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kdl_parser
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minor comment fixes

This commit is contained in:
hsu 2009-12-28 22:13:36 +00:00
parent 9a5537a016
commit da22ba17d1
1 changed files with 6 additions and 4 deletions
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8
urdf/include/urdf/joint.h
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@ -94,10 +94,12 @@ public:
/// ///
/// Basic safety controller operation is as follows /// Basic safety controller operation is as follows
/// ///
/// current safety controllers will take effect on joints outside the ranges below: /// current safety controllers will take effect on joints outside the position range below:
///
/// position range: [JointSafety::soft_lower_limit + JointLimits::velocity / JointSafety::k_position, /// position range: [JointSafety::soft_lower_limit + JointLimits::velocity / JointSafety::k_position,
/// JointSafety::soft_uppper_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_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 /// else
@ -107,7 +109,7 @@ public:
/// velocity range: [velocity_limit_min + JointLimits::effort / JointSafety::k_velocity, /// velocity range: [velocity_limit_min + JointLimits::effort / JointSafety::k_velocity,
/// velocity_limit_max - 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_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 /// else