diff --git a/orocos_kdl/src/chainiksolverpos_lma.cpp b/orocos_kdl/src/chainiksolverpos_lma.cpp
index 2fd5588b..71d2ab5e 100644
--- a/orocos_kdl/src/chainiksolverpos_lma.cpp
+++ b/orocos_kdl/src/chainiksolverpos_lma.cpp
@@ -49,7 +49,7 @@ inline void Twist_to_Eigen(const KDL::Twist& t,Eigen::MatrixBase<Derived>& e) {
 
 ChainIkSolverPos_LMA::ChainIkSolverPos_LMA(
 		const KDL::Chain& _chain,
-		const Eigen::Matrix<double,6,1>& _L,
+		const Eigen::Matrix<double,6,1>& _l,
 		double _eps,
 		int _maxiter,
 		double _eps_joints
@@ -68,7 +68,7 @@ ChainIkSolverPos_LMA::ChainIkSolverPos_LMA(
 	maxiter(_maxiter),
 	eps(_eps),
 	eps_joints(_eps_joints),
-	L(_L.cast<ScalarType>()),
+	L(_l.cast<ScalarType>()),
 	T_base_jointroot(nj),
 	T_base_jointtip(nj),
 	q(nj),
diff --git a/orocos_kdl/src/chainiksolverpos_lma.hpp b/orocos_kdl/src/chainiksolverpos_lma.hpp
index c3410cf6..42d4bbf1 100644
--- a/orocos_kdl/src/chainiksolverpos_lma.hpp
+++ b/orocos_kdl/src/chainiksolverpos_lma.hpp
@@ -83,7 +83,7 @@ class ChainIkSolverPos_LMA : public KDL::ChainIkSolverPos
 	 * \f$ E = \Delta \mathbf{x}^T \mathbf{L} \mathbf{L}^T \Delta \mathbf{x} \f$, with \f$\mathbf{L}\f$ a diagonal matrix.
 	 *
 	 * \param _chain specifies the kinematic chain.
-	 * \param _L specifies the "square root" of the weight (diagonal) matrix in task space. This diagonal matrix is specified as a vector.
+	 * \param _l specifies the "square root" of the weight (diagonal) matrix in task space. This diagonal matrix is specified as a vector.
 	 * \param _eps specifies the desired accuracy in task space; <B>after</B> weighing with
 	 *        the weight matrix, it is applied on \f$E\f$.
 	 * \param _maxiter specifies the maximum number of iterations.
@@ -94,7 +94,7 @@ class ChainIkSolverPos_LMA : public KDL::ChainIkSolverPos
      */
     ChainIkSolverPos_LMA(
     		const KDL::Chain& _chain,
-    		const Eigen::Matrix<double,6,1>& _L,
+		const Eigen::Matrix<double,6,1>& _l,
     		double _eps=1E-5,
     		int _maxiter=500,
     		double _eps_joints=1E-15