From 048bd43724dcca6728aa6b3c865936acaef352d8 Mon Sep 17 00:00:00 2001 From: Kyle Bayes Date: Thu, 5 Jan 2023 08:29:01 -0800 Subject: [PATCH] Fix various typos. PiperOrigin-RevId: 499888205 Change-Id: I38ccf9edb2a745fe8087f14b67ecccca872f7743 --- include/mujoco/mujoco.h | 6 +++--- introspect/functions.py | 6 +++--- plugin/elasticity/cable.cc | 2 +- src/engine/engine_io.h | 2 +- src/engine/engine_support.c | 2 +- src/engine/engine_support.h | 2 +- 6 files changed, 10 insertions(+), 10 deletions(-) diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h index 21b150b7..a5769bbf 100644 --- a/include/mujoco/mujoco.h +++ b/include/mujoco/mujoco.h @@ -176,7 +176,7 @@ MJAPI void mj_deleteModel(mjModel* m); // Return size of buffer needed to hold model. MJAPI int mj_sizeModel(const mjModel* m); -// Allocate mjData correponding to given model. +// Allocate mjData corresponding to given model. // If the model buffer is unallocated the initial configuration will not be set. MJAPI mjData* mj_makeData(const mjModel* m); @@ -345,7 +345,7 @@ MJAPI void mj_collision(const mjModel* m, mjData* d); // Construct constraints. MJAPI void mj_makeConstraint(const mjModel* m, mjData* d); -// Compute inverse constaint inertia efc_AR. +// Compute inverse constraint inertia efc_AR. MJAPI void mj_projectConstraint(const mjModel* m, mjData* d); // Compute efc_vel, efc_aref. @@ -419,7 +419,7 @@ MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum // Destination can be sparse uncompressed, or dense when all int* are NULL MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst, int* rownnz, int* rowadr, int* colind); -// Apply cartesian force and torque (outside xfrc_applied mechanism). +// Apply Cartesian force and torque (outside xfrc_applied mechanism). MJAPI void mj_applyFT(const mjModel* m, mjData* d, const mjtNum force[3], const mjtNum torque[3], const mjtNum point[3], int body, mjtNum* qfrc_target); diff --git a/introspect/functions.py b/introspect/functions.py index ed5eda36..205e8420 100644 --- a/introspect/functions.py +++ b/introspect/functions.py @@ -579,7 +579,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([ ), ), ), - doc='Allocate mjData correponding to given model. If the model buffer is unallocated the initial configuration will not be set.', # pylint: disable=line-too-long + doc='Allocate mjData corresponding to given model. If the model buffer is unallocated the initial configuration will not be set.', # pylint: disable=line-too-long )), ('mj_copyData', FunctionDecl( @@ -1704,7 +1704,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([ ), ), ), - doc='Compute inverse constaint inertia efc_AR.', + doc='Compute inverse constraint inertia efc_AR.', )), ('mj_referenceConstraint', FunctionDecl( @@ -2393,7 +2393,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([ ), ), ), - doc='Apply cartesian force and torque (outside xfrc_applied mechanism).', # pylint: disable=line-too-long + doc='Apply Cartesian force and torque (outside xfrc_applied mechanism).', # pylint: disable=line-too-long )), ('mj_objectVelocity', FunctionDecl( diff --git a/plugin/elasticity/cable.cc b/plugin/elasticity/cable.cc index 65412ae9..779b1d07 100644 --- a/plugin/elasticity/cable.cc +++ b/plugin/elasticity/cable.cc @@ -73,7 +73,7 @@ void QuatDiff(mjtNum* quat, const mjtNum body_quat[4], // stiffness - material parameters // quat - orientation of the body in local coordinates // omega0 - initial curvature -// xquat - cartesian orientation of the body (optional) +// xquat - Cartesian orientation of the body (optional) // scl - scaling of the force // outputs: // stress - local stress contribution diff --git a/src/engine/engine_io.h b/src/engine/engine_io.h index ca8430a3..5ee036bd 100644 --- a/src/engine/engine_io.h +++ b/src/engine/engine_io.h @@ -82,7 +82,7 @@ MJAPI const char* mj_validateReferences(const mjModel* m); //------------------------------- mjData ----------------------------------------------------------- -// Allocate mjData correponding to given model. +// Allocate mjData corresponding to given model. // If the model buffer is unallocated the initial configuration will not be set. MJAPI mjData* mj_makeData(const mjModel* m); diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c index db944822..ffff9dd4 100644 --- a/src/engine/engine_support.c +++ b/src/engine/engine_support.c @@ -1068,7 +1068,7 @@ void mj_setMSparse(const mjModel* m, mjData* d, mjtNum* dst, //-------------------------- perturbations --------------------------------------------------------- -// add cartesian force and torque to qfrc_target +// add Cartesian force and torque to qfrc_target void mj_applyFT(const mjModel* m, mjData* d, const mjtNum force[3], const mjtNum torque[3], const mjtNum point[3], int body, mjtNum* qfrc_target) { diff --git a/src/engine/engine_support.h b/src/engine/engine_support.h index b53f5c99..18fbaf33 100644 --- a/src/engine/engine_support.h +++ b/src/engine/engine_support.h @@ -114,7 +114,7 @@ MJAPI void mj_setMSparse(const mjModel* m, mjData* d, mjtNum* dst, //-------------------------- perturbations --------------------------------------------------------- -// apply cartesian force and torque +// apply Cartesian force and torque MJAPI void mj_applyFT(const mjModel* m, mjData* d, const mjtNum force[3], const mjtNum torque[3], const mjtNum point[3], int body, mjtNum* qfrc_target);