From 6d3b3368b75aaae5e74a25901995682dc02403bc Mon Sep 17 00:00:00 2001
From: Uwe <donovaly@users.noreply.github.com>
Date: Fri, 1 Jul 2022 03:38:54 +0200
Subject: [PATCH] [Robot] fix typo in function name

- just to please the spellchecker CI
---
 src/Mod/Robot/App/Robot6Axis.cpp | 16 ++++++++--------
 src/Mod/Robot/App/Robot6Axis.h   |  2 +-
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/Mod/Robot/App/Robot6Axis.cpp b/src/Mod/Robot/App/Robot6Axis.cpp
index 96f7b7aab4..f54a4ce4d2 100644
--- a/src/Mod/Robot/App/Robot6Axis.cpp
+++ b/src/Mod/Robot/App/Robot6Axis.cpp
@@ -76,7 +76,7 @@ Robot6Axis::Robot6Axis()
     Max = JntArray(6);
 
     // Create joint array
-    Actuall = JntArray(6);
+    Actual = JntArray(6);
 
     // set to default kuka 500
     setKinematic(KukaIR500);
@@ -187,7 +187,7 @@ void Robot6Axis::Save (Writer &writer) const
                         << "maxAngle=\""    <<  Max(i)*(180.0/M_PI)  << "\" "
                         << "minAngle=\""    <<  Min(i)*(180.0/M_PI)  << "\" "
                         << "AxisVelocity=\""<<  Velocity[i]          << "\" "
-                        << "Pos=\""         <<  Actuall(i)           << "\"/>"
+                        << "Pos=\""         <<  Actual(i)           << "\"/>"
                         << std::endl;
     }
 }
@@ -222,7 +222,7 @@ void Robot6Axis::Restore(XMLReader &reader)
             Velocity[i] = reader.getAttributeAsFloat("AxisVelocity");
         else
             Velocity[i] = 156.0;
-        Actuall(i) = reader.getAttributeAsFloat("Pos");
+        Actual(i) = reader.getAttributeAsFloat("Pos");
     }
     Kinematic = Temp;
 
@@ -243,11 +243,11 @@ bool Robot6Axis::setTo(const Placement &To)
     Frame F_dest = Frame(KDL::Rotation::Quaternion(To.getRotation()[0],To.getRotation()[1],To.getRotation()[2],To.getRotation()[3]),KDL::Vector(To.getPosition()[0],To.getPosition()[1],To.getPosition()[2]));
 
     // solve
-    if (iksolver1.CartToJnt(Actuall,F_dest,result) < 0) {
+    if (iksolver1.CartToJnt(Actual,F_dest,result) < 0) {
         return false;
     }
     else {
-        Actuall = result;
+        Actual = result;
         Tcp = F_dest;
         return true;
     }
@@ -270,7 +270,7 @@ bool Robot6Axis::calcTcp(void)
  
     // Calculate forward position kinematics
     int kinematics_status;
-    kinematics_status = fksolver.JntToCart(Actuall,cartpos);
+    kinematics_status = fksolver.JntToCart(Actual,cartpos);
     if (kinematics_status>=0) {
         Tcp = cartpos;
         return true;
@@ -282,11 +282,11 @@ bool Robot6Axis::calcTcp(void)
 
 bool Robot6Axis::setAxis(int Axis,double Value)
 {
-    Actuall(Axis) = RotDir[Axis] * Value * (M_PI/180); // degree to radiants
+    Actual(Axis) = RotDir[Axis] * Value * (M_PI/180); // degree to radiants
     return calcTcp();
 }
 
 double Robot6Axis::getAxis(int Axis)
 {
-    return RotDir[Axis] * (Actuall(Axis)/(M_PI/180)); // radian to degree
+    return RotDir[Axis] * (Actual(Axis)/(M_PI/180)); // radian to degree
 }
diff --git a/src/Mod/Robot/App/Robot6Axis.h b/src/Mod/Robot/App/Robot6Axis.h
index e69633ae8b..55bdc05026 100644
--- a/src/Mod/Robot/App/Robot6Axis.h
+++ b/src/Mod/Robot/App/Robot6Axis.h
@@ -83,7 +83,7 @@ public:
 
 protected:
     KDL::Chain Kinematic;
-    KDL::JntArray Actuall;
+    KDL::JntArray Actual;
     KDL::JntArray Min;
     KDL::JntArray Max;
     KDL::Frame Tcp;