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Co-authored-by: Mario Prats <[email protected]>
moveit · Jun 6, 2024 · e56e5d5 · e56e5d5
1 parent 6552aa3
commit e56e5d5
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h b/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h
@@ -587,7 +587,7 @@ class JointModelGroup
                                    std::vector<size_t>& joint_bijection) const;
 
   /**
-   * @brief Get the lower and upper position limits of a given joint group.
+   * @brief Get the lower and upper position limits of all active variables in the group.
    *
    * @return std::pair<Eigen::VectorXd, Eigen::VectorXd> Containing the joint limits
    */
@@ -596,7 +596,7 @@ class JointModelGroup
   /**
    * @brief Gets the pair of maximum joint velocities/accelerations for a given group. Asserts that the group contains
    * only single-variable joints,
-   *
+   * @details In case of asymmetric velocity or acceleration limits, this function will return the most limiting component.
    * @return std::pair<Eigen::VectorXd, Eigen::VectorXd> Containing the velocity and acceleration limits
    */
   [[nodiscard]] std::pair<Eigen::VectorXd, Eigen::VectorXd> getMaxVelocitiesAndAccelerationBounds() const;

diff --git a/moveit_core/robot_model/src/joint_model_group.cpp b/moveit_core/robot_model/src/joint_model_group.cpp
@@ -858,7 +858,7 @@ std::pair<Eigen::VectorXd, Eigen::VectorXd> JointModelGroup::getMaxVelocitiesAnd
   {
     // TODO(sjahr) Support multiple variables
     RCLCPP_ERROR(getLogger(), "Number of active joint models does not match number of active joint model bounds. "
-                              "Returning bound vectors.with zeros");
+                              "Returning bound vectors with zeros");
     return { max_joint_velocities, max_joint_accelerations };
   }
   for (std::size_t i = 0; i < active_joint_models_bounds_.size(); ++i)