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Fix quaternion typos.

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PiperOrigin-RevId: 453203844
Change-Id: I7d788c21bb00b7746f941fb2cf755f0b046e35f2
This commit is contained in:
Kevin Zakka
2022-06-06 08:23:41 -07:00
committed by Copybara-Service
parent 16baac9353
commit 53d3220fcc
11 changed files with 22 additions and 22 deletions
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doc/APIreference.rst
+5 -5
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@@ -543,7 +543,7 @@ mjtSensor
mjSENS_ACTUATORFRC, // scalar actuator force
// sensors related to ball joints
mjSENS_BALLQUAT, // 4D ball joint quaterion
mjSENS_BALLQUAT, // 4D ball joint quaternion
mjSENS_BALLANGVEL, // 3D ball joint angular velocity
// joint and tendon limit sensors, in constraint space
@@ -3162,7 +3162,7 @@ Numeric constants
| | | array sizes which we have not fully settled. There may be reasons to increase them in |
| | | the future, so as to accommodate extra parameters needed for more elaborate |
| | | computations. This is why we maintain them as symbolic constants that can be easily |
| | | changed, as opposed to the array size for representing quaterions for example - which |
| | | changed, as opposed to the array size for representing quaternions for example - which |
| | | has no reason to change. |
+------------------+--------+----------------------------------------------------------------------------------------+
| mjNDYN | 10 | The maximal number of real-valued parameters used to define the activation dynamics of |
@@ -4549,7 +4549,7 @@ mj_normalizeQuat
void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
Normalize all quaterions in qpos-type vector.
Normalize all quaternions in qpos-type vector.
.. _mj_local2Global:
@@ -6184,7 +6184,7 @@ mju_mat2Quat
void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]);
Convert 3D rotation matrix to quaterion.
Convert 3D rotation matrix to quaternion.
.. _mju_derivQuat:
@@ -6206,7 +6206,7 @@ mju_quatIntegrate
void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
Integrate quaterion given 3D angular velocity.
Integrate quaternion given 3D angular velocity.
.. _mju_quatZ2Vec: