From 3b60012b82aca981b8e22a4a4ecd2da509250fdf Mon Sep 17 00:00:00 2001 From: Devansh Date: Wed, 26 May 2021 14:55:00 -0400 Subject: [PATCH] Updated links to lines of code Signed-off-by: Devansh --- tutorials/06-physics-simulation-concepts.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tutorials/06-physics-simulation-concepts.md b/tutorials/06-physics-simulation-concepts.md index 957ac5af9..a89e79344 100644 --- a/tutorials/06-physics-simulation-concepts.md +++ b/tutorials/06-physics-simulation-concepts.md @@ -69,9 +69,9 @@ second in Z-axis. Note that the mechanism to move the car is different depending on the used physics engine. Using [dartsim](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics4/dartsim), -the car is moved by applying force on the joints, please see [DiffDrive.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/diff_drive/DiffDrive.cc#L333) code. +the car is moved by applying force on the joints, please see [DiffDrive.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/diff_drive/DiffDrive.cc#L392-L422) code. Using [TPE](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics4/tpe), -TPE directly sets model velocity in [VelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/velocity_control/VelocityControl.cc#L117) code. +TPE directly sets model velocity in [VelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/velocity_control/VelocityControl.cc#L205-L215) code. #### Monitoring the model and its links pose