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upstream orocos_kinematics_dynamics typos

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These are downstream fixes that I submitted upstream . They were merged in 35aeab5f8e 
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2017-10-09 07:05:57 -04:00
committed by luzpaz
parent 2ddbc6e482
commit f3912f60b9
1 changed files with 6 additions and 6 deletions
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12
src/Mod/Robot/App/kdl_cp/utilities/svd_eigen_Macie.hpp
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@@ -52,13 +52,13 @@ namespace KDL
* \param V [INPUT/OUTPUT] is an \f$n \times n\f$ orthonormal matrix.
* \param B [TEMPORARY] is an \f$m \times n\f$ matrix used for temporary storage.
* \param tempi [TEMPORARY] is an \f$m\f$ vector used for temporary storage.
* \param thresshold [INPUT] Thresshold to determine orthogonality.
* \param threshold [INPUT] Threshold to determine orthogonality.
* \param toggle [INPUT] toggle this boolean variable on each call of this routine.
* \return number of sweeps.
*/
int svd_eigen_Macie(const MatrixXd& A,MatrixXd& U,VectorXd& S, MatrixXd& V,
MatrixXd& B, VectorXd& tempi,
double treshold,bool toggle)
double threshold,bool toggle)
{
bool rotate = true;
unsigned int sweeps=0;
@@ -79,8 +79,8 @@ namespace KDL
double q=qi-qj;
double alpha = pow(p,2.0)/(qi*qj);
//if columns are orthogonal with precision
//treshold, don't perform rotation and continue
if(alpha<treshold)
//threshold, don't perform rotation and continue
if(alpha<threshold)
continue;
rotations++;
double c = sqrt(4*pow(p,2.0)+pow(q,2.0));
@@ -144,9 +144,9 @@ namespace KDL
double q=qi-qj;
double alpha = pow(p,2.0)/(qi*qj);
//if columns are orthogonal with precision
//treshold, don't perform rotation and
//threshold, don't perform rotation and
//continue
if(alpha<treshold)
if(alpha<threshold)
continue;
rotations++;
double c = sqrt(4*pow(p,2.0)+pow(q,2.0));