diff --git a/CMakeLists.txt b/CMakeLists.txt index 5ef06eb8d1..e8df5e8f5a 100644 --- a/CMakeLists.txt +++ b/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) diff --git a/bindings/python/algorithm/expose-jacobian.cpp b/bindings/python/algorithm/expose-jacobian.cpp index a47ed4e43a..7a4150ae14 100644 --- a/bindings/python/algorithm/expose-jacobian.cpp +++ b/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" diff --git a/bindings/python/algorithm/expose-joints.cpp b/bindings/python/algorithm/expose-joints.cpp index 6273d7a218..74e6fcfae6 100644 --- a/bindings/python/algorithm/expose-joints.cpp +++ b/bindings/python/algorithm/expose-joints.cpp @@ -212,7 +212,7 @@ namespace pinocchio bp::def("neutral", &neutral, 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"); diff --git a/doc/a-features/intro.md b/doc/a-features/intro.md index 7be9cdfeeb..92915d345f 100644 --- a/doc/a-features/intro.md +++ b/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 diff --git a/doc/d-practical-exercises/1-directgeom.md b/doc/d-practical-exercises/1-directgeom.md index 7e4955f2ca..844c6a29dd 100644 --- a/doc/d-practical-exercises/1-directgeom.md +++ b/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 ``` diff --git a/doc/d-practical-exercises/src/graph.py b/doc/d-practical-exercises/src/graph.py index f7ce9e97b9..681e0dc497 100644 --- a/doc/d-practical-exercises/src/graph.py +++ b/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. diff --git a/examples/collisions.cpp b/examples/collisions.cpp index ea87f99ed8..2dcf352901 100644 --- a/examples/collisions.cpp +++ b/examples/collisions.cpp @@ -25,10 +25,10 @@ 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); @@ -36,7 +36,7 @@ int main(int /*argc*/, char ** /*argv*/) 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) diff --git a/include/pinocchio/algorithm/kinematics.hpp b/include/pinocchio/algorithm/kinematics.hpp index d4201ac206..1b3b342c55 100644 --- a/include/pinocchio/algorithm/kinematics.hpp +++ b/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. * diff --git a/include/pinocchio/multibody/data.hpp b/include/pinocchio/multibody/data.hpp index b1a5da156c..62f89f84e1 100644 --- a/include/pinocchio/multibody/data.hpp +++ b/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 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). diff --git a/include/pinocchio/parsers/srdf.hpp b/include/pinocchio/parsers/srdf.hpp index 67e6200067..416be84fe1 100644 --- a/include/pinocchio/parsers/srdf.hpp +++ b/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