Rename function parameter

Signed-off-by: Addisu Z. Taddese <[email protected]>
gazebosim · Sep 15, 2021 · 8709364 · 8709364
1 parent 32f366e
commit 8709364
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Showing 2 changed files with 7 additions and 8 deletions.
diff --git a/include/ignition/physics/Joint.hh b/include/ignition/physics/Joint.hh
@@ -405,22 +405,21 @@ namespace ignition
         public: Wrench GetTransmittedWrench() const;
 
         /// \brief Get the transmitted wrench of this joint at the specified
-        /// reference frame and expressed at the specified coordinate frame.
+        /// reference frame and expressed in the specified coordinate frame.
         ///
         /// The transmitted wrench is the force and torque applied by the parent
         /// link on the child link, transmitted through the joint. It is the sum
         /// of constraint forces from the joint, applied joint force (set by the
         /// user using the Joint::SetForce API) as well as forces due to joint
         /// friction, damping, and spring stiffness.
-        /// \param[in] _referenceFrame Reference frame in which the wrench is
-        /// expressed. Note that the wrench is updated such that linear force
-        /// component is applied at the origin of this reference frame.
+        /// \param[in] _relativeTo Reference frame whose origin specifies the
+        /// location where the linear force of the wrench is applied.
         /// \param[in] _inCoordinatesOf Coordinate frame in which the wrench is
-        /// expressed. Unlike _referenceFrame, the coordinate frame is only used
+        /// expressed. Unlike _relativeTo, the coordinate frame is only used
         /// to apply a rotation to the individual vectors in the wrench. It does
         /// not move the point where the force is applied.
         public: Wrench GetTransmittedWrench(
-                    const FrameID &_referenceFrame,
+                    const FrameID &_relativeTo,
                     const FrameID &_inCoordinatesOf) const;
       };
 

diff --git a/include/ignition/physics/detail/Joint.hh b/include/ignition/physics/detail/Joint.hh
@@ -180,7 +180,7 @@ namespace ignition
     /////////////////////////////////////////////////
     template <typename PolicyT, typename FeaturesT>
     auto GetJointTransmittedWrench::Joint<PolicyT, FeaturesT>::
-    GetTransmittedWrench(const FrameID &_referenceFrame,
+    GetTransmittedWrench(const FrameID &_relativeTo,
                          const FrameID &_inCoordinatesOf) const -> Wrench
     {
       using RelativeWrench =
@@ -189,7 +189,7 @@ namespace ignition
       return detail::Resolve(
           *this->template Interface<FrameSemantics>(),
           RelativeWrench(this->GetFrameID(), this->GetTransmittedWrench()),
-          _referenceFrame, _inCoordinatesOf);
+          _relativeTo, _inCoordinatesOf);
     }
   }
 }