/multibody/liegroup/liegroup-algo.hxx
@@ -19,8 +19,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class JointCollectionTpl,
+        template<typename, int> class JointCollectionTpl,
         typename ArgsType>
       static void
       run(const JointModelCompositeTpl<Scalar, Options, JointCollectionTpl> & jmodel, ArgsType args)
diff --git a/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx b/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx
index ef8e67e6dc..a027c67084 100644
--- a/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx
+++ b/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx
@@ -90,8 +90,7 @@ namespace pinocchio
       template<
         typename LieGroup1,
         typename LieGroup2,
-        template<typename, int>
-        class LieGroupCollectionTpl>
+        template<typename, int> class LieGroupCollectionTpl>
       bool operator()(
         const CartesianProductOperation<LieGroup1, LieGroup2> & lhs,
         const CartesianProductOperationVariantTpl<Scalar, Options, LieGroupCollectionTpl> & rhs)
@@ -103,8 +102,7 @@ namespace pinocchio
       template<
         typename LieGroup1,
         typename LieGroup2,
-        template<typename, int>
-        class LieGroupCollectionTpl>
+        template<typename, int> class LieGroupCollectionTpl>
       bool operator()(
         const CartesianProductOperationVariantTpl<Scalar, Options, LieGroupCollectionTpl> & lhs,
         const CartesianProductOperation<LieGroup1, LieGroup2> & rhs) const
diff --git a/include/pinocchio/multibody/model.hpp b/include/pinocchio/multibody/model.hpp
index e52efbbb57..37a12fc81e 100644
--- a/include/pinocchio/multibody/model.hpp
+++ b/include/pinocchio/multibody/model.hpp
@@ -29,8 +29,7 @@ namespace pinocchio
     typename NewScalar,
     typename Scalar,
     int Options,
-    template<typename, int>
-    class JointCollectionTpl>
+    template<typename, int> class JointCollectionTpl>
   struct CastType<NewScalar, ModelTpl<Scalar, Options, JointCollectionTpl>>
   {
     typedef ModelTpl<NewScalar, Options, JointCollectionTpl> type;
diff --git a/include/pinocchio/multibody/sample-models.hxx b/include/pinocchio/multibody/sample-models.hxx
index 431dc90c78..3b0ac01ff1 100644
--- a/include/pinocchio/multibody/sample-models.hxx
+++ b/include/pinocchio/multibody/sample-models.hxx
@@ -15,8 +15,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class JointCollectionTpl,
+        template<typename, int> class JointCollectionTpl,
         typename JointModel>
       static JointIndex addJointAndBody(
         ModelTpl<Scalar, Options, JointCollectionTpl> & model,
diff --git a/include/pinocchio/multibody/visitor/joint-binary-visitor.hpp b/include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
index a65cb0bcce..3bc22b06a2 100644
--- a/include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
+++ b/include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
@@ -43,8 +43,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class JointCollectionTpl,
+        template<typename, int> class JointCollectionTpl,
         typename ArgsTmp>
       static ReturnType run(
         const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel1,
@@ -95,8 +94,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class JointCollectionTpl,
+        template<typename, int> class JointCollectionTpl,
         typename ArgsTmp>
       static ReturnType run(
         const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel1,
diff --git a/include/pinocchio/multibody/visitor/joint-unary-visitor.hpp b/include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
index 91188d5d3d..6ed3fd8dd2 100644
--- a/include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
+++ b/include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
@@ -28,8 +28,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class JointCollectionTpl,
+        template<typename, int> class JointCollectionTpl,
         typename ArgsTmp>
       static ReturnType run(
         const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel,
@@ -73,8 +72,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class JointCollectionTpl,
+        template<typename, int> class JointCollectionTpl,
         typename ArgsTmp>
       static ReturnType
       run(const JointModelTpl<Scalar, Options, JointCollectionTpl> & jmodel, ArgsTmp args)
@@ -86,8 +84,7 @@ namespace pinocchio
       template<
         typename Scalar,
         int Options,
-        template<typename, int>
-        class JointCollectionTpl,
+        template<typename, int> class JointCollectionTpl,
         typename ArgsTmp>
       static ReturnType
       run(const JointDataTpl<Scalar, Options, JointCollectionTpl> & jdata, ArgsTmp args)
diff --git a/include/pinocchio/serialization/data.hpp b/include/pinocchio/serialization/data.hpp
index 6772dd8c8a..daf0afb1f0 100644
--- a/include/pinocchio/serialization/data.hpp
+++ b/include/pinocchio/serialization/data.hpp
@@ -24,8 +24,7 @@ namespace boost
       class Archive,
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl>
+      template<typename, int> class JointCollectionTpl>
     void serialize(
       Archive & ar,
       pinocchio::DataTpl<Scalar, Options, JointCollectionTpl> & data,
diff --git a/include/pinocchio/serialization/joints-data.hpp b/include/pinocchio/serialization/joints-data.hpp
index defebd59c2..14f1e510a5 100644
--- a/include/pinocchio/serialization/joints-data.hpp
+++ b/include/pinocchio/serialization/joints-data.hpp
@@ -207,8 +207,7 @@ namespace boost
       class Archive,
       typename Scalar,
       int Options,
-      template<typename S, int O>
-      class JointCollectionTpl>
+      template<typename S, int O> class JointCollectionTpl>
     void serialize(
       Archive & ar,
       pinocchio::JointDataCompositeTpl<Scalar, Options, JointCollectionTpl> & joint,
@@ -224,8 +223,7 @@ namespace boost
       class Archive,
       typename Scalar,
       int Options,
-      template<typename S, int O>
-      class JointCollectionTpl>
+      template<typename S, int O> class JointCollectionTpl>
     void serialize(
       Archive & ar,
       pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> & joint,
diff --git a/include/pinocchio/serialization/joints-model.hpp b/include/pinocchio/serialization/joints-model.hpp
index 5ae16e2f88..81d4167fd1 100644
--- a/include/pinocchio/serialization/joints-model.hpp
+++ b/include/pinocchio/serialization/joints-model.hpp
@@ -251,8 +251,7 @@ namespace boost
       class Archive,
       typename Scalar,
       int Options,
-      template<typename S, int O>
-      class JointCollectionTpl>
+      template<typename S, int O> class JointCollectionTpl>
     void serialize(
       Archive & ar,
       pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollectionTpl> & joint,
@@ -270,8 +269,7 @@ namespace boost
       class Archive,
       typename Scalar,
       int Options,
-      template<typename S, int O>
-      class JointCollectionTpl>
+      template<typename S, int O> class JointCollectionTpl>
     void serialize(
       Archive & ar,
       pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl> & joint,
diff --git a/include/pinocchio/serialization/model.hpp b/include/pinocchio/serialization/model.hpp
index 98bb996ce7..51a0cd1e63 100644
--- a/include/pinocchio/serialization/model.hpp
+++ b/include/pinocchio/serialization/model.hpp
@@ -25,8 +25,7 @@ namespace boost
       class Archive,
       typename Scalar,
       int Options,
-      template<typename, int>
-      class JointCollectionTpl>
+      template<typename, int> class JointCollectionTpl>
     void serialize(
       Archive & ar,
       pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> & model,