Merge pull request #92 from ami-iit/fix-functions-doc

Remove "mixed" from functions descriptions
ami-iit · Jun 26, 2024 · cd2ef38 · cd2ef38
2 parents b4adf10 + 0c2cd97
commit cd2ef38
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Showing 7 changed files with 29 additions and 35 deletions.
diff --git a/src/adam/jax/computations.py b/src/adam/jax/computations.py
@@ -12,9 +12,7 @@
 
 
 class KinDynComputations:
-    """This is a small class that retrieves robot quantities using Jax
-    in mixed representation, for Floating Base systems - as humanoid robots.
-    """
+    """This is a small class that retrieves robot quantities using Jax for Floating Base systems."""
 
     def __init__(
         self,
@@ -100,7 +98,7 @@ def jacobian_dot(
             frame (str): The frame to which the jacobian will be computed
             base_transform (jnp.array): The homogenous transform from base to world frame
             joint_positions (jnp.array): The joints position
-            base_velocity (jnp.array): The base velocity in mixed representation
+            base_velocity (jnp.array): The base velocity
             joint_velocities (jnp.array): The joint velocities
 
         Returns:
@@ -158,7 +156,7 @@ def bias_force(
         Args:
             base_transform (jnp.array): The homogenous transform from base to world frame
             joint_positions (jnp.array): The joints position
-            base_velocity (jnp.array): The base velocity in mixed representation
+            base_velocity (jnp.array): The base velocity
             joint_velocities (jnp.array): The joints velocity
 
         Returns:
@@ -181,7 +179,7 @@ def coriolis_term(
         Args:
             base_transform (jnp.array): The homogenous transform from base to world frame
             joint_positions (jnp.array): The joints position
-            base_velocity (jnp.array): The base velocity in mixed representation
+            base_velocity (jnp.array): The base velocity
             joint_velocities (jnp.array): The joints velocity
 
         Returns:

diff --git a/src/adam/numpy/computations.py b/src/adam/numpy/computations.py
@@ -11,9 +11,7 @@
 
 
 class KinDynComputations:
-    """This is a small class that retrieves robot quantities using NumPy
-    in mixed representation, for Floating Base systems - as humanoid robots.
-    """
+    """This is a small class that retrieves robot quantities using NumPy for Floating Base systems."""
 
     def __init__(
         self,
@@ -135,7 +133,7 @@ def jacobian_dot(
             frame (str): The frame to which the jacobian will be computed
             base_transform (np.ndarray): The homogenous transform from base to world frame
             joint_positions (np.ndarray): The joints position
-            base_velocity (np.ndarray): The base velocity in mixed representation
+            base_velocity (np.ndarray): The base velocity
             joint_velocities (np.ndarray): The joint velocities
 
         Returns:
@@ -174,7 +172,7 @@ def bias_force(
         Args:
             base_transform (np.ndarray): The homogenous transform from base to world frame
             joint_positions (np.ndarray): The joints position
-            base_velocity (np.ndarray): The base velocity in mixed representation
+            base_velocity (np.ndarray): The base velocity
             joint_velocities (np.ndarray): The joint velocities
 
         Returns:
@@ -201,7 +199,7 @@ def coriolis_term(
         Args:
             base_transform (np.ndarray): The homogenous transform from base to world frame
             joint_positions (np.ndarray): The joints position
-            base_velocity (np.ndarray): The base velocity in mixed representation
+            base_velocity (np.ndarray): The base velocity
             joint_velocities (np.ndarray): The joint velocities
 
         Returns:

diff --git a/src/adam/parametric/casadi/computations_parametric.py b/src/adam/parametric/casadi/computations_parametric.py
@@ -14,8 +14,8 @@
 
 
 class KinDynComputationsParametric:
-    """This is a small class that retrieves robot quantities represented in a symbolic fashion using CasADi
-    in mixed representation, for Floating Base systems - as humanoid robots. This is parametric w.r.t the link length and denisties
+    """This is a small class that retrieves robot quantities represented in a symbolic fashion using CasADi for Floating Base systems.
+    This is parametric w.r.t the link length and densities.
     """
 
     def __init__(

diff --git a/src/adam/parametric/jax/computations_parametric.py b/src/adam/parametric/jax/computations_parametric.py
@@ -16,8 +16,8 @@
 
 
 class KinDynComputationsParametric:
-    """This is a small class that retrieves robot quantities using Jax
-    in mixed representation, for Floating Base systems - as humanoid robots. This is parametric w.r.t the link length and denisties
+    """This is a small class that retrieves robot quantities using Jax for Floating Base systems.
+    This is parametric w.r.t the link length and densities.
     """
 
     def __init__(
@@ -166,7 +166,7 @@ def jacobian_dot(
             frame (str): The frame to which the jacobian will be computed
             base_transform (jnp.array): The homogenous transform from base to world frame
             joint_positions (jnp.array): The joints position
-            base_velocity (jnp.array): The base velocity in mixed representation
+            base_velocity (jnp.array): The base velocity
             joint_velocities (jnp.array): The joint velocities
             length_multiplier (jnp.array): The length multiplier of the parametrized links
             densities (jnp.array): The densities of the parametrized links
@@ -283,7 +283,7 @@ def bias_force(
         Args:
             base_transform (jnp.array): The homogenous transform from base to world frame
             joint_positions (jnp.array): The joints position
-            base_velocity (jnp.array): The base velocity in mixed representation
+            base_velocity (jnp.array): The base velocity
             s_dot (jnp.array): The joints velocity
             length_multiplier (jnp.array): The length multiplier of the parametrized links
             densities (jnp.array): The densities of the parametrized links
@@ -323,7 +323,7 @@ def coriolis_term(
         Args:
             base_transform (jnp.array): The homogenous transform from base to world frame
             joint_positions (jnp.array): The joints position
-            base_velocity (jnp.array): The base velocity in mixed representation
+            base_velocity (jnp.array): The base velocity
             s_dot (jnp.array): The joints velocity
             length_multiplier (jnp.array): The length multiplier of the parametrized links
             densities (jnp.array): The densities of the parametrized links

diff --git a/src/adam/parametric/numpy/computations_parametric.py b/src/adam/parametric/numpy/computations_parametric.py
@@ -13,8 +13,8 @@
 
 
 class KinDynComputationsParametric:
-    """This is a small class that retrieves robot quantities using NumPy
-    in mixed representation, for Floating Base systems - as humanoid robots. This is parametric w.r.t the link length and denisties
+    """This is a small class that retrieves robot quantities using NumPy for Floating Base systems.
+    This is parametric w.r.t the link length and densities.
     """
 
     def __init__(
@@ -235,7 +235,7 @@ def jacobian_dot(
             frame (str): The frame to which the jacobian will be computed
             base_transform (np.ndarray): The homogenous transform from base to world frame
             joint_positions (np.ndarray): The joints position
-            base_velocity (np.ndarray): The base velocity in mixed representation
+            base_velocity (np.ndarray): The base velocity
             joint_velocities (np.ndarray): The joint velocities
             length_multiplier (np.ndarray): The length multiplier of the parametrized links
             densities (np.ndarray): The densities of the parametrized links
@@ -307,7 +307,7 @@ def bias_force(
         Args:
             base_transform (np.ndarray): The homogenous transform from base to world frame
             joint_positions (np.ndarray): The joints position
-            base_velocity (np.ndarray): The base velocity in mixed representation
+            base_velocity (np.ndarray): The base velocity
             joint_velocities (np.ndarray): The joint velocities
             length_multiplier (np.ndarray): The length multiplier of the parametrized links
             densities (np.ndarray): The densities of the parametrized links
@@ -350,7 +350,7 @@ def coriolis_term(
         Args:
             base_transform (np.ndarray): The homogenous transform from base to world frame
             joint_positions (np.ndarray): The joints position
-            base_velocity (np.ndarray): The base velocity in mixed representation
+            base_velocity (np.ndarray): The base velocity
             joint_velocities (np.ndarray): The joint velocities
             length_multiplier (np.ndarray): The length multiplier of the parametrized links
             densities (np.ndarray): The densities of the parametrized links

diff --git a/src/adam/parametric/pytorch/computations_parametric.py b/src/adam/parametric/pytorch/computations_parametric.py
@@ -14,8 +14,8 @@
 
 
 class KinDynComputationsParametric:
-    """This is a small class that retrieves robot quantities using Pytorch
-    in mixed representation, for Floating Base systems - as humanoid robots. This is parametric w.r.t the link length and denisties
+    """This is a small class that retrieves robot quantities using Pytorch for Floating Base systems.
+    This is parametric w.r.t the link length and densities.
     """
 
     def __init__(
@@ -240,7 +240,7 @@ def jacobian_dot(
             frame (str): The frame to which the jacobian will be computed
             base_transform (torch.Tensor): The homogenous transform from base to world frame
             joint_positions (torch.Tensor): The joints position
-            base_velocity (torch.Tensor): The base velocity in mixed representation
+            base_velocity (torch.Tensor): The base velocity
             joint_velocities (torch.Tensor): The joint velocities
             length_multiplier (torch.tensor): The length multiplier of the parametrized links
             densities (torch.tensor): The densities of the parametrized links
@@ -312,7 +312,7 @@ def bias_force(
         Args:
             base_transform (torch.tensor): The homogenous transform from base to world frame
             s (torch.tensor): The joints position
-            base_velocity (torch.tensor): The base velocity in mixed representation
+            base_velocity (torch.tensor): The base velocity
             joint_velocities (torch.tensor): The joints velocity
             length_multiplier (torch.tensor): The length multiplier of the parametrized links
             densities (torch.tensor): The densities of the parametrized links
@@ -355,7 +355,7 @@ def coriolis_term(
         Args:
             base_transform (torch.tensor): The homogenous transform from base to world frame
             joint_positions (torch.tensor): The joints position
-            base_velocity (torch.tensor): The base velocity in mixed representation
+            base_velocity (torch.tensor): The base velocity
             joint_velocities (torch.tensor): The joints velocity
             length_multiplier (torch.tensor): The length multiplier of the parametrized links
             densities (torch.tensor): The densities of the parametrized links

diff --git a/src/adam/pytorch/computations.py b/src/adam/pytorch/computations.py
@@ -12,9 +12,7 @@
 
 
 class KinDynComputations:
-    """This is a small class that retrieves robot quantities using Pytorch
-    in mixed representation, for Floating Base systems - as humanoid robots.
-    """
+    """This is a small class that retrieves robot quantities using Pytorch for Floating Base systems."""
 
     def __init__(
         self,
@@ -143,7 +141,7 @@ def jacobian_dot(
             frame (str): The frame to which the jacobian will be computed
             base_transform (torch.Tensor): The homogenous transform from base to world frame
             joint_positions (torch.Tensor): The joints position
-            base_velocity (torch.Tensor): The base velocity in mixed representation
+            base_velocity (torch.Tensor): The base velocity
             joint_velocities (torch.Tensor): The joint velocities
 
         Returns:
@@ -182,7 +180,7 @@ def bias_force(
         Args:
             base_transform (torch.tensor): The homogenous transform from base to world frame
             joint_positions (torch.tensor): The joints position
-            base_velocity (torch.tensor): The base velocity in mixed representation
+            base_velocity (torch.tensor): The base velocity
             joint_velocities (torch.tensor): The joints velocity
 
         Returns:
@@ -209,7 +207,7 @@ def coriolis_term(
         Args:
             base_transform (torch.tensor): The homogenous transform from base to world frame
             joint_positions (torch.tensor): The joints position
-            base_velocity (torch.tensor): The base velocity in mixed representation
+            base_velocity (torch.tensor): The base velocity
             joint_velocities (torch.tensor): The joints velocity
 
         Returns: