From add31d9edca3ad9da55c7022989701f97354b810 Mon Sep 17 00:00:00 2001
From: Maximilien Naveau <maximilien.naveau@tuebingen.mpg.de>
Date: Fri, 27 Sep 2019 10:25:05 +0200
Subject: [PATCH] [doc] fix some typos
---
include/crocoddyl/core/numdiff/action.hpp | 4 +---
1 file changed, 1 insertion(+), 3 deletions(-)
diff --git a/include/crocoddyl/core/numdiff/action.hpp b/include/crocoddyl/core/numdiff/action.hpp
index 0497dcce..0d306097 100644
--- a/include/crocoddyl/core/numdiff/action.hpp
+++ b/include/crocoddyl/core/numdiff/action.hpp
@@ -23,7 +23,7 @@ namespace crocoddyl {
* The subtility is in the computation of the Hessian of the cost. Let us
* consider that the ActionModel owns a cost residual. This means that the cost
* is the square of a residual \f$ l(x,u) = .5 r(x,u)**2 \f$, with
- * \f$ r(x,u) \f$ being the reisual vector. Therefore the derivatives of the
+ * \f$ r(x,u) \f$ being the residual vector. Therefore the derivatives of the
* cost \f$ l \f$ can be expressed in function of the derivatives of the
* residuals (Jacobians), denoted by \f$ R_x \f$ and \f$ R_u \f$. Which would be:
* \f{eqnarray*}{
@@ -51,8 +51,6 @@ class ActionModelNumDiff : public ActionModelAbstract {
* @brief Construct a new ActionModelNumDiff object
*
* @param model
- * @param with_gauss_approx defines if we use the Gauss approximation of the
- * cost hessian or not.
*/
explicit ActionModelNumDiff(ActionModelAbstract& model);
--
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