From a6838ae5596a51685bcafd3359adf40e3a87f789 Mon Sep 17 00:00:00 2001 From: Masayuki Inaba Date: Tue, 18 Apr 2023 07:30:03 +0900 Subject: [PATCH] update comment in :joint-dof definition --- irteus/irtmodel.l | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/irteus/irtmodel.l b/irteus/irtmodel.l index a02bbee2..4b58b335 100644 --- a/irteus/irtmodel.l +++ b/irteus/irtmodel.l @@ -348,7 +348,7 @@ (send child-link :rotate (deg2rad relang) :z) ) joint-angle)) - (:joint-dof () "Returns DOF of linear joint, 2." 2) + (:joint-dof () "Returns DOF of wheel joint, 2." 2) (:calc-angle-speed-gain (dav i periodic-time) (calc-angle-speed-gain-vector self dav i periodic-time)) (:speed-to-angle (dv) "Returns [mm/deg] of given input in SI unit [m/rad]" (float-vector (* 1000 (elt dv 0)) @@ -406,7 +406,7 @@ (send child-link :translate (float-vector (elt joint-angle 0) (elt joint-angle 1) 0)) (send child-link :rotate (deg2rad (elt joint-angle 2)) :z)) joint-angle) - (:joint-dof () "Returns DOF of linear joint, 3." 3) + (:joint-dof () "Returns DOF of omniwheel joint, 3." 3) (:calc-angle-speed-gain (dav i periodic-time) (calc-angle-speed-gain-vector self dav i periodic-time)) (:speed-to-angle (dv) "Returns [mm/deg] of given input in SI unit [m/rad]" (float-vector (* 1000 (elt dv 0)) @@ -499,7 +499,7 @@ (map float-vector #'deg2rad v)))) (send self :joint-angle (map cons #'rad2deg (matrix-log (rpy-matrix (elt ja 0) (elt ja 1) (elt ja 2))))))) (map float-vector #'rad2deg (car (rpy-angle (matrix-exponent (map float-vector #'deg2rad joint-angle)))))) - (:joint-dof () "Returns DOF of linear joint, 3." 3) + (:joint-dof () "Returns DOF of sphere joint, 3." 3) (:calc-angle-speed-gain (dav i periodic-time) (calc-angle-speed-gain-vector self dav i periodic-time)) (:speed-to-angle (dv) "Returns degree of given input in radian" (float-vector (rad2deg (elt dv 0)) @@ -657,7 +657,7 @@ (concatenate float-vector (subseq joint-angle 0 3) (map float-vector #'rad2deg (car (rpy-angle (matrix-exponent (map float-vector #'deg2rad (subseq joint-angle 3 6)))))))) - (:joint-dof () "Returns DOF of linear joint, 6." 6) + (:joint-dof () "Returns DOF of 6dof joint, 6." 6) (:calc-angle-speed-gain (dav i periodic-time) (calc-angle-speed-gain-vector self dav i periodic-time)) (:speed-to-angle (dv) "Returns [mm/deg] of given input in SI unit [m/rad]" (float-vector (* 1000 (elt dv 0))