From 0227719ddd9ce01964b3e1c98355ed4641d3ca54 Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@openrobotics.org>
Date: Thu, 10 Sep 2020 16:53:22 -0700
Subject: [PATCH] Improve doc-strings

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
---
 include/sdf/JointAxis.hh | 28 ++++++++++++++++------------
 1 file changed, 16 insertions(+), 12 deletions(-)

diff --git a/include/sdf/JointAxis.hh b/include/sdf/JointAxis.hh
index b24c22bda..1d2294b3e 100644
--- a/include/sdf/JointAxis.hh
+++ b/include/sdf/JointAxis.hh
@@ -190,27 +190,31 @@ namespace sdf
     /// \sa double Upper() const
     public: void SetUpper(const double _upper) const;
 
-    /// \brief Get the value for enforcing the maximum joint effort applied.
-    /// Limit is not enforced if value is negative. The default value is -1.
-    /// \return Effort limit.
+    /// \brief Get the value for enforcing the maximum absolute joint effort
+    /// that can be applied.
+    /// The limit is not enforced if the value is infinity.
+    /// The default value is infinity.
+    /// \return Symmetric effort limit.
     /// \sa void SetEffort(double _effort)
     public: double Effort() const;
 
-    /// \brief Set the value for enforcing the maximum joint effort applied.
-    /// Limit is not enforced if value is infinity.
-    /// \param[in] _effort Effort limit.
+    /// \brief Set the value for enforcing the maximum absolute joint effort
+    /// that can be applied.
+    /// The limit is not enforced if the value is infinity.
+    /// \param[in] _effort Symmetric effort limit.
     /// \sa double Effort() const
     public: void SetEffort(double _effort);
 
-    /// \brief Get the value for enforcing the maximum joint velocity. The
-    /// default value is infinity.
-    /// \return The value for enforcing the maximum joint velocity.
+    /// \brief Get the value for enforcing the maximum absolute joint velocity.
+    /// The default value is infinity.
+    /// \return The value for enforcing the maximum absolute joint velocity.
     /// \sa void SetVelocity(const double _velocity) const
     public: double MaxVelocity() const;
 
-    /// \brief Set the value for enforcing the maximum joint velocity.
-    /// \param[in] _velocity The value for enforcing the maximum joint velocity.
-    /// \sa double Velocity() const
+    /// \brief Set the value for enforcing the maximum absolute joint velocity.
+    /// \param[in] _velocity The value for enforcing the maximum absolute
+    /// joint velocity.
+    /// \sa double MaxVelocity() const
     public: void SetMaxVelocity(const double _velocity) const;
 
     /// \brief Get the joint stop stiffness. The default value is 1e8.