From 43a5a35f5896596e0fa4708677579be19dde9f7f Mon Sep 17 00:00:00 2001 From: Jay Li Date: Mon, 13 Jan 2025 06:22:03 -0800 Subject: [PATCH] Correct comment messages on frame for `twist` and `bias_acceleration` function `twist` and function `bias_acceleration` compute respective quantities expressed in the "frame after joint", not root frame. Correct the comment messages to indicate that. --- src/mechanism_state.jl | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/mechanism_state.jl b/src/mechanism_state.jl index 279aa404..986f323c 100644 --- a/src/mechanism_state.jl +++ b/src/mechanism_state.jl @@ -605,7 +605,7 @@ end $(SIGNATURES) Return the joint twist for the given joint, i.e. the twist of `frame_after(joint)` with respect to `frame_before(joint)`, expressed in the -root frame of the mechanism. +`frame_after(joint)`. """ @propagate_inbounds function twist(state::MechanismState, joint::Union{<:Joint, JointID}, safe=true) safe && update_joint_twists!(state) @@ -617,7 +617,7 @@ $(SIGNATURES) Return the bias acceleration across the given joint, i.e. the spatial acceleration of `frame_after(joint)` with respect to `frame_before(joint)`, expressed in the -root frame of the mechanism when all joint accelerations are zero. +`frame_after(joint)` when all joint accelerations are zero. """ @propagate_inbounds function bias_acceleration(state::MechanismState, joint::Union{<:Joint, JointID}, safe=true) safe && update_joint_bias_accelerations!(state)