From 35ac6623710189bfbe2584e831d3ec70c704139d Mon Sep 17 00:00:00 2001 From: Bruce Mitchener Date: Fri, 26 Jul 2024 19:17:33 +0700 Subject: [PATCH] Fix spelling of `below` and `orthogonalization`. (#700) --- src/dynamics/solver/island_solver.rs | 2 +- .../joint_constraint_builder.rs | 32 +++++++++---------- 2 files changed, 17 insertions(+), 17 deletions(-) diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs index 718542b20..f9c84a5f5 100644 --- a/src/dynamics/solver/island_solver.rs +++ b/src/dynamics/solver/island_solver.rs @@ -50,7 +50,7 @@ impl IslandSolver { /* * - * Bellow this point, the `params` is using the "small step" settings. + * Below this point, the `params` is using the "small step" settings. * */ // INIT diff --git a/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs index c6d5fa0a5..9948d3fe9 100644 --- a/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs +++ b/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs @@ -508,7 +508,7 @@ impl JointTwoBodyConstraintHelper { lin_jac, ang_jac1, ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. + inv_lhs: N::zero(), // Will be set during orthogonalization. cfm_coeff, cfm_gain: N::zero(), rhs, @@ -622,7 +622,7 @@ impl JointTwoBodyConstraintHelper { lin_jac, ang_jac1, ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. + inv_lhs: N::zero(), // Will be set during orthogonalization. cfm_coeff: motor_params.cfm_coeff, cfm_gain: motor_params.cfm_gain, rhs: rhs_wo_bias, @@ -669,7 +669,7 @@ impl JointTwoBodyConstraintHelper { lin_jac, ang_jac1, ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. + inv_lhs: N::zero(), // Will be set during orthogonalization. cfm_coeff, cfm_gain: N::zero(), rhs: rhs_wo_bias + rhs_bias, @@ -728,7 +728,7 @@ impl JointTwoBodyConstraintHelper { lin_jac: na::zero(), ang_jac1, ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. + inv_lhs: N::zero(), // Will be set during orthogonalization. cfm_coeff, cfm_gain: N::zero(), rhs: rhs_wo_bias + rhs_bias, @@ -778,7 +778,7 @@ impl JointTwoBodyConstraintHelper { lin_jac: na::zero(), ang_jac1, ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. + inv_lhs: N::zero(), // Will be set during orthogonalization. cfm_coeff: motor_params.cfm_coeff, cfm_gain: motor_params.cfm_gain, rhs: rhs_wo_bias, @@ -823,7 +823,7 @@ impl JointTwoBodyConstraintHelper { lin_jac: na::zero(), ang_jac1, ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. + inv_lhs: N::zero(), // Will be set during orthogonalization. cfm_coeff, cfm_gain: N::zero(), rhs: rhs_wo_bias + rhs_bias, @@ -923,7 +923,7 @@ impl JointTwoBodyConstraintHelper { impulse_bounds, lin_jac, ang_jac2, - inv_lhs: zero, // Will be set during ortogonalization. + inv_lhs: zero, // Will be set during orthogonalization. cfm_coeff, cfm_gain: N::zero(), rhs: rhs_wo_bias + rhs_bias, @@ -990,7 +990,7 @@ impl JointTwoBodyConstraintHelper { impulse_bounds, lin_jac, ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. + inv_lhs: N::zero(), // Will be set during orthogonalization. cfm_coeff, cfm_gain: N::zero(), rhs, @@ -1045,7 +1045,7 @@ impl JointTwoBodyConstraintHelper { impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse], lin_jac, ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. + inv_lhs: N::zero(), // Will be set during orthogonalization. cfm_coeff: motor_params.cfm_coeff, cfm_gain: motor_params.cfm_gain, rhs: rhs_wo_bias, @@ -1118,7 +1118,7 @@ impl JointTwoBodyConstraintHelper { impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse], lin_jac, ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. + inv_lhs: N::zero(), // Will be set during orthogonalization. cfm_coeff: motor_params.cfm_coeff, cfm_gain: motor_params.cfm_gain, rhs: rhs_wo_bias, @@ -1159,7 +1159,7 @@ impl JointTwoBodyConstraintHelper { impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)], lin_jac, ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. + inv_lhs: N::zero(), // Will be set during orthogonalization. cfm_coeff, cfm_gain: N::zero(), rhs: rhs_wo_bias + rhs_bias, @@ -1206,7 +1206,7 @@ impl JointTwoBodyConstraintHelper { impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse], lin_jac: na::zero(), ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. + inv_lhs: N::zero(), // Will be set during orthogonalization. cfm_coeff: motor_params.cfm_coeff, cfm_gain: motor_params.cfm_gain, rhs: rhs_wo_bias, @@ -1262,7 +1262,7 @@ impl JointTwoBodyConstraintHelper { impulse_bounds, lin_jac: na::zero(), ang_jac2, - inv_lhs: zero, // Will be set during ortogonalization. + inv_lhs: zero, // Will be set during orthogonalization. cfm_coeff, cfm_gain: N::zero(), rhs: rhs_wo_bias + rhs_bias, @@ -1304,7 +1304,7 @@ impl JointTwoBodyConstraintHelper { impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)], lin_jac: na::zero(), ang_jac2, - inv_lhs: N::zero(), // Will be set during ortogonalization. + inv_lhs: N::zero(), // Will be set during orthogonalization. cfm_coeff, cfm_gain: N::zero(), rhs: rhs_wo_bias + rhs_bias, @@ -1413,7 +1413,7 @@ impl JointTwoBodyConstraintHelper { lin_jac: na::zero(), ang_jac1, ang_jac2, - inv_lhs: 0.0, // Will be set during ortogonalization. + inv_lhs: 0.0, // Will be set during orthogonalization. cfm_coeff, cfm_gain: 0.0, rhs: rhs_wo_bias + rhs_bias, @@ -1470,7 +1470,7 @@ impl JointTwoBodyConstraintHelper { impulse_bounds, lin_jac: na::zero(), ang_jac2, - inv_lhs: 0.0, // Will be set during ortogonalization. + inv_lhs: 0.0, // Will be set during orthogonalization. cfm_coeff, cfm_gain: 0.0, rhs: rhs_wo_bias + rhs_bias,