From cfca833af30747d63172f3d41fd7a6b7910b8ae0 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Tue, 29 Oct 2019 18:34:49 +0100
Subject: [PATCH] doc/algo: fix documentation
---
src/algorithm/rnea-derivatives.hpp | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/algorithm/rnea-derivatives.hpp b/src/algorithm/rnea-derivatives.hpp
index 477b74094..adf4f217d 100644
--- a/src/algorithm/rnea-derivatives.hpp
+++ b/src/algorithm/rnea-derivatives.hpp
@@ -14,7 +14,7 @@ namespace pinocchio
{
///
- /// \brief Computes the derivative of the generalized gravity contribution
+ /// \brief Computes the partial derivative of the generalized gravity contribution
/// with respect to the joint configuration.
///
/// \tparam JointCollection Collection of Joint types.
@@ -26,7 +26,7 @@ namespace pinocchio
/// \param[in] q The joint configuration vector (dim model.nq).
/// \param[out] gravity_partial_dq Partial derivative of the generalized gravity vector with respect to the joint configuration.
///
- /// \remark gravity_partial_dq must be first initialized with zeros (gravity_partial_dq.setZero).
+ /// \remarks gravity_partial_dq must be first initialized with zeros (gravity_partial_dq.setZero).
///
/// \sa pinocchio::computeGeneralizedGravity
///
@@ -64,7 +64,7 @@ namespace pinocchio
const Eigen::MatrixBase<ReturnMatrixType> & static_torque_partial_dq);
///
- /// \brief Computes the derivatives of the Recursive Newton Euler Algorithms
+ /// \brief Computes the partial derivatives of the Recursive Newton Euler Algorithms
/// with respect to the joint configuration, the joint velocity and the joint acceleration.
///
/// \tparam JointCollection Collection of Joint types.
@@ -84,7 +84,7 @@ namespace pinocchio
/// \param[out] rnea_partial_dv Partial derivative of the generalized torque vector with respect to the joint velocity.
/// \param[out] rnea_partial_da Partial derivative of the generalized torque vector with respect to the joint acceleration.
///
- /// \remark rnea_partial_dq, rnea_partial_dv and rnea_partial_da must be first initialized with zeros (rnea_partial_dq.setZero(),etc).
+ /// \remarks rnea_partial_dq, rnea_partial_dv and rnea_partial_da must be first initialized with zeros (rnea_partial_dq.setZero(),etc).
/// As for pinocchio::crba, only the upper triangular part of rnea_partial_da is filled.
///
/// \sa pinocchio::rnea
@@ -123,7 +123,7 @@ namespace pinocchio
/// \param[out] rnea_partial_dv Partial derivative of the generalized torque vector with respect to the joint velocity.
/// \param[out] rnea_partial_da Partial derivative of the generalized torque vector with respect to the joint acceleration.
///
- /// \remark rnea_partial_dq, rnea_partial_dv and rnea_partial_da must be first initialized with zeros (rnea_partial_dq.setZero(),etc).
+ /// \remarks rnea_partial_dq, rnea_partial_dv and rnea_partial_da must be first initialized with zeros (rnea_partial_dq.setZero(),etc).
/// As for pinocchio::crba, only the upper triangular part of rnea_partial_da is filled.
///
/// \sa pinocchio::rnea
--
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