bugfix: typo in comments (BehaviorTree#459)

Author: SubaruArai

include/behaviortree_cpp/action_node.h

@@ -141,11 +141,11 @@ using AsyncActionNode = ThreadedActionNode;
 #endif
 
 /**
- * @brief The StatefulAsyncAction is the prefered way to implement asynchronous Actions.
+ * @brief The StatefulAsyncAction is the preferred way to implement asynchronous Actions.
  * It is actually easier to use correctly, when compared with AsyncAction
  *
  * It is particularly useful when your code contains a request-reply pattern,
- * i.e. when the actions sends an asychronous request, then checks periodically
+ * i.e. when the actions sends an asynchronous request, then checks periodically
  * if the reply has been received and, eventually, analyze the reply to determine
  * if the result is SUCCESS or FAILURE.
  *
@@ -163,7 +163,7 @@ class StatefulActionNode : public ActionNodeBase
   {}
 
   /// Method called once, when transitioning from the state IDLE.
-  /// If it returns RUNNING, this becomes an asychronous node.
+  /// If it returns RUNNING, this becomes an asynchronous node.
   virtual NodeStatus onStart() = 0;
 
   /// method invoked when the action is already in the RUNNING state.
@@ -189,7 +189,7 @@ class StatefulActionNode : public ActionNodeBase
 
 /**
  * @brief The CoroActionNode class is an a good candidate for asynchronous actions
- * which need to communicate with an external service using an asynch request/reply interface.
+ * which need to communicate with an external service using an async request/reply interface.
  *
  * It is up to the user to decide when to suspend execution of the Action and resume
  * the parent node, invoking the method setStatusRunningAndYield().

include/behaviortree_cpp/basic_types.h

@@ -107,10 +107,10 @@ float convertFromString<float>(StringView str);
 template <>
 double convertFromString<double>(StringView str);
 
-template <>   // Integer numbers separated by the characted ";"
+template <>   // Integer numbers separated by the character ";"
 std::vector<int> convertFromString<std::vector<int>>(StringView str);
 
-template <>   // Real numbers separated by the characted ";"
+template <>   // Real numbers separated by the character ";"
 std::vector<double> convertFromString<std::vector<double>>(StringView str);
 
 template <>   // This recognizes either 0/1, true/false, TRUE/FALSE
@@ -292,7 +292,7 @@ std::pair<std::string, PortInfo> CreatePort(PortDirection direction, StringView
   auto sname = static_cast<std::string>(name);
   if (!IsAllowedPortName(sname))
   {
-    throw RuntimeError("The name of a port must start with an alphabetic characted. "
+    throw RuntimeError("The name of a port must start with an alphabetic character. "
                        "Underscore is reserved.");
   }
 

include/behaviortree_cpp/controls/parallel_node.h

@@ -29,7 +29,7 @@ namespace BT
  * The Node is completed either when the THRESHOLD_SUCCESS
  * or THRESHOLD_FAILURE number is reached (both configured using ports).
  *
- * If any of the threaholds is reached, and other children are still running,
+ * If any of the thresholds is reached, and other children are still running,
  * they will be halted.
  *
  * Note that threshold indexes work as in Python:

include/behaviortree_cpp/decorators/retry_node.h

@@ -33,7 +33,7 @@ namespace BT
  * </RetryUntilSuccessful>
  *
  * Note:
- * RetryNodeTypo is only included to support the depricated typo
+ * RetryNodeTypo is only included to support the deprecated typo
  * "RetryUntilSuccesful" (note the single 's' in Succesful)
  */
 class RetryNode : public DecoratorNode

include/behaviortree_cpp/decorators/subtree_node.h

@@ -45,7 +45,7 @@ namespace BT
  *
  * 3) Subtree: "{param}" -> Parent: "{parent}"
  *    Setting to true (or 1) the attribute "_autoremap", we are automatically remapping
- *    each port. Usefull to avoid boilerplate.
+ *    each port. Useful to avoid boilerplate.
  */
 class SubTreeNode : public DecoratorNode
 {

include/behaviortree_cpp/decorators/timer_queue.h

@@ -121,7 +121,7 @@ class TimerQueue
         // Zero time, so it stays at the top for immediate execution
         newItem.end = std::chrono::time_point<_Clock, _Duration>();
         newItem.id = 0;   // Means it is a canceled item
-        // Move the handler from item to newitem.
+        // Move the handler from item to newItem.
         // Also, we need to manually set the handler to nullptr, since
         // the standard does not guarantee moving an std::function will
         // empty it. Some STL implementation will empty it, others will

include/behaviortree_cpp/scripting/operators.hpp

@@ -464,7 +464,7 @@ struct Expression : lexy::expression_production
 
     // Each of the nested classes defines one operation.
     // They inherit from a tag type that specify the kind of operation (prefix, infix, postfix),
-    // and associativy (left, right, single (non-associative)),
+    // and associativity (left, right, single (non-associative)),
     // and specify the operator rule and operand.
 
     // -x

include/behaviortree_cpp/scripting/script_parser.hpp

@@ -26,7 +26,7 @@ namespace Ast
 {
    /**
    * @brief The Environment class is used to encapsulate
-   * the information and states neded by the sriting language
+   * the information and states needed by the scripting language
    */
   struct Environment{
     BT::Blackboard::Ptr vars;

include/behaviortree_cpp/tree_node.h

@@ -208,7 +208,7 @@ class TreeNode
   template <typename T>
   Result setOutput(const std::string& key, const T& value);
 
-  // function provide mostrly for debugging purpose to see the raw value
+  // function provide mostly for debugging purpose to see the raw value
   // in the port (no remapping and no conversion to a type)
   StringView getRawPortValue(const std::string& key) const;
 

include/behaviortree_cpp/utils/any.hpp

@@ -143,7 +143,7 @@ class any final
             if (this->vtable != nullptr)
             {
                 this->vtable->move(this->storage, rhs.storage);
-                //this->vtable = nullptr; -- uneeded, see below
+                //this->vtable = nullptr; -- unneeded, see below
             }
 
             // move from tmp (previously rhs) to *this.
@@ -174,7 +174,7 @@ class any final
     /// Base VTable specification.
     struct vtable_type
     {
-        // Note: The caller is responssible for doing .vtable = nullptr after destructful operations
+        // Note: The caller is responsible for doing .vtable = nullptr after destructive operations
         // such as destroy() and/or move().
 
         /// The type of the object this vtable is for.
@@ -184,11 +184,11 @@ class any final
         /// The state of the union after this call is unspecified, caller must ensure not to use src anymore.
         void (*destroy)(storage_union&) noexcept;
 
-        /// Copies the **inner** content of the src union into the yet unitialized dest union.
+        /// Copies the **inner** content of the src union into the yet uninitialized dest union.
         /// As such, both inner objects will have the same state, but on separate memory locations.
         void (*copy)(const storage_union& src, storage_union& dest);
 
-        /// Moves the storage from src to the yet unitialized dest union.
+        /// Moves the storage from src to the yet uninitialized dest union.
         /// The state of src after this call is unspecified, caller must ensure not to use src anymore.
         void (*move)(storage_union& src, storage_union& dest) noexcept;
 
@@ -224,7 +224,7 @@ class any final
 
         static void swap(storage_union& lhs, storage_union& rhs) noexcept
         {
-            // just exchage the storage pointers.
+            // just exchange the storage pointers.
             std::swap(lhs.dynamic, rhs.dynamic);
         }
     };

src/xml_parsing.cpp

@@ -550,8 +550,7 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement* element,
         throw RuntimeError("Possible typo? In the XML, you tried to remap port \"",
                            remap_it.first, "\" in node [", type_ID, " / ", instance_name,
                            "], but the manifest of this node does not contain a port "
-                           "with this "
-                           "name.");
+                           "with this name.");
       }
     }
 

tests/gtest_sequence.cpp

@@ -251,7 +251,7 @@ TEST_F(SequenceTripleActionTest, TripleAction)
   ASSERT_EQ(NodeStatus::IDLE, action_2.status());
   ASSERT_EQ(NodeStatus::IDLE, action_3.status());
 
-  // continue until succesful
+  // continue until successful
   while (state != NodeStatus::SUCCESS && system_clock::now() < timeout)
   {
     std::this_thread::sleep_for(milliseconds(10));

tests/navigation_test.cpp

@@ -246,7 +246,7 @@ TEST(Navigationtest, MoveBaseRecovery)
 
   // Second case: get stuck after a while
 
-  // Initialize evrything first
+  // Initialize everything first
   first_stuck_node->resetTickCount();
   second_stuck_node->resetTickCount();
   compute_node->resetTickCount();
@@ -257,7 +257,7 @@ TEST(Navigationtest, MoveBaseRecovery)
 
   while (status == NodeStatus::IDLE || status == NodeStatus::RUNNING)
   {
-    // At the fifth cycle get stucked
+    // At the fifth cycle get stuck
     if (++cycle == 2)
     {
       first_stuck_node->setExpectedResult(true);