From 4458dc76e8a035aa4a94333b6067b20c990094e9 Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Tue, 26 Mar 2024 18:42:42 +0100 Subject: [PATCH] Uniform documentation of isFakeLink --- src/model/src/ModelTransformers.cpp | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/src/model/src/ModelTransformers.cpp b/src/model/src/ModelTransformers.cpp index cb9501853f..06bb575717 100644 --- a/src/model/src/ModelTransformers.cpp +++ b/src/model/src/ModelTransformers.cpp @@ -21,12 +21,10 @@ namespace iDynTree { /** - * Check the condition for deciding if a model has a fake base link. - * The three conditions for a base link to be considered "fake" are: - * * if the base link is massless, - * * if the base link has only one child, - * * if the base link is attached to its only child with a fixed joint, - * + * The condition for a link to be classified as "fake link" are: + * * The link has a zero mass. + * * The link is a leaf, i.e. it is connected to only one neighbor. + * * The link is connected to its only neighbor with a fixed joint. */ bool isFakeLink(const Model& modelWithFakeLinks, const LinkIndex linkToCheck) {