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Fix typo in rbda.rst #145

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Apr 29, 2024
Merged

Fix typo in rbda.rst #145

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6ca77d4
Fix typo in rbda.rst
xela-95 Apr 29, 2024
044fb56
Fix latex math in docstrings
flferretti Apr 29, 2024
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2 changes: 1 addition & 1 deletion docs/modules/rbda.rst
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Expand Up @@ -34,7 +34,7 @@ Composite Rigid Body Algorithm
.. automodule:: jaxsim.rbda.crba
:members:

Forward Kinetmatics
Forward Kinematics
~~~~~~~~~~~~~~~~~~~

.. automodule:: jaxsim.rbda.forward_kinematics
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4 changes: 2 additions & 2 deletions src/jaxsim/api/data.py
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Expand Up @@ -417,7 +417,7 @@ def base_velocity(self) -> jtp.Vector:
def generalized_position(self) -> tuple[jtp.Matrix, jtp.Vector]:
r"""
Get the generalized position
:math:`\\mathbf{q} = ({}^W \\mathbf{H}_B, \\mathbf{s}) \\in \text{SO}(3) \times \\mathbb{R}^n`.
:math:`\mathbf{q} = ({}^W \mathbf{H}_B, \mathbf{s}) \in \text{SO}(3) \times \mathbb{R}^n`.

Returns:
A tuple containing the base transform and the joint positions.
Expand All @@ -429,7 +429,7 @@ def generalized_position(self) -> tuple[jtp.Matrix, jtp.Vector]:
def generalized_velocity(self) -> jtp.Vector:
r"""
Get the generalized velocity
:math:`\boldsymbol{\nu} = (\boldsymbol{v}_{W,B};\\, \boldsymbol{\\omega}_{W,B};\\, \\mathbf{s}) \\in \\mathbb{R}^{6+n}`
:math:`\boldsymbol{\nu} = (\boldsymbol{v}_{W,B};\, \boldsymbol{\omega}_{W,B};\, \mathbf{s}) \in \mathbb{R}^{6+n}`

Returns:
The generalized velocity in the active representation.
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