From da22ba17d128a6275a16d6db0cbe16bb0eee1e40 Mon Sep 17 00:00:00 2001 From: hsu Date: Mon, 28 Dec 2009 22:13:36 +0000 Subject: [PATCH] minor comment fixes --- urdf/include/urdf/joint.h | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/urdf/include/urdf/joint.h b/urdf/include/urdf/joint.h index bd1279d..edd8c6f 100644 --- a/urdf/include/urdf/joint.h +++ b/urdf/include/urdf/joint.h @@ -94,10 +94,12 @@ public: /// /// Basic safety controller operation is as follows /// - /// current safety controllers will take effect on joints outside the ranges below: - /// position range: [JointSafety::soft_lower_limit + JointLimits::velocity / JointSafety::k_position, + /// current safety controllers will take effect on joints outside the position range below: + /// + /// position range: [JointSafety::soft_lower_limit + JointLimits::velocity / JointSafety::k_position, /// JointSafety::soft_uppper_limit - JointLimits::velocity / JointSafety::k_position] - /// if (joint position is outside of the position range above) + /// + /// 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) /// else @@ -107,7 +109,7 @@ public: /// velocity range: [velocity_limit_min + JointLimits::effort / JointSafety::k_velocity, /// velocity_limit_max - JointLimits::effort / JointSafety::k_velocity] /// - /// if (joint velocity is outside of the velocity range above) + /// 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) /// else