diff options
Diffstat (limited to 'src/dynamics/joint/multibody_joint/multibody.rs')
| -rw-r--r-- | src/dynamics/joint/multibody_joint/multibody.rs | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/dynamics/joint/multibody_joint/multibody.rs b/src/dynamics/joint/multibody_joint/multibody.rs index bbe71c6..8cfe8e5 100644 --- a/src/dynamics/joint/multibody_joint/multibody.rs +++ b/src/dynamics/joint/multibody_joint/multibody.rs @@ -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. |