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Correct comment messages about the frame for twist and bias_acceleration functions #650

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Correct comment messages about the frame for twist and bias_acceleration functions #650

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4 changes: 2 additions & 2 deletions src/mechanism_state.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -605,7 +605,7 @@ end
$(SIGNATURES)
Return the joint twist for the given joint, i.e. the twist of
`frame_after(joint)` with respect to `frame_before(joint)`, expressed in the
root frame of the mechanism.
`frame_after(joint)`.
"""
@propagate_inbounds function twist(state::MechanismState, joint::Union{<:Joint, JointID}, safe=true)
safe && update_joint_twists!(state)
Expand All @@ -617,7 +617,7 @@ $(SIGNATURES)

Return the bias acceleration across the given joint, i.e. the spatial acceleration
of `frame_after(joint)` with respect to `frame_before(joint)`, expressed in the
root frame of the mechanism when all joint accelerations are zero.
`frame_after(joint)` when all joint accelerations are zero.
"""
@propagate_inbounds function bias_acceleration(state::MechanismState, joint::Union{<:Joint, JointID}, safe=true)
safe && update_joint_bias_accelerations!(state)
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