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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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include/mujoco/mjmodel.h
+1 -1
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@@ -282,7 +282,7 @@ typedef enum mjtSensor_ { // type of sensor
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
include/mujoco/mujoco.h
+3 -3
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@@ -437,7 +437,7 @@ MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
// Integrate position with given velocity.
MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt);
// Normalize all quaterions in qpos-type vector.
// Normalize all quaternions in qpos-type vector.
MJAPI void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
// Map from body local to global Cartesian coordinates.
@@ -956,13 +956,13 @@ MJAPI void mju_subQuat(mjtNum res[3], const mjtNum qa[4], const mjtNum qb[4]);
// Convert quaternion to 3D rotation matrix.
MJAPI void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]);
// Convert 3D rotation matrix to quaterion.
// Convert 3D rotation matrix to quaternion.
MJAPI void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]);
// Compute time-derivative of quaternion, given 3D rotational velocity.
MJAPI void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]);
// Integrate quaterion given 3D angular velocity.
// Integrate quaternion given 3D angular velocity.
MJAPI void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
// Construct quaternion performing rotation from z-axis to given vector.