Commit e7657e73 authored by Francois Keith's avatar Francois Keith
Browse files

Correct typos

(one useful commit...)
parent 0529516e
......@@ -87,7 +87,7 @@ namespace PatternGeneratorJRL
double sx,sy,theta;
double SStime;
double DStime;
int stepType; //1:normal walking 2:one step before opbstacle
int stepType; //1:normal walking 2:one step before obstacle
//3:first leg over obstacle 4:second leg over obstacle 5:one step after obstacle
double DeviationHipHeight;
};
......@@ -100,9 +100,9 @@ namespace PatternGeneratorJRL
double px,py,pz;
double theta;//For COM
double time;
int stepType; //1:normal walking 2:one step before opbstacle
int stepType; //1:normal walking 2:one step before obstacle
//3:first leg over obstacle 4:second leg over obstacle 5:one step after obstacle
//+10 if duoble support phase
//+10 if double support phase
//*(-1) if right foot stance else left foot stance
};
typedef struct ZMPPosition_s ZMPPosition;
......@@ -118,7 +118,7 @@ namespace PatternGeneratorJRL
double ddx,ddy,ddz, ddtheta, ddomega, ddomega2;
/*! Time at which this position should be reached. */
double time;
/*! 1:normal walking 2:one step before opbstacle
/*! 1:normal walking 2:one step before obstacle
3:first leg over obstacle 4:second leg over obstacle 5:one step after obstacle
+10 if double support phase
(-1) if support foot */
......
......@@ -24,7 +24,7 @@
*/
/*! \file FootTrajectoryGenerationMultiple.h
\brief This object is in charge of maintaning the foot trajectory
\brief This object is in charge of maintaining the foot trajectory
generation for several intervals.
It relies on the FootTrajectoryGenerationStandard class.
......
......@@ -74,7 +74,7 @@ namespace PatternGeneratorJRL
virtual ~FootTrajectoryGenerationStandard();
/*! This method computes the position of the swinging foot during single support phase,
and maintian a constant position for the support foot.
and maintain a constant position for the support foot.
It uses polynomial of 3rd order for the X-axis, Y-axis,
orientation in the X-Z axis, and orientation in the X-Y axis,
and finally it uses a 4th order polynome for the Z-axis.
......
......@@ -78,7 +78,7 @@ namespace PatternGeneratorJRL
@param[out] LeftFootPosition: The position of the Left Foot position.
@param[out] RightFootPosition: The position of the Right Foot position.
@param[out] ZMPRefPos: The ZMP position to be feed to the controller.
@param[out] ZMPRefPos: The ZMP position to be fed to the controller.
@param[out] aCOMState: returns position, velocity and acceleration of the CoM.
@param[out] CurrentConfiguration: The results is a state vector containing the articular positions.
@param[out] CurrentVelocity: The results is a state vector containing the speed.
......
......@@ -54,7 +54,7 @@ namespace PatternGeneratorJRL
Polynome3(double FT, double FP);
/*! Set the parameters
This method assumes implictly a position
This method assumes implicitly a position
set to zero, and a speed equals to zero.
*/
void SetParameters(double FT, double FP);
......
......@@ -104,7 +104,7 @@ OrientationsPreview::preview_orientations(double Time,
// Parameters of the trunk polynomial (fourth order)
double a,b,c,d,e;
// Trunkangle at the end of the current support phase
// Trunk angle at the end of the current support phase
double PreviewedTrunkAngleEnd;
while(!TrunkVelOK)
......
......@@ -73,7 +73,7 @@ namespace PatternGeneratorJRL
there is the possibility to pass commands a string of stream to the method
\a ParseCmd().
There is a set of functionnalities directly supported by the API:
There is a set of functionalities directly supported by the API:
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment