Merge pull request #915 from wxmerkt/topic/wxm-add-package.xml

Add package.xml

package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>pinocchio</name>
+  <version>2.1.9</version>
+  <description>A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.</description>
+  <!-- The maintainer listed here is for the ROS release to receive emails for the buildfarm. 
+  Please check the repository URL for full list of authors and maintainers. -->
+  <maintainer email="[email protected]">Justin Carpentier</maintainer>
+  <maintainer email="[email protected]">Wolfgang Merkt</maintainer>
+  <license>BSD</license>
+
+  <url type="website">https://github.com/stack-of-tasks/pinocchio</url>
+
+  <build_depend>git</build_depend>
+  <build_depend>doxygen</build_depend>
+  <doc_depend>doxygen</doc_depend>
+  <depend>python</depend>
+  <depend>python-numpy</depend>
+  <depend>liburdfdom-dev</depend>
+  <depend>eigen</depend>
+  <depend>boost</depend>
+  <depend>eigenpy</depend>
+  <!-- The ROS-released HPP-FCL is not yet ready for use with Pinocchio out of the box (old version).
+  Additionally, as BUILD_WITH_COLLISION_SUPPORT is default OFF, the ROS buildfarm would not configure it proper either way. -->
+  <!-- <depend>hpp-fcl</depend> -->
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

src/multibody/data.hpp

@@ -310,7 +310,7 @@ namespace pinocchio
     /// \brief Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint \f$ j \f$. The element mass[0] corresponds to the total mass of the model.
     std::vector<Scalar> mass;
 
-    /// \brief Jacobien of center of mass.
+    /// \brief Jacobian of center of mass.
     /// \note This Jacobian maps the joint velocity vector to the velocity of the center of mass, expressed in the inertial frame. In other words, \f$ v_{\text{CoM}} = J_{\text{CoM}} \dot{q}\f$.
     Matrix3x Jcom;