diff --git a/include/hpp/pinocchio/util.hh b/include/hpp/pinocchio/util.hh
index 57904d8..24976f2 100644
--- a/include/hpp/pinocchio/util.hh
+++ b/include/hpp/pinocchio/util.hh
@@ -126,32 +126,32 @@ std::ostream& operator<<(std::ostream& os, const PrettyPrint<T, Option> pp) {
 
 /// Generic implementation for Eigen objects
 template <typename Derived, int Option>
-struct HPP_PINOCCHIO_DLLAPI prettyPrintEigen {
-  static inline std::ostream& run(std::ostream& os, const Derived& M) {
-    enum {
-      Condensed = ((Option & OutputFormatBits) == OneLineOutput) ||
-                  ((Option & OutputFormatBits) == CondensedOutput)
-    };
-    static const Eigen::IOFormat mfmt_py =
-        eigen_format<Condensed, true, false>::run();
-    static const Eigen::IOFormat vfmt_py =
-        eigen_format<Condensed, true, true>::run();
-    static const Eigen::IOFormat mfmt_raw =
-        eigen_format<Condensed, false, false>::run();
-    static const Eigen::IOFormat vfmt_raw =
-        eigen_format<Condensed, false, true>::run();
-    bool use_py_fmt = (getpythonformat(os) != 0);
-    const Eigen::IOFormat& fmt =
-        (Derived::IsVectorAtCompileTime ? (use_py_fmt ? vfmt_py : vfmt_raw)
-                                        : (use_py_fmt ? mfmt_py : mfmt_raw));
-    bool transpose = (Derived::ColsAtCompileTime == 1);
-
-    if (transpose)
-      return os << M.transpose().format(fmt);
-    else
-      return os << M.format(fmt);
-  }
-};
+struct HPP_PINOCCHIO_DLLAPI prettyPrintEigen{
+    static inline std::ostream &
+    run(std::ostream & os, const Derived& M){
+        enum {Condensed = ((Option & OutputFormatBits) == OneLineOutput) ||
+                          ((Option & OutputFormatBits) == CondensedOutput)};
+static const Eigen::IOFormat mfmt_py =
+    eigen_format<Condensed, true, false>::run();
+static const Eigen::IOFormat vfmt_py =
+    eigen_format<Condensed, true, true>::run();
+static const Eigen::IOFormat mfmt_raw =
+    eigen_format<Condensed, false, false>::run();
+static const Eigen::IOFormat vfmt_raw =
+    eigen_format<Condensed, false, true>::run();
+bool use_py_fmt = (getpythonformat(os) != 0);
+const Eigen::IOFormat& fmt =
+    (Derived::IsVectorAtCompileTime ? (use_py_fmt ? vfmt_py : vfmt_raw)
+                                    : (use_py_fmt ? mfmt_py : mfmt_raw));
+bool transpose = (Derived::ColsAtCompileTime == 1);
+
+if (transpose)
+  return os << M.transpose().format(fmt);
+else
+  return os << M.format(fmt);
+}  // namespace hpp
+}
+;
 /// FIXME All eigen object must be manually specialized as follow...
 
 /// Pretty printer for Eigen::Matrix
diff --git a/src/joint.cc b/src/joint.cc
index 13fed5e..1ef5712 100644
--- a/src/joint.cc
+++ b/src/joint.cc
@@ -277,10 +277,11 @@ value_type computeMaximalDistanceToParent(
     const Model& model,
     const ::pinocchio::JointModelPrismaticTpl<Scalar, Options, Axis>& jmodel,
     const SE3& jointPlacement) {
-  return computeMaximalDistanceToParentForAlignedTranslation<
-      Axis == 0, Axis == 1, Axis == 2>(
-      model.lowerPositionLimit.segment<1>(jmodel.idx_q()),
-      model.upperPositionLimit.segment<1>(jmodel.idx_q()), jointPlacement);
+  return computeMaximalDistanceToParentForAlignedTranslation < Axis == 0,
+         Axis == 1,
+         Axis == 2 > (model.lowerPositionLimit.segment<1>(jmodel.idx_q()),
+                      model.upperPositionLimit.segment<1>(jmodel.idx_q()),
+                      jointPlacement);
 }
 
 template <typename Scalar, int Options>