From 8709364a018a32f2c3ac863a07c31bd465da008b Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Tue, 14 Sep 2021 10:14:32 -0500 Subject: [PATCH] Rename function parameter Signed-off-by: Addisu Z. Taddese --- include/ignition/physics/Joint.hh | 11 +++++------ include/ignition/physics/detail/Joint.hh | 4 ++-- 2 files changed, 7 insertions(+), 8 deletions(-) diff --git a/include/ignition/physics/Joint.hh b/include/ignition/physics/Joint.hh index 348b4b267..ca5f72acb 100644 --- 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 index 0d9161ecd..58688a0fb 100644 --- a/include/ignition/physics/detail/Joint.hh +++ b/include/ignition/physics/detail/Joint.hh @@ -180,7 +180,7 @@ namespace ignition ///////////////////////////////////////////////// template auto GetJointTransmittedWrench::Joint:: - 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(), RelativeWrench(this->GetFrameID(), this->GetTransmittedWrench()), - _referenceFrame, _inCoordinatesOf); + _relativeTo, _inCoordinatesOf); } } }