typo: biais is bias in english

doc/d-practical-exercises/1-directgeom.md

@@ -199,7 +199,7 @@ to functions in some python shortcuts, also available in RomeoWrapper:
 - The size of the robot configuration is given by `nq`.
 - The dimension of its tangent space (velocity) is `nv`.
 - The index of a joint in the tree can be accessed from its name by index (see above).
-- The classical algorithms are also binded: com, Jcom, mass, biais, joint gravity, position and velocity of each joint.
+- The classical algorithms are also binded: com, Jcom, mass, bias, joint gravity, position and velocity of each joint.
 
 ```py
 q = zero(robot.nq)

include/pinocchio/bindings/python/algorithm/constraints/constraint-data-inheritance.hpp

@@ -82,7 +82,7 @@ namespace pinocchio
           .PINOCCHIO_ADD_PROPERTY(
             T, constraint_acceleration_error, "Constraint acceleration error.")
           .PINOCCHIO_ADD_PROPERTY(
-            T, constraint_acceleration_biais_term, "Constraint acceleration term.")
+            T, constraint_acceleration_bias_term, "Constraint acceleration term.")
           .PINOCCHIO_ADD_PROPERTY(T, A1_world, "Transform for joint1 in world frame.")
           .PINOCCHIO_ADD_PROPERTY(T, A2_world, "Transform for joint2 in world frame.")
           .PINOCCHIO_ADD_PROPERTY(

include/pinocchio/src/constraints/frame-constraint-data-base.hxx

@@ -88,7 +88,7 @@ namespace pinocchio
     , constraint_position_error(Vector6::Zero())
     , constraint_velocity_error(Vector6::Zero())
     , constraint_acceleration_error(Vector6::Zero())
-    , constraint_acceleration_biais_term(Vector6::Zero())
+    , constraint_acceleration_bias_term(Vector6::Zero())
     , A1_world(Matrix6::Zero())
     , A2_world(Matrix6::Zero())
     , A_world(Matrix6::Zero())
@@ -107,7 +107,7 @@ namespace pinocchio
     , constraint_position_error(Vector6::Zero())
     , constraint_velocity_error(Vector6::Zero())
     , constraint_acceleration_error(Vector6::Zero())
-    , constraint_acceleration_biais_term(Vector6::Zero())
+    , constraint_acceleration_bias_term(Vector6::Zero())
     , A1_world(Matrix6::Zero())
     , A2_world(Matrix6::Zero())
     , A_world(Matrix6::Zero())
@@ -127,7 +127,7 @@ namespace pinocchio
              && c1Mc2 == other.c1Mc2 && constraint_position_error == other.constraint_position_error
              && constraint_velocity_error == other.constraint_velocity_error
              && constraint_acceleration_error == other.constraint_acceleration_error
-             && constraint_acceleration_biais_term == other.constraint_acceleration_biais_term
+             && constraint_acceleration_bias_term == other.constraint_acceleration_bias_term
              && A1_world == other.A1_world && A2_world == other.A2_world && A_world == other.A_world
              && A1_local == other.A1_local && A2_local == other.A2_local
              && A_local == other.A_local;
@@ -166,8 +166,8 @@ namespace pinocchio
     /// \brief Constraint acceleration error
     Vector6 constraint_acceleration_error;
 
-    /// \brief Constraint acceleration biais
-    Vector6 constraint_acceleration_biais_term;
+    /// \brief Constraint acceleration bias
+    Vector6 constraint_acceleration_bias_term;
 
     Matrix6 A1_world;
     Matrix6 A2_world;

include/pinocchio/src/constraints/point-constraint-data-base.hxx

@@ -88,7 +88,7 @@ namespace pinocchio
     , constraint_position_error(Vector3::Zero())
     , constraint_velocity_error(Vector3::Zero())
     , constraint_acceleration_error(Vector3::Zero())
-    , constraint_acceleration_biais_term(Vector3::Zero())
+    , constraint_acceleration_bias_term(Vector3::Zero())
     , A1_world(Matrix36::Zero())
     , A2_world(Matrix36::Zero())
     , A_world(Matrix36::Zero())
@@ -110,7 +110,7 @@ namespace pinocchio
     , constraint_position_error(Vector3::Zero())
     , constraint_velocity_error(Vector3::Zero())
     , constraint_acceleration_error(Vector3::Zero())
-    , constraint_acceleration_biais_term(Vector3::Zero())
+    , constraint_acceleration_bias_term(Vector3::Zero())
     , A1_world(Matrix36::Zero())
     , A2_world(Matrix36::Zero())
     , A_world(Matrix36::Zero())
@@ -130,7 +130,7 @@ namespace pinocchio
              && c1Mc2 == other.c1Mc2 && constraint_position_error == other.constraint_position_error
              && constraint_velocity_error == other.constraint_velocity_error
              && constraint_acceleration_error == other.constraint_acceleration_error
-             && constraint_acceleration_biais_term == other.constraint_acceleration_biais_term
+             && constraint_acceleration_bias_term == other.constraint_acceleration_bias_term
              && A1_world == other.A1_world && A2_world == other.A2_world && A_world == other.A_world
              && A1_local == other.A1_local && A2_local == other.A2_local
              && A_local == other.A_local;
@@ -168,8 +168,8 @@ namespace pinocchio
     /// \brief Constraint acceleration error
     Vector3 constraint_acceleration_error;
 
-    /// \brief Constraint acceleration biais
-    Vector3 constraint_acceleration_biais_term;
+    /// \brief Constraint acceleration bias
+    Vector3 constraint_acceleration_bias_term;
 
     Matrix36 A1_world;
     Matrix36 A2_world;

include/pinocchio/src/multibody/joint/joint-ellipsoid.hxx

@@ -494,7 +494,7 @@ namespace pinocchio
       // Velocity part
       data.v.toVector().noalias() = data.S.matrix() * data.joint_v;
 
-      computeBiais(
+      computeBias(
         s0, c0, s1, c1, s2, c2, dndotx_dqdot1, dndoty_dqdot0, dndoty_dqdot1, dndotz_dqdot0,
         dndotz_dqdot1, data);
     }
@@ -531,7 +531,7 @@ namespace pinocchio
       data.joint_v = vs.template segment<NV>(idx_v());
       data.v.toVector().noalias() = data.S.matrix() * data.joint_v;
 
-      computeBiais(
+      computeBias(
         s0, c0, s1, c1, s2, c2, dndotx_dqdot1, dndoty_dqdot0, dndoty_dqdot1, dndotz_dqdot0,
         dndotz_dqdot1, data);
     }
@@ -644,7 +644,7 @@ namespace pinocchio
 
     /// @brief Computes the bias acceleration c(q, v) = Sdot(q)·v.
     template<typename ConfigVector, typename TangentVector>
-    void computeBiais(
+    void computeBias(
       JointDataDerived & data,
       const Eigen::MatrixBase<ConfigVector> & qs,
       const Eigen::MatrixBase<TangentVector> &) const
@@ -663,12 +663,12 @@ namespace pinocchio
       dndotz_dqdot0 = -c1 * s0;
       dndotz_dqdot1 = -c0 * s1;
 
-      computeBiais(
+      computeBias(
         s0, c0, s1, c1, s2, c2, dndotx_dqdot1, dndoty_dqdot0, dndoty_dqdot1, dndotz_dqdot0,
         dndotz_dqdot1, data);
     }
 
-    void computeBiais(
+    void computeBias(
       const Scalar & s0,
       const Scalar & c0,
       const Scalar & s1,

include/pinocchio/src/serialization/constraints-data.hxx

@@ -94,7 +94,7 @@ namespace boost
       ar & make_nvp("constraint_position_error", cdata.constraint_position_error);
       ar & make_nvp("constraint_velocity_error", cdata.constraint_velocity_error);
       ar & make_nvp("constraint_acceleration_error", cdata.constraint_acceleration_error);
-      ar & make_nvp("constraint_acceleration_biais_term", cdata.constraint_acceleration_biais_term);
+      ar & make_nvp("constraint_acceleration_bias_term", cdata.constraint_acceleration_bias_term);
       ar & make_nvp("A1_world", cdata.A1_world);
       ar & make_nvp("A2_world", cdata.A2_world);
       ar & make_nvp("A_world", cdata.A_world);
@@ -142,7 +142,7 @@ namespace boost
       ar & make_nvp("constraint_position_error", cdata.constraint_position_error);
       ar & make_nvp("constraint_velocity_error", cdata.constraint_velocity_error);
       ar & make_nvp("constraint_acceleration_error", cdata.constraint_acceleration_error);
-      ar & make_nvp("constraint_acceleration_biais_term", cdata.constraint_acceleration_biais_term);
+      ar & make_nvp("constraint_acceleration_bias_term", cdata.constraint_acceleration_bias_term);
       ar & make_nvp("A1_world", cdata.A1_world);
       ar & make_nvp("A2_world", cdata.A2_world);
       ar & make_nvp("A_world", cdata.A_world);

unittest/joint-ellipsoid.cpp

@@ -525,8 +525,8 @@ BOOST_AUTO_TEST_CASE(testSdotFiniteDifferences)
   BOOST_CHECK(Sdot_ref.isApprox(Sdot_fd, sqrt(eps)));
 }
 
-/// @brief Test that biais term equals Sdot * v
-BOOST_AUTO_TEST_CASE(testBiaisVsSdotTimesVelocity)
+/// @brief Test that bias term equals Sdot * v
+BOOST_AUTO_TEST_CASE(testBiasVsSdotTimesVelocity)
 {
   using namespace pinocchio;
 
@@ -549,7 +549,7 @@ BOOST_AUTO_TEST_CASE(testBiaisVsSdotTimesVelocity)
   TangentVector_t v = TangentVector_t::Random();
   jmodel.calc(jdata, q, v);
 
-  jmodel.computeBiais(jdata, q, v);
+  jmodel.computeBias(jdata, q, v);
 
   const Eigen::Matrix<double, 6, 3> Sdot = computeMotionSubspaceDerivative(jmodel, q, v);
 

unittest/python/bindings_constraints.py

@@ -505,7 +505,7 @@ def test_constraints_data(self):
             self.assertTrue(hasattr(cdata, "constraint_position_error"))
             self.assertTrue(hasattr(cdata, "constraint_velocity_error"))
             self.assertTrue(hasattr(cdata, "constraint_acceleration_error"))
-            self.assertTrue(hasattr(cdata, "constraint_acceleration_biais_term"))
+            self.assertTrue(hasattr(cdata, "constraint_acceleration_bias_term"))
             self.assertTrue(cdata.oMc1.inverse() * cdata.oMc2 == cdata.c1Mc2)
 
         cmodel = self.jlc