From 81a6d4f4cca1bb0aceffcc48d71fe2edfc68512f Mon Sep 17 00:00:00 2001 From: wmayer Date: Tue, 27 Sep 2016 19:26:45 +0200 Subject: [PATCH] fix some typos --- src/Mod/Mesh/App/Mesh.cpp | 2 +- src/Mod/MeshPart/App/MeshAlgos.cpp | 2 +- src/Mod/PartDesign/App/FeaturePrimitive.cpp | 2 +- src/Mod/Robot/App/Robot6Axis.cpp | 76 ++++++++++----------- src/Mod/Robot/App/kdl_cp/frames_io.hpp | 2 +- 5 files changed, 42 insertions(+), 42 deletions(-) diff --git a/src/Mod/Mesh/App/Mesh.cpp b/src/Mod/Mesh/App/Mesh.cpp index 7e33a8020..7c6e3d3f2 100644 --- a/src/Mod/Mesh/App/Mesh.cpp +++ b/src/Mod/Mesh/App/Mesh.cpp @@ -851,7 +851,7 @@ void MeshObject::offsetSpecial2(float fSize) } } - // if there no flipped triangels -> stop + // if there are no flipped triangles -> stop //int f =fliped.size(); if (fliped.size() == 0) break; diff --git a/src/Mod/MeshPart/App/MeshAlgos.cpp b/src/Mod/MeshPart/App/MeshAlgos.cpp index 5e98b7cbf..58a17f911 100644 --- a/src/Mod/MeshPart/App/MeshAlgos.cpp +++ b/src/Mod/MeshPart/App/MeshAlgos.cpp @@ -98,7 +98,7 @@ void MeshAlgos::offsetSpecial2(MeshCore::MeshKernel* Mesh, float fSize) } } - // if there no flipped triangels -> stop + // if there are no flipped triangles -> stop //int f =fliped.size(); if(fliped.size() == 0) break; diff --git a/src/Mod/PartDesign/App/FeaturePrimitive.cpp b/src/Mod/PartDesign/App/FeaturePrimitive.cpp index c00fe462e..91f0174f9 100644 --- a/src/Mod/PartDesign/App/FeaturePrimitive.cpp +++ b/src/Mod/PartDesign/App/FeaturePrimitive.cpp @@ -215,7 +215,7 @@ PROPERTY_SOURCE(PartDesign::Cylinder, PartDesign::FeaturePrimitive) Cylinder::Cylinder() { ADD_PROPERTY_TYPE(Radius,(10.0f),"Cylinder",App::Prop_None,"The radius of the cylinder"); - ADD_PROPERTY_TYPE(Angle,(360.0f),"Cylinder",App::Prop_None,"The closing angel of the cylinder "); + ADD_PROPERTY_TYPE(Angle,(360.0f),"Cylinder",App::Prop_None,"The closing angle of the cylinder "); ADD_PROPERTY_TYPE(Height,(10.0f),"Cylinder",App::Prop_None,"The height of the cylinder"); Angle.setConstraints(&angleRangeU); Radius.setConstraints(&quantityRange); diff --git a/src/Mod/Robot/App/Robot6Axis.cpp b/src/Mod/Robot/App/Robot6Axis.cpp index 3d3e7257c..4de8b71fc 100644 --- a/src/Mod/Robot/App/Robot6Axis.cpp +++ b/src/Mod/Robot/App/Robot6Axis.cpp @@ -33,11 +33,11 @@ #include "kdl_cp/chainfksolver.hpp" #include "kdl_cp/chainfksolverpos_recursive.hpp" #include "kdl_cp/frames_io.hpp" -#include "kdl_cp/chainiksolver.hpp" -#include "kdl_cp/chainiksolvervel_pinv.hpp" -#include "kdl_cp/chainjnttojacsolver.hpp" -#include "kdl_cp/chainiksolverpos_nr.hpp" -#include "kdl_cp/chainiksolverpos_nr_jl.hpp" +#include "kdl_cp/chainiksolver.hpp" +#include "kdl_cp/chainiksolvervel_pinv.hpp" +#include "kdl_cp/chainjnttojacsolver.hpp" +#include "kdl_cp/chainiksolverpos_nr.hpp" +#include "kdl_cp/chainiksolverpos_nr_jl.hpp" #include "Robot6Axis.h" #include "RobotAlgos.h" @@ -53,28 +53,28 @@ using namespace Robot; using namespace Base; using namespace KDL; - -// some default roboter - -AxisDefinition KukaIR500[6] = { -// a ,alpha ,d ,theta ,rotDir ,maxAngle ,minAngle ,AxisVelocity - {500 ,-90 ,1045 ,0 , -1 ,+185 ,-185 ,156 }, // Axis 1 - {1300 ,0 ,0 ,0 , 1 ,+35 ,-155 ,156 }, // Axis 2 - {55 ,+90 ,0 ,-90 , 1 ,+154 ,-130 ,156 }, // Axis 3 - {0 ,-90 ,-1025,0 , 1 ,+350 ,-350 ,330 }, // Axis 4 - {0 ,+90 ,0 ,0 , 1 ,+130 ,-130 ,330 }, // Axis 5 - {0 ,+180 ,-300 ,0 , 1 ,+350 ,-350 ,615 } // Axis 6 -}; - + +// some default roboter + +AxisDefinition KukaIR500[6] = { +// a ,alpha ,d ,theta ,rotDir ,maxAngle ,minAngle ,AxisVelocity + {500 ,-90 ,1045 ,0 , -1 ,+185 ,-185 ,156 }, // Axis 1 + {1300 ,0 ,0 ,0 , 1 ,+35 ,-155 ,156 }, // Axis 2 + {55 ,+90 ,0 ,-90 , 1 ,+154 ,-130 ,156 }, // Axis 3 + {0 ,-90 ,-1025,0 , 1 ,+350 ,-350 ,330 }, // Axis 4 + {0 ,+90 ,0 ,0 , 1 ,+130 ,-130 ,330 }, // Axis 5 + {0 ,+180 ,-300 ,0 , 1 ,+350 ,-350 ,615 } // Axis 6 +}; + TYPESYSTEM_SOURCE(Robot::Robot6Axis , Base::Persistence); Robot6Axis::Robot6Axis() { - // create joint array for the min and max angel values of each joint - Min = JntArray(6); - Max = JntArray(6); - + // create joint array for the min and max angle values of each joint + Min = JntArray(6); + Max = JntArray(6); + // Create joint array Actuall = JntArray(6); @@ -89,21 +89,21 @@ Robot6Axis::~Robot6Axis() void Robot6Axis::setKinematic(const AxisDefinition KinDef[6]) { - Chain temp; - - - for(int i=0 ; i<6 ;i++){ - temp.addSegment(Segment(Joint(Joint::RotZ),Frame::DH(KinDef[i].a ,KinDef[i].alpha * (M_PI/180) ,KinDef[i].d ,KinDef[i].theta * (M_PI/180) ))); - RotDir [i] = KinDef[i].rotDir; - Max(i) = KinDef[i].maxAngle * (M_PI/180); - Min(i) = KinDef[i].minAngle * (M_PI/180); - Velocity[i] = KinDef[i].velocity; - } - - // for now and testing - Kinematic = temp; - - // get the actuall TCP out of tha axis + Chain temp; + + + for(int i=0 ; i<6 ;i++){ + temp.addSegment(Segment(Joint(Joint::RotZ),Frame::DH(KinDef[i].a ,KinDef[i].alpha * (M_PI/180) ,KinDef[i].d ,KinDef[i].theta * (M_PI/180) ))); + RotDir [i] = KinDef[i].rotDir; + Max(i) = KinDef[i].maxAngle * (M_PI/180); + Min(i) = KinDef[i].minAngle * (M_PI/180); + Velocity[i] = KinDef[i].velocity; + } + + // for now and testing + Kinematic = temp; + + // get the actuall TCP out of tha axis calcTcp(); } @@ -208,7 +208,7 @@ void Robot6Axis::Restore(XMLReader &reader) reader.getAttributeAsFloat("Q1"), reader.getAttributeAsFloat("Q2"), reader.getAttributeAsFloat("Q3"))); - Temp.addSegment(Segment(Joint(Joint::RotZ),toFrame(Tip))); + Temp.addSegment(Segment(Joint(Joint::RotZ),toFrame(Tip))); if(reader.hasAttribute("rotDir")) diff --git a/src/Mod/Robot/App/kdl_cp/frames_io.hpp b/src/Mod/Robot/App/kdl_cp/frames_io.hpp index a358d2738..1138d8a10 100644 --- a/src/Mod/Robot/App/kdl_cp/frames_io.hpp +++ b/src/Mod/Robot/App/kdl_cp/frames_io.hpp @@ -53,7 +53,7 @@ // 2) EulerZYX,EulerZYZ,RPY word followed by a vector, e.g. : // Eulerzyx[10,20,30] // (ANGLES are always expressed in DEGREES for I/O) -// (ANGELS are always expressed in RADIANS for internal representation) +// (ANGLES are always expressed in RADIANS for internal representation) // 3) Rot [1,2,3] [20] Rotates around axis [1,2,3] with an angle // of 20 degrees. // 4) Identity returns identity rotation matrix.