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Fix typos. (#658)

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This commit is contained in:
Bruce Mitchener
2024-06-21 02:03:12 +07:00
committed by GitHub
parent 84b66d63e3
commit 8a592e458e
3 changed files with 7 additions and 7 deletions
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8
src/dynamics/joint/multibody_joint/multibody.rs
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@@ -68,7 +68,7 @@ pub struct Multibody {
pub(crate) accelerations: DVector<Real>,
body_jacobians: Vec<Jacobian<Real>>,
// NOTE: the mass matrices are dimentionned based on the non-kinematic degrees of
// NOTE: the mass matrices are dimensioned based on the non-kinematic degrees of
// freedoms only. The `Self::augmented_mass_permutation` sequence can be used to
// move dofs from/to a format that matches the augmented mass.
// TODO: use sparse matrices?
@@ -133,7 +133,7 @@ impl Multibody {
pub(crate) fn with_root(handle: RigidBodyHandle, self_contacts_enabled: bool) -> Self {
let mut mb = Multibody::with_self_contacts(self_contacts_enabled);
// NOTE: we have no way of knowing if the root in fixed at this point, so
// we mark it as dynamic and will fixe later with `Self::update_root_type`.
// we mark it as dynamic and will fix later with `Self::update_root_type`.
mb.root_is_dynamic = true;
let joint = MultibodyJoint::free(Isometry::identity());
mb.add_link(None, joint, handle);
@@ -1030,7 +1030,7 @@ impl Multibody {
self.update_body_jacobians();
}
/// Computes the ids of all the linkes betheen the root and the link identified by `link_id`.
/// Computes the ids of all the links between the root and the link identified by `link_id`.
pub fn kinematic_branch(&self, link_id: usize) -> Vec<usize> {
let mut branch = vec![]; // Perf: avoid allocation.
let mut curr_id = Some(link_id);
@@ -1072,7 +1072,7 @@ impl Multibody {
/// In general, this method shouldn’t be used directly and [`Self::forward_kinematics_single_link`̦]
/// should be preferred since it computes the branch indices automatically.
///
/// If you watn to calculate the branch indices manually, see [`Self::kinematic_branch`].
/// If you want to calculate the branch indices manually, see [`Self::kinematic_branch`].
///
/// If `out_jacobian` is `Some`, this will simultaneously compute the new jacobian of this branch.
/// This represents the body jacobian for the last link in the branch.

4
src/dynamics/joint/multibody_joint/multibody_ik.rs
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@@ -9,7 +9,7 @@ pub struct InverseKinematicsOption {
/// A damping coefficient.
///
/// Small value can lead to overshooting preventing convergence. Large
/// values can slown down convergence, requiring more iterations to converge.
/// values can slow down convergence, requiring more iterations to converge.
pub damping: Real,
/// The maximum number of iterations the iterative IK solver can take.
pub max_iters: usize,
@@ -85,7 +85,7 @@ impl Multibody {
/// The `displacements` vector is overwritten with the new displacement.
///
/// The `joint_can_move` argument is a closure that lets you indicate which joint
/// can be moved throug the inverse-kinematics process. Any joint for which `joint_can_move`
/// can be moved through the inverse-kinematics process. Any joint for which `joint_can_move`
/// returns `false` will have its corresponding displacement constrained to 0.
/// Set the closure to `|_| true` if all the joints are free to move.
pub fn inverse_kinematics(