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kdl_parser
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typo in comments explaining safety controller stuff

This commit is contained in:
hsu 2009-12-30 00:01:07 +00:00
parent 8327d2110c
commit 685b287797
1 changed files with 2 additions and 2 deletions
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4
urdf/include/urdf/joint.h
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@ -101,7 +101,7 @@ public:
///
/// if (joint_position is outside of the position range above)
/// velocity_limit_min = -JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_lower_limit)
/// velocity_limit_max = JointLimits::velocity - JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit)
/// velocity_limit_max = JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit)
/// else
/// velocity_limit_min = -JointLimits::velocity
/// velocity_limit_max = JointLimits::velocity
@ -111,7 +111,7 @@ public:
///
/// if (joint_velocity is outside of the velocity range above)
/// effort_limit_min = -JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_min)
/// effort_limit_max = JointLimits::effort - JointSafety::k_velocity * (joint_velocity - velocity_limit_max)
/// effort_limit_max = JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_max)
/// else
/// effort_limit_min = -JointLimits::effort
/// effort_limit_max = JointLimits::effort