Fix doc string OrientationConstraint (moveit#1793)

Implementation uses XYZ Euler angles (RPY), but documentation said ZXZ.
v4hn · Mar 31, 2020 · 107b172 · 107b172
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commit 107b172
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...it_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h b/...it_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
@@ -340,7 +340,7 @@ MOVEIT_CLASS_FORWARD(OrientationConstraint);
  * This class expresses an orientation constraint on a particular
  * link.  The constraint is specified in terms of a quaternion, with
  * tolerances on X,Y, and Z axes.  The rotation difference is computed
- * based on the ZXZ Euler angle formulation.  The header on the
+ * based on the XYZ Euler angle formulation (intrinsic rotations).  The header on the
  * quaternion can be specified in terms of either a fixed frame or a
  * mobile frame.  The type value will return ORIENTATION_CONSTRAINT.
  *