Misc doxy and source comment typo fixes

Found via `codespell -q 3`
LukasMacha97 · May 2, 2019 · 5914217 · 5914217
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Showing 5 changed files with 6 additions and 6 deletions.
diff --git a/orocos_kdl/doc/tex/UserManual.tex b/orocos_kdl/doc/tex/UserManual.tex
@@ -120,7 +120,7 @@ \subsection{Vector}
 
 \paragraph{Add and subtract vectors}
 \label{sec:add-subtract-vectors}
-You can add or substract a vector with another vector:
+You can add or subtract a vector with another vector:
 \begin{lstlisting}
   v2+=v1;
   v3-=v1;

diff --git a/orocos_kdl/src/chainfksolver.hpp b/orocos_kdl/src/chainfksolver.hpp
@@ -108,7 +108,7 @@ namespace KDL {
     class ChainFkSolverAcc : public KDL::SolverI {
     public:
         /**
-         * Calculate forward position, velocity and accelaration
+         * Calculate forward position, velocity and acceleration
          * kinematics, from joint coordinates to cartesian coordinates
          *
          * @param q_in input joint coordinates (position, velocity and
@@ -120,7 +120,7 @@ namespace KDL {
          */
     virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
         /**
-         * Calculate forward position, velocity and accelaration
+         * Calculate forward position, velocity and acceleration
          * kinematics, from joint coordinates to cartesian coordinates
          *
          * @param q_in input joint coordinates (position, velocity and

diff --git a/orocos_kdl/src/chainiksolvervel_pinv_nso.hpp b/orocos_kdl/src/chainiksolvervel_pinv_nso.hpp
@@ -121,7 +121,7 @@ namespace KDL
         virtual int setOptPos(const JntArray &opt_pos);
 
         /**
-         *Set null psace velocity gain
+         *Set null space velocity gain
          *
          *@param alpha NUllspace velocity cgain
          *

diff --git a/orocos_kdl/src/path_roundedcomposite.cpp b/orocos_kdl/src/path_roundedcomposite.cpp
@@ -85,7 +85,7 @@ void Path_RoundedComposite::Add(const Frame& F_base_point) {
 		if (bcdist < eps) {
 			throw Error_MotionPlanning_Not_Feasible(3);
 		}
-		// Clamp to avoid rounding errors (acos is defineed between [-1 ; 1])
+		// Clamp to avoid rounding errors (acos is defined between [-1 ; 1])
 		double alpha = acos(std::max(-1., std::min(dot(ab, bc) / abdist / bcdist, 1.)));
 		if ((PI - alpha) < eps) {
 			throw Error_MotionPlanning_Not_Feasible(4);

diff --git a/orocos_kdl/src/treefksolver.hpp b/orocos_kdl/src/treefksolver.hpp
@@ -89,7 +89,7 @@ namespace KDL {
 //    class TreeFkSolverAcc {
 //   public:
         /**
-         * Calculate forward position, velocity and accelaration
+         * Calculate forward position, velocity and acceleration
          * kinematics, from joint coordinates to cartesian coordinates
          *
          * @param q_in input joint coordinates (position, velocity and