Merge pull request #163 from luzpaz/trivial-typos

trivial typo fixes
orocos · Oct 30, 2018 · 3d06d88 · 3d06d88
2 parents f51621f + 933502e
commit 3d06d88
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Showing 4 changed files with 8 additions and 9 deletions.
diff --git a/orocos_kdl/src/chainjnttojacsolver.hpp b/orocos_kdl/src/chainjnttojacsolver.hpp
@@ -47,7 +47,7 @@ namespace KDL
         /**
          * Calculate the jacobian expressed in the base frame of the
          * chain, with reference point at the end effector of the
-         * *chain. The alghoritm is similar to the one used in
+         * *chain. The algorithm is similar to the one used in
          * KDL::ChainFkSolverVel_recursive
          *
          * @param q_in input joint positions
@@ -56,7 +56,7 @@ namespace KDL
          * @return success/error code
          */
         virtual int JntToJac(const JntArray& q_in, Jacobian& jac, int segmentNR=-1);
-        
+
         /**
          *
          * @param locked_joints new values for locked joints
@@ -75,4 +75,3 @@ namespace KDL
     };
 }
 #endif
-
diff --git a/orocos_kdl/src/path_line.hpp b/orocos_kdl/src/path_line.hpp
@@ -98,7 +98,7 @@ class Path_Line : public Path
          * of the frame in which you express your path.
          * Other implementations for RotationalInterpolations COULD be
          *    (not implemented) (yet) :
-         *    1) quaternion interpolation : but this is more difficult for the human to interprete
+         *    1) quaternion interpolation : but this is more difficult for the human to interpret
          *    2) 3-axis interpolation : express the orientation of the frame in e.g.
          *       euler zyx angles alfa,beta, gamma  and interpolate these parameters.
          *       But this is dependent of the frame you choose as a reference and

diff --git a/orocos_kdl/src/utilities/error_stack.cxx b/orocos_kdl/src/utilities/error_stack.cxx
@@ -23,7 +23,7 @@
 namespace KDL {
 
 // Trace of the call stack of the I/O routines to help user
-// interprete error messages from I/O
+// interpret error messages from I/O
 typedef std::stack<std::string>  ErrorStack;
 
 // should be in Thread Local Storage if this gets multithreaded one day...

diff --git a/orocos_kdl/src/velocityprofile_spline.hpp b/orocos_kdl/src/velocityprofile_spline.hpp
@@ -16,10 +16,10 @@ class VelocityProfile_Spline : public VelocityProfile
     VelocityProfile_Spline(const VelocityProfile_Spline &p);
 
 	virtual ~VelocityProfile_Spline();
-	
+
     virtual void SetProfile(double pos1, double pos2);
     /**
-     * Generate linear interpolation coeffcients.
+     * Generate linear interpolation coefficients.
      *
      * @param pos1 begin position.
      * @param pos2 end position.
@@ -29,7 +29,7 @@ class VelocityProfile_Spline : public VelocityProfile
       double pos1, double pos2, double duration);
 
     /**
-     * Generate cubic spline interpolation coeffcients.
+     * Generate cubic spline interpolation coefficients.
      *
      * @param pos1 begin position.
      * @param vel1 begin velocity.
@@ -41,7 +41,7 @@ class VelocityProfile_Spline : public VelocityProfile
       double pos1, double vel1, double pos2, double vel2, double duration);
 
     /**
-     * Generate quintic spline interpolation coeffcients.
+     * Generate quintic spline interpolation coefficients.
      *
      * @param pos1 begin position.
      * @param vel1 begin velocity.