From bddc4b88b2f58aad91712d50569c59b9c8e19a80 Mon Sep 17 00:00:00 2001 From: Kevin Zakka Date: Mon, 6 Mar 2023 03:48:28 -0800 Subject: [PATCH] Fix comment typos. PiperOrigin-RevId: 514360878 Change-Id: If119beec09d7eae568d8f6d8e3fa150ec7de88b6 --- src/engine/engine_support.h | 2 +- src/engine/engine_util_spatial.h | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/engine/engine_support.h b/src/engine/engine_support.h index cab2f4bc..203a8478 100644 --- a/src/engine/engine_support.h +++ b/src/engine/engine_support.h @@ -146,7 +146,7 @@ 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 diff --git a/src/engine/engine_util_spatial.h b/src/engine/engine_util_spatial.h index 0b2d1395..f7babb85 100644 --- a/src/engine/engine_util_spatial.h +++ b/src/engine/engine_util_spatial.h @@ -47,13 +47,13 @@ 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]); // 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); // compute quaternion performing rotation from z-axis to given vector