Fix comment typo in getimpedance.

thowell · copybara-github · commit 9eb074596891 · 2025-07-01T05:33:47.000-07:00
PiperOrigin-RevId: 777997980
Change-Id: I0fe87196360e6771db10f4d9b08d43448ea5f54e
diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
@@ -1390,7 +1390,7 @@ static void getimpedance(const mjtNum* solimp, mjtNum pos, mjtNum margin,
     yP = solimp[4] * a*power(x, solimp[4]-1);
   }
 
-  // y(x) = 1-b*(1-x)^p is x>midpoint
+  // y(x) = 1-b*(1-x)^p if x>midpoint
   else {
     mjtNum b = 1/power(1-solimp[3], solimp[4]-1);
     y = 1-b*power(1-x, solimp[4]);

Original file line number	Diff line number	Diff line change
`@@ -1390,7 +1390,7 @@ static void getimpedance(const mjtNum* solimp, mjtNum pos, mjtNum margin,`
`1390`	`1390`	`yP = solimp[4] * a*power(x, solimp[4]-1);`
`1391`	`1391`	`}`
`1392`	`1392`
`1393`		`- // y(x) = 1-b*(1-x)^p is x>midpoint`
	`1393`	`+ // y(x) = 1-b*(1-x)^p if x>midpoint`
`1394`	`1394`	`else {`
`1395`	`1395`	`mjtNum b = 1/power(1-solimp[3], solimp[4]-1);`
`1396`	`1396`	`y = 1-b*power(1-x, solimp[4]);`