From 28ee781a9cb364606ec986100072a1473c8acd84 Mon Sep 17 00:00:00 2001 From: Davide Date: Fri, 20 Sep 2024 16:29:03 +0200 Subject: [PATCH] fix comments --- .../include/BiomechanicalAnalysis/IK/InverseKinematics.h | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/src/IK/include/BiomechanicalAnalysis/IK/InverseKinematics.h b/src/IK/include/BiomechanicalAnalysis/IK/InverseKinematics.h index 24f8856..e84e140 100644 --- a/src/IK/include/BiomechanicalAnalysis/IK/InverseKinematics.h +++ b/src/IK/include/BiomechanicalAnalysis/IK/InverseKinematics.h @@ -133,9 +133,8 @@ class HumanIK { std::shared_ptr task; int nodeNumber; - manif::SO3d IMU_R_link; // Rotation matrix from the IMU to related link, set through config - // file - manif::SO3d IMU_R_link_init; // Rotation matrix from the IMU to related link, set through config + manif::SO3d IMU_R_link; // Rotation matrix from the IMU to related link + manif::SO3d IMU_R_link_init; // Initial value of the rotation matrix from the IMU to related link, set through config // file manif::SO3d calibrationMatrix = manif::SO3d::Identity(); // Initialization (to Identity) of // Rotation matrix from the World @@ -153,8 +152,8 @@ class HumanIK struct GravityTaskStruct { std::shared_ptr task; - manif::SO3d IMU_R_link; - manif::SO3d IMU_R_link_init; // Rotation matrix from the IMU to related link, set through config + manif::SO3d IMU_R_link; // Rotation matrix from the IMU to related link + manif::SO3d IMU_R_link_init; // Initial value of the rotation matrix from the IMU to related link, set through config // file manif::SO3d calibrationMatrix = manif::SO3d::Identity(); Eigen::Vector2d weight;