diff --git a/src/SoftRobots.Inverse/binding/Binding_QPInverseProblemSolver.cpp b/src/SoftRobots.Inverse/binding/Binding_QPInverseProblemSolver.cpp
index 8424c8d..7223c1d 100644
--- a/src/SoftRobots.Inverse/binding/Binding_QPInverseProblemSolver.cpp
+++ b/src/SoftRobots.Inverse/binding/Binding_QPInverseProblemSolver.cpp
@@ -65,7 +65,7 @@ bool QPInverseProblemSolver_Trampoline::solveSystem()
                           );
 }
 
-bool QPInverseProblemSolver_Trampoline::solveSystem(const sofa::core::ConstraintParams* cParams,
+bool QPInverseProblemSolver_Trampoline::doSolveSystem(const sofa::core::ConstraintParams* cParams,
                                                     sofa::core::MultiVecId res1,
                                                     sofa::core::MultiVecId res2)
 {
diff --git a/src/SoftRobots.Inverse/binding/Binding_QPInverseProblemSolver.h b/src/SoftRobots.Inverse/binding/Binding_QPInverseProblemSolver.h
index 4bc7880..2cadb2c 100644
--- a/src/SoftRobots.Inverse/binding/Binding_QPInverseProblemSolver.h
+++ b/src/SoftRobots.Inverse/binding/Binding_QPInverseProblemSolver.h
@@ -44,7 +44,7 @@ class QPInverseProblemSolver_Trampoline : public softrobotsinverse::solver::QPIn
 
     bool solveSystem();
 
-    bool solveSystem(const sofa::core::ConstraintParams* cParams,
+    bool doSolveSystem(const sofa::core::ConstraintParams* cParams,
                      sofa::core::MultiVecId res1,
                      sofa::core::MultiVecId res2=sofa::core::MultiVecId::null()) override;
 
diff --git a/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp b/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp
index f76a696..7cdf4dd 100644
--- a/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp
+++ b/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp
@@ -296,12 +296,12 @@ void QPInverseProblemSolver::cleanup()
     ConstraintSolver::cleanup();
 }
 
-void QPInverseProblemSolver::removeConstraintCorrection(sofa::core::behavior::BaseConstraintCorrection *s)
+void QPInverseProblemSolver::doRemoveConstraintCorrection(sofa::core::behavior::BaseConstraintCorrection *s)
 {
     m_constraintsCorrections.erase(std::remove(m_constraintsCorrections.begin(), m_constraintsCorrections.end(), s), m_constraintsCorrections.end());
 }
 
-bool QPInverseProblemSolver::prepareStates(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
+bool QPInverseProblemSolver::doPrepareStates(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
 {
     SOFA_UNUSED(res1);
     SOFA_UNUSED(res2);
@@ -341,7 +341,7 @@ bool QPInverseProblemSolver::prepareStates(const ConstraintParams *cParams, Mult
     return true;
 }
 
-bool QPInverseProblemSolver::buildSystem(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
+bool QPInverseProblemSolver::doBuildSystem(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
 {
     SOFA_UNUSED(res1);
     SOFA_UNUSED(res2);
@@ -469,7 +469,7 @@ inline void QPInverseProblemSolver::buildCompliance(const ConstraintParams *cPar
     AdvancedTimer::stepEnd("Get Compliance");
 }
 
-void QPInverseProblemSolver::rebuildSystem(double massFactor, double forceFactor)
+void QPInverseProblemSolver::doRebuildSystem(double massFactor, double forceFactor)
 {
     d_graph.beginEdit()->clear();
     d_graph.endEdit();
@@ -482,7 +482,7 @@ void QPInverseProblemSolver::rebuildSystem(double massFactor, double forceFactor
     }
 }
 
-bool QPInverseProblemSolver::solveSystem(const ConstraintParams * cParams,
+bool QPInverseProblemSolver::doSolveSystem(const ConstraintParams * cParams,
                                          MultiVecId res1,
                                          MultiVecId res2)
 {
@@ -564,7 +564,7 @@ bool QPInverseProblemSolver::solveSystem(const ConstraintParams * cParams,
 }
 
 
-void QPInverseProblemSolver::computeResidual(const ExecParams* eparam)
+void QPInverseProblemSolver::doComputeResidual(const ExecParams* eparam)
 {
     for (unsigned int i=0; i<m_constraintsCorrections.size(); i++)
     {
@@ -573,7 +573,7 @@ void QPInverseProblemSolver::computeResidual(const ExecParams* eparam)
     }
 }
 
-bool QPInverseProblemSolver::applyCorrection(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
+bool QPInverseProblemSolver::doApplyCorrection(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
 {
     AdvancedTimer::stepBegin("Compute And Apply Motion Correction");
 
diff --git a/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.h b/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.h
index 5409fbc..aa661ce 100644
--- a/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.h
+++ b/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.h
@@ -94,27 +94,27 @@ class SOFA_SOFTROBOTS_INVERSE_API QPInverseProblemSolver : public sofa::componen
     ////////////////////////////////////////////////////////////////////////////////
 
     ////////////////////// Inherited from ConstraintSolver ///////////////////////////
-    bool prepareStates(const ConstraintParams * cParams,
+    bool doPrepareStates(const ConstraintParams * cParams,
                        MultiVecId res1,
                        MultiVecId res2=MultiVecId::null()) override;
 
-    bool buildSystem(const ConstraintParams * cParams,
+    bool doBuildSystem(const ConstraintParams * cParams,
                      MultiVecId res1,
                      MultiVecId res2=MultiVecId::null()) override;
 
-    void rebuildSystem(double massFactor,
+    void doRebuildSystem(double massFactor,
                        double forceFactor) override;
 
-    bool solveSystem(const ConstraintParams* cParams,
+    bool doSolveSystem(const ConstraintParams* cParams,
                      MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
 
-    bool applyCorrection(const ConstraintParams * cParams,
+    bool doApplyCorrection(const ConstraintParams * cParams,
                          MultiVecId res1,
                          MultiVecId res2=MultiVecId::null()) override;
 
-    void computeResidual(const ExecParams* params) override;
+    void doComputeResidual(const ExecParams* params) override;
 
-    void removeConstraintCorrection(BaseConstraintCorrection *s) override;
+    void doRemoveConstraintCorrection(BaseConstraintCorrection *s) override;
 
     MultiVecDerivId getLambda() const override
     {