WIP: Correct use of "associated to"

See https://english.stackexchange.com/questions/78403/acceptable-uses-for-associated-with-or-associated-to#78404

CMakeLists.txt

@@ -68,7 +68,7 @@ ENDIF()
 OPTION(BUILD_BENCHMARK "Build the benchmarks" OFF)
 OPTION(BUILD_UTILS "Build the utils" OFF)
 OPTION(BUILD_PYTHON_INTERFACE "Build the Python bindings" ON)
-option(GENERATE_PYTHON_STUBS "Generate the Python stubs associated to the Python library" OFF)
+option(GENERATE_PYTHON_STUBS "Generate the Python stubs associated with the Python library" OFF)
 OPTION(BUILD_WITH_COMMIT_VERSION "Build libraries by setting specific commit version" OFF)
 
 IF(DEFINED BUILD_UNIT_TESTS)

bindings/python/algorithm/expose-jacobian.cpp

@@ -85,7 +85,7 @@ namespace pinocchio
               "Computes the jacobian of a given given joint according to the given entries in data.\n"
               "If reference_frame is set to LOCAL, it returns the Jacobian expressed in the local coordinate system of the joint.\n"
               "If reference_frame is set to LOCAL_WORLD_ALIGNED, it returns the Jacobian expressed in the coordinate system of the frame centered on the joint, but aligned with the WORLD axes.\n"
-              "If reference_frame is set to WORLD, it returns the Jacobian expressed in the coordinate system of the frame associated to the WORLD.\n\n"
+              "If reference_frame is set to WORLD, it returns the Jacobian expressed in the coordinate system of the frame corresponding to the WORLD.\n\n"
               "Parameters:\n"
               "\tmodel: model of the kinematic tree\n"
               "\tdata: data related to the model\n"
@@ -109,7 +109,7 @@ namespace pinocchio
               "You have to call computeJointJacobiansTimeVariation first. This function also computes the full model Jacobian contained in data.J.\n"
               "If reference_frame is set to LOCAL, it returns the Jacobian expressed in the local coordinate system of the joint.\n"
               "If reference_frame is set to LOCAL_WORLD_ALIGNED, it returns the Jacobian expressed in the coordinate system of the frame centered on the joint, but aligned with the WORLD axes.\n"
-              "If reference_frame is set to WORLD, it returns the Jacobian expressed in the coordinate system of the frame associated to the WORLD.\n\n"
+              "If reference_frame is set to WORLD, it returns the Jacobian expressed in the coordinate system of the frame corresponding to the WORLD.\n\n"
               "Parameters:\n"
               "\tmodel: model of the kinematic tree\n"
               "\tdata: data related to the model\n"

bindings/python/algorithm/expose-joints.cpp

@@ -212,7 +212,7 @@ namespace pinocchio
       bp::def("neutral",
               &neutral<double,0,JointCollectionDefaultTpl>,
               bp::arg("model"),
-              "Returns the neutral configuration vector associated to the model.\n\n"
+              "Returns the neutral configuration vector corresponding to the model.\n\n"
               "Parameters:\n"
               "\tmodel: model of the kinematic tree\n");
 

doc/a-features/intro.md

@@ -51,7 +51,7 @@ Python.
 
 Within a model, a robot is represented as a kinematic tree, containing a
 collection of all the joints, information about their connectivity, and,
-optionally, the inertial quantities associated to each link. In
+optionally, the inertial quantities corresponding to each link. In
 Pinocchio a joint can have one or several degrees of freedom, and it
 belongs to one of the following categories:
 - **Revolute** joints, rotating around a fixed axis, either one of \f$X,Y,Z\f$ or a custom one;
@@ -85,7 +85,7 @@ operators.
 
 Aside the kinematic model, Pinocchio defines a geometric model, i.e. the
 volumes attached to the kinematic tree. This model can be used for
-displaying the robot and computing quantities associated to collisions.
+displaying the robot and computing quantities for collisions.
 Like the kinematic model, the fixed quantities (placement and shape of
 the volumes) are stored in a *GeometricModel* object, while buffers and
 quantities used by associated algorithms are defined in a object. The

doc/d-practical-exercises/1-directgeom.md

@@ -242,7 +242,7 @@ You can access the visual object composing the robot model by
 
 ```py
 visualObj = robot.visual_model.geometryObjects[4]  # 3D object representing the robot forarm
-visualName = visualObj.name                        # Name associated to this object
+visualName = visualObj.name                        # Name corresponding to this object
 visualRef = robot.getViewerNodeName(visualObj, pin.GeometryType.VISUAL)    # Viewer reference (string) representing this object
 ```
 

doc/d-practical-exercises/src/graph.py

@@ -1,7 +1,7 @@
 class Graph(object):
     def __init__(self):
         self.children = {}    # dictionnary giving the list of childrens for each node.
-        self.q = []           # configuration associated to each node.
+        self.q = []           # configuration associated with each node.
         self.connex = []      # ID of the connex component the node is belonging to.
         self.nconnex = 0      # number of connex components.
         self.existing_connex = [] # List of existing connex component ID.

examples/collisions.cpp

@@ -25,18 +25,18 @@ int main(int /*argc*/, char ** /*argv*/)
   Model model;
   pinocchio::urdf::buildModel(urdf_filename,model);
 
-  // Build the data associated to the model
+  // Build the data corresponding to the model
   Data data(model);
 
-  // Load the geometries associated to model which are contained in the URDF file
+  // Load the geometries associated with model which are contained in the URDF file
   GeometryModel geom_model;
   pinocchio::urdf::buildGeom(model, urdf_filename, pinocchio::COLLISION, geom_model, robots_model_path);
 
   // Add all possible collision pairs and remove the ones collected in the SRDF file
   geom_model.addAllCollisionPairs();
   pinocchio::srdf::removeCollisionPairs(model, geom_model, srdf_filename);
 
-  // Build the data associated to the geom_model
+  // Build the data associated with the geometry model
   GeometryData geom_data(geom_model); // contained the intermediate computations, like the placement of all the geometries with respect to the world frame
 
   // Load the reference configuration of the robots (this one should be collision free)

include/pinocchio/algorithm/kinematics.hpp

@@ -84,8 +84,8 @@ namespace pinocchio
    * @brief      Returns the spatial velocity of the joint expressed in the desired reference frame.
    *             You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure.
    *
-   * @param[in] model     The kinematic model
-   * @param[in] data      Data associated to model
+   * @param[in] model     Kinematic model
+   * @param[in] data      Data associated with the model
    * @param[in] jointId   Id of the joint
    * @param[in] rf        Reference frame in which the velocity is expressed.
    *

include/pinocchio/multibody/data.hpp

@@ -84,7 +84,7 @@ namespace pinocchio
     /// \brief The type of Tensor for Kinematics and Dynamics second order derivatives
     typedef Tensor<Scalar,3,Options> Tensor3x;
 
-    /// \brief Vector of pinocchio::JointData associated to the pinocchio::JointModel stored in model, 
+    /// \brief Vector of pinocchio::JointData corresponding to the pinocchio::JointModel stored in model, 
     /// encapsulated in JointDataAccessor.
     JointDataVector joints;
 
@@ -131,7 +131,7 @@ namespace pinocchio
 
     /// \brief Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects.
     /// \note  In the multibody dynamics equation \f$ M\ddot{q} + b(q, \dot{q}) = \tau \f$,
-    ///        the non linear effects are associated to the term \f$b\f$.
+    ///        the non linear effects correspond to the term \f$b\f$.
     VectorXs nle;
 
     /// \brief Vector of generalized gravity (dim model.nv).

include/pinocchio/parsers/srdf.hpp

@@ -43,7 +43,7 @@ namespace pinocchio
                                      const bool verbose = false);
 
     ///
-    /// \brief Get the reference configurations of a given model associated to a SRDF file.
+    /// \brief Get the reference configurations of a given model loaded from an SRDF file.
     ///        It throws if the SRDF file is incorrect. The reference configurations are
     ///        saved in a map indexed by the configuration name (model.referenceConfigurations).
     ///
@@ -58,7 +58,7 @@ namespace pinocchio
                                 const bool verbose = false);
 
     ///
-    /// \brief Get the reference configurations of a given model associated to a SRDF file.
+    /// \brief Get the reference configurations of a given model loaded from an SRDF file.
     ///        It throws if the SRDF file is incorrect. The reference configurations are
     ///        saved in a map indexed by the configuration name (model.referenceConfigurations).
     ///
@@ -73,7 +73,7 @@ namespace pinocchio
                                        const bool verbose = false);
 
     ///
-    /// \brief Load the rotor params of a given model associated to a SRDF file.
+    /// \brief Load the rotor params of a given model loaded from an SRDF file.
     ///        It throws if the SRDF file is incorrect.
     ///
     /// \param[in] model The Model for which we want the rotor parmeters