Merge branch 'Issue253_Doc_Typos' into 'dev'

[MBsysPy][Equil][Doc] Some fix related to #253

Closes #253

See merge request robotran/mbsysc!395

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_equil.py

@@ -477,8 +477,7 @@ class MbsEquil(object):
                     return
 
     def _compute_exchange(self):
-        """
-        Set exchanged variables in the memory of the external library.
+        """Set exchanged variables in the memory of the external library.
 
         This function is automatically called when 'MbsEquil::run()' is called.
         """
@@ -493,10 +492,9 @@ class MbsEquil(object):
                     ") different from the length of the exchange list(" + str(len(self.exchange_list)) + ")")
 
     def _compute_extra_variable(self):
-        """
-        Set extra variables in the memory of the external library.
+        """Set extra variables in the memory of the external library.
 
-        This function is automatically called when 'MbsEquil::run()' is called
+        This function is automatically called when 'MbsEquil::run()' is called.
         """
         if self.get_options("nxe") == 0 and len(self.addition_list) > 0:
             self.mbs_equil_ptr.contents.options.contents.nxe = len(self.addition_list)
@@ -508,24 +506,25 @@ class MbsEquil(object):
             mbs_msg(">>EQUIL>> extra variable: nxe(" + str(self.get_options("nxe")) +
                     ") different from the length of the extra variable list(" + str(len(self.addition_list)) + ")")
 
-    def replace_exchange(self, ptr, index, id_exchanged, ptr_name="??"):
-        """
-        Replace an existing exchanged variable with another one.
+    def replace_exchange(self, ptr, index, id_exchanged, ptr_name=None):
+        """Replace an existing exchanged variable with another one.
 
-        This function can be called between two 'MbsEquil::run()' as it
-        does not change the number of equilibrium variables
+        This function can be called between two 'MbsEquil::run()' as it does not
+        change the number of equilibrium variables.
 
         Parameters
         ----------
         ptr: ndarray
-            Array containing the variable to be exchanged
+            Array containing the variable to be exchanged.
         index: int
-            Index in ptr of the variable to be exchanged
+            Index in 'ptr' of the variable to be exchanged.
         id_exchanged: int
             Index in the list of exchanged variable of the variable to be
-            replaced
+            replaced.
         ptr_name: str, optionnal
-           Name of the variable to be exchanged
+           Name of the variable to be exchanged. If set to None the existing
+           name is kept.
+           The default is None.
         """
         if ptr.ctypes.data == self.mbs.q.ctypes.data:
             mbs_msg(">>EQUIL>> variable exchange: Warning generalized coordinates"
@@ -535,23 +534,27 @@ class MbsEquil(object):
             mbs_msg(">>EQUIL>> variable exchange: There is no exchange variable at this index:" + str(id_exchanged))
         else:
             self.exchange_list[id_exchanged - 1][0] = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double) * index
+            if ptr_name:
                 self.exchange_list[id_exchanged - 1][2] = ptr_name
 
-    def replace_extra_variable(self, ptr, index, id_extra, ptr_name="??"):
-        """
-        Replace an existing extra variable with another one.
+    def replace_extra_variable(self, ptr, index, id_extra, ptr_name=None):
+        """Replace an existing extra variable with another one.
 
         This function can be called between two 'MbsEquil::run()' as it does not
-        change the number of equilibrium variables
+        change the number of equilibrium variables.
 
         Parameters
         ----------
         ptr: ndarray
-            Array containing the extra variable
+            Array containing the extra variable to be exchanged.
         index: int
-            Index in ptr of the extra variable
-        id_exchanged: int
-            Index in the list of extra variable of the variable to be replaced
+            Index in 'ptr' of the extra variable to be exchanged.
+        id_extra: int
+            Index in the list of extra variable of the variable to be replaced.
+        ptr_name: str, optionnal
+           Name of the variable to be exchanged. If set to None the existing
+           name is kept.
+           The default is None.
         """
         if ptr.ctypes.data == self.mbs.q.ctypes.data:
             mbs_msg(">>EQUIL>> extra exchange: Warning generalized coordinates"
@@ -561,23 +564,25 @@ class MbsEquil(object):
             mbs_msg(">>EQUIL>> extra exchange: There is no extra variable at this index:" + str(id_extra))
         else:
             self.addition_list[id_extra - 1][0] = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double) * index
+            if ptr_name:
                 self.addition_list[id_extra - 1][1] = ptr_name
 
     def replace_extra_variable_um(self, user_model, param, id_extra):
-        """
-        Replace an existing extra variable with a user model.
+        """Replace an existing extra variable with a user model.
 
         This function can be called between two 'MbsEquil::run()' as it does not
-        change the number of equilibrium variables
+        change the number of equilibrium variables.
+
+        The name of the extra equilibrium variable is replaceb by 'user_model.param'.
 
         Parameters
         ----------
         user_model: str
-            Name of the user model to add to the equilibrium variables
+            Name of the user model containing the parameter to be exchanged.
         param: str
-            Parameter of the user model to add to the equilibrium variables
-        id_exchanged: int
-            Index in the list of extra variable of the variable to be replaced
+            Parameter of the user model to be exchanged.
+        id_extra: int
+            Index in the list of extra variable of the variable to be replaced.
         """
         if self.mbs.user_model[user_model]._type[param] != 1 and self.mbs.user_model[user_model]._type[param] != 7:
             mbs_msg(">>EQUIL>> extra exchange: This function does not handle this"
@@ -590,20 +595,21 @@ class MbsEquil(object):
             self.addition_list[id_extra - 1][1] = user_model + "." + param
 
     def replace_exchange_um(self, user_model, param, id_exchanged):
-        """
-        Replace an existing exchanged variable with a user model.
+        """Replace an existing exchanged variable with a user model.
 
         This function can be called between two 'MbsEquil::run()' as it does not
         change the number of equilibrium variables.
 
+        The name of the exchanged equilibrium variable is replaceb by 'user_model.param'.
+
         Parameters
         ----------
         user_model: str
-            Name of the user model to be exchanged
+            Name of the user model containing the parameter to be exchanged.
         param: str
-            Parameter of the user model to be exchanged
+            Parameter of the user model to be exchanged.
         id_exchanged: int
-            Index in the list of exchanged variable of the variable to be replaced
+            Index in the list of exchanged variable of the variable to be replaced.
         """
         if self.mbs.user_model[user_model]._type[param] != 1 and self.mbs.user_model[user_model]._type[param] != 7:
             mbs_msg(">>EQUIL>> variable exchange: This function does not handle "