diff options
Diffstat (limited to 'intern/iksolver')
-rw-r--r-- | intern/iksolver/intern/IK_QJacobian.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/intern/iksolver/intern/IK_QJacobian.cpp b/intern/iksolver/intern/IK_QJacobian.cpp index 19d711f3fe1..7e4d48e37c9 100644 --- a/intern/iksolver/intern/IK_QJacobian.cpp +++ b/intern/iksolver/intern/IK_QJacobian.cpp @@ -196,12 +196,12 @@ void IK_QJacobian::InvertSDLS() // Compute the dampeds least squeares pseudo inverse of J. // // Since J is usually not invertible (most of the times it's not even - // square), the psuedo inverse is used. This gives us a least squares + // square), the pseudo inverse is used. This gives us a least squares // solution. // // This is fine when the J*Jt is of full rank. When J*Jt is near to // singular the least squares inverse tries to minimize |J(dtheta) - dX)| - // and doesn't try to minimize dTheta. This results in eratic changes in + // and doesn't try to minimize dTheta. This results in erratic changes in // angle. The damped least squares minimizes |dtheta| to try and reduce this // erratic behavior. // @@ -323,7 +323,7 @@ void IK_QJacobian::InvertDLS() // least squares solution. This is fine when the m_jjt is // of full rank. When m_jjt is near to singular the least squares // inverse tries to minimize |J(dtheta) - dX)| and doesn't - // try to minimize dTheta. This results in eratic changes in angle. + // try to minimize dTheta. This results in erratic changes in angle. // Damped least squares minimizes |dtheta| to try and reduce this // erratic behavior. |