Fix spelling mistakes (RobotLocomotion#18614)

CMakeLists.txt

@@ -186,7 +186,7 @@ else()
   endif()
 
   # To allow the build type to be case-insensitive,
-  # use this variable for any string comparisions
+  # use this variable for any string comparisons
   string(TOLOWER "${CMAKE_BUILD_TYPE}" BUILD_TYPE_LOWER)
 
   string(TOLOWER "${SUPPORTED_BUILD_TYPES}" SUPPORTED_BUILD_TYPES_LOWER)

bindings/pydrake/BUILD.bazel

@@ -343,7 +343,7 @@ drake_py_library(
     deps = [":all_py"],
 )
 
-# Roll-up for publicly acccessible testing utilities (for development with
+# Roll-up for publicly accessible testing utilities (for development with
 # workflows like drake-external-examples/drake_bazel_external).
 drake_py_library(
     name = "test_utilities_py",

bindings/pydrake/common/serialize_pybind.h

@@ -221,7 +221,7 @@ class DefAttributesArchive {
   const Docs* const cls_docs_;
 
   // As we visit each field, we'll accumulate a list of [{name=, type=}, ...]
-  // to bind later as the `__fields__` static propery.
+  // to bind later as the `__fields__` static property.
   py::list fields_;
 };
 

bindings/pydrake/common/text_logging_pybind.cc

@@ -81,7 +81,7 @@ class pylogging_sink final
     // We don't pass msg.time along into the record time because we'd need to
     // fix up record.created, record.msecs, and record.relativeCreated, and we'd
     // still be brittle with respect to future changes to the record class's
-    // internal bookeeping. Instead, we'll allow the record's own time from its
+    // internal bookkeeping. Instead, we'll allow the record's own time from its
     // constructor to survive.
 
     // Publish the log record.

bindings/pydrake/multibody/test/meshcat_test.py

@@ -137,15 +137,15 @@ def test_joint_sliders(self):
         dut.SetPositions(q=[1, 2])
 
     def test_internal_point_contact_visualizer(self):
-        """A very basic existance test, since this class is internal use only.
+        """A very basic existence test, since this class is internal use only.
         The pydrake-internal user (meldis) has additional acceptance tests.
         """
         meshcat = Meshcat()
         params = ContactVisualizerParams()
         dut = _PointContactVisualizer(meshcat=meshcat, params=params)
 
     def test_internal_hydroelastic_contact_visualizer(self):
-        """A very basic existance test, since this class is internal use only.
+        """A very basic existence test, since this class is internal use only.
         The pydrake-internal user (meldis) has additional acceptance tests.
         """
         meshcat = Meshcat()

bindings/pydrake/pydrake_doxygen.h

@@ -357,7 +357,7 @@ be named `.doc_deprecated...` instead of just `.doc...`.
 @anchor PydrakeDeprecation
 ## Deprecation
 
-Decorators and utilites for deprecation in pure Python are available in
+Decorators and utilities for deprecation in pure Python are available in
 [`pydrake.common.deprecation`](https://drake.mit.edu/pydrake/pydrake.common.deprecation.html).
 
 Deprecations for Python bindings in C++ are available in
@@ -440,7 +440,7 @@ C++ has the ability to distinguish `T` and `const T` for both function arguments
 and class methods. However, Python does not have a native mechanism for this. It
 is possible to provide a feature like this in Python (see discussion and
 prototypes in [#7793](https://github.com/RobotLocomotion/drake/issues/7793));
-however, its pros (similarity to C++) have not yet outweighted the cons (awkard
+however, its pros (similarity to C++) have not yet outweighted the cons (awkward
 non-Pythonic types and workflows).
 
 When a function is overloaded only by its `const`-ness, choose to bind the

bindings/pydrake/solvers/test/noscipy_test.py

@@ -31,7 +31,7 @@ def test_linear_constraint(self):
         self.assertEqual(dut.num_constraints(), 2)
         self.assertEqual(dut.num_vars(), 3)
 
-        # UpdateCoefficients is similarily overloaded for sparse or dense, and
+        # UpdateCoefficients is similarly overloaded for sparse or dense, and
         # the user should be able to invoke the dense overload without scipy.
         dut.UpdateCoefficients(
             new_A=np.array([[1E-10, 0, 0], [0, 1, 1]]),

bindings/pydrake/systems/sensors_py.cc

@@ -98,7 +98,7 @@ PYBIND11_MODULE(sensors, m) {
       using ImageTraitsT = ImageTraits<kPixelType>;
       using T = typename ImageTraitsT::ChannelType;
 
-      // Get associated properites, and iterate.
+      // Get associated properties, and iterate.
       const std::string pixel_type_name = pixel_type_names[pixel_type_index];
       ++pixel_type_index;
 

bindings/pydrake/systems/test/custom_test.py

@@ -264,7 +264,7 @@ def calc_cache(context, abstract_value):
         self.assertIsInstance(cache_entry_value, CacheEntryValue)
         data = cache_entry_value.GetMutableValueOrThrow()
         self.assertIsInstance(data, SimpleNamespace)
-        # This has not yet been upated.
+        # This has not yet been updated.
         self.assertFalse(hasattr(data, "updated"))
         # Const flavor access.
         cache_entry_value_const = cache_entry.get_cache_entry_value(context)

bindings/pydrake/test/pydrake_pybind_test.cc

@@ -1,6 +1,6 @@
 /// @file
 /// Test binding helper methods in `pydrake_pybind_test`.
-/// @note `check_copy` is defind and documented in
+/// @note `check_copy` is defined and documented in
 /// `_pydrake_pybind_test_extra.py`.
 #include "drake/bindings/pydrake/pydrake_pybind.h"
 

common/ad/internal/standard_operations.h

@@ -6,7 +6,7 @@
 /* This file contains free function operators for Drake's AutoDiff type.
 
 The functions provide not only arithmetic (+,-,*,/) and boolean comparison
-(<,<=,>,>=,==,!=) but also argument-dependent lookup ("ADL") compatiblity with
+(<,<=,>,>=,==,!=) but also argument-dependent lookup ("ADL") compatibility with
 the standard library's mathematical functions (abs, etc.)
 
 (See https://en.cppreference.com/w/cpp/language/adl for details about ADL.)

common/ad/test/standard_operations_pow_special_test.cc

@@ -114,7 +114,7 @@ std::string ToAlphaNumeric(double value) {
   return result;
 }
 
-// The test case name must be alpha-numeric only (a-z0-9_).
+// The test case name must be alphanumeric only (a-z0-9_).
 std::string CalcTestName(const testing::TestParamInfo<PowCase>& info) {
   return fmt::format("{}__{}",
       ToAlphaNumeric(info.param.base),

common/copyable_unique_ptr.h

@@ -47,9 +47,9 @@ namespace drake {
  3. To allow for future copy-on-write optimizations, there is a distinction
     between writable and const access, the get() method is modified to return
     only a const pointer, with get_mutable() added to return a writable pointer.
-    Furthermore, derefencing (operator*()) a mutable pointer will give a mutable
-    reference (in so far as T is not declared const), and dereferencing a
-    const pointer will give a const reference.
+    Furthermore, dereferencing (operator*()) a mutable pointer will give a
+    mutable reference (in so far as T is not declared const), and dereferencing
+    a const pointer will give a const reference.
 
  This class is entirely inline and has no computational or space overhead except
  when copying is required; it contains just a single pointer and does no

common/polynomial.h

@@ -25,7 +25,7 @@ namespace drake {
  * number of distinct Terms (variables raised to positive integer powers).
  *
  * Variables are identified by integer indices rather than symbolic names, but
- * an automatic facility is provided to covert variable names up to four
+ * an automatic facility is provided to convert variable names up to four
  * characters into unique integers, provided those variables are named using
  * only lowercase letters and the "@#_." characters followed by a number.  For
  * example, valid names include "dx4" and "m_x".

common/schema/transform.cc

@@ -51,7 +51,7 @@ math::RigidTransformd Transform::Mean() const {
     env.insert(var, 0.5);
   }
 
-  // Extract the underlying matrix of the transform, subsitute the env so
+  // Extract the underlying matrix of the transform, substitute the env so
   // that the expressions are now all constants, and then re-create the
   // RigidTransform wrapper around the matrix.
   const auto to_double = [&env](const auto& x) { return x.Evaluate(env); };
@@ -65,7 +65,7 @@ math::RigidTransformd Transform::Sample(
   // We convert to symbolic, convert the symbolic to a vector and matrix of
   // symbolic, `Evaluate` those, convert the result back to a
   // `RigidTransform<double>`, and build the resulting values into a new
-  // fully determinstic `Transform`.
+  // fully deterministic `Transform`.
   //
   // This is *much* prettier written with `auto` but please do not be
   // tempted to use it here: I have left the long type names in because it

common/symbolic/chebyshev_basis_element.cc

@@ -140,7 +140,7 @@ std::map<ChebyshevBasisElement, double> operator*(
   // both a and b.
 
   // Number of variables that show up in both ChebyshevBasisElement a and b.
-  // I first count the nummber of common variables, so as to do memory
+  // I first count the number of common variables, so as to do memory
   // allocation for the product result.
   int num_common_variables = 0;
   auto it_a = a.var_to_degree_map().begin();

common/symbolic/expression.h

@@ -3,7 +3,7 @@
 /// @file
 /// When using Drake's symbolic expressions library (e.g., the classes
 /// drake::symbolic::Expression or drake::symbolic::Formula), we provide
-/// a single include statement to cover all of he requied classes:
+/// a single include statement to cover all of the required classes:
 /// `#include <drake/common/symbolic/expression.h>`.
 
 // Delegate the internal implementation details to our subdirectory.

common/symbolic/expression/all.h

@@ -15,7 +15,7 @@
 //
 // This particular order ensures that everyone sees the order that respects the
 // inter-dependencies of the symbolic headers. This shields us from triggering
-// undefined behaviors due to varing the order of template specializations.
+// undefined behaviors due to varying the order of template specializations.
 //
 // clang-format off
 #include "drake/common/symbolic/expression/variable.h"

common/symbolic/expression/formula.h

@@ -1344,7 +1344,7 @@ namespace numext {
 // guards as an optimization to skip expensive computation if it can show
 // that the end result will remain unchanged. If our Expression has any
 // unbound variables during that guard, we will throw instead of skipping
-// the optimizaton. Therefore, we tweak these guards to special-case the
+// the optimization. Therefore, we tweak these guards to special-case the
 // result when either of the operands is a literal zero, with no throwing
 // even if the other operand has unbound variables.
 //

common/symbolic/polynomial.h

@@ -395,7 +395,7 @@ class Polynomial {
 /// Returns `p / v`.
 [[nodiscard]] Polynomial operator/(Polynomial p, double v);
 
-/// Returns polynomial @p rasied to @p n.
+/// Returns polynomial @p raised to @p n.
 [[nodiscard]] Polynomial pow(const Polynomial& p, int n);
 
 std::ostream& operator<<(std::ostream& os, const Polynomial& p);
@@ -520,7 +520,7 @@ DRAKE_SYMBOLIC_SCALAR_SUM_DIFF_PRODUCT_CONJ_PRODUCT_TRAITS(
 //
 // Note that we inform Eigen that the return type of Monomial op Monomial is
 // Polynomial, not Monomial, while Monomial * Monomial gets a Monomial in our
-// implementation. This discrepency is due to the implementation of Eigen's
+// implementation. This discrepancy is due to the implementation of Eigen's
 // dot() method whose return type is scalar_product_op::ReturnType. For more
 // information, check line 67 of Eigen/src/Core/Dot.h and line 767 of
 // Eigen/src/Core/util/XprHelper.h.

common/symbolic/test/generic_polynomial_test.cc

@@ -1746,7 +1746,7 @@ TEST_F(SymbolicGenericPolynomialTest, SetIndeterminates) {
 
   {
     // {x} -> {x, a}
-    // Grow the indeterminates with a varible moves from decision variables
+    // Grow the indeterminates with a variable moves from decision variables
     // to indeterminates.
     GenericPolynomial<MonomialBasisElement> p{e, {var_x_}};
     const Variables new_indeterminates{var_x_, var_a_};

common/symbolic/test/polynomial_basis_test.cc

@@ -193,8 +193,8 @@ TEST_F(ComputePolynomialBasisUpToDegreeTest, ChebyshevOddParity) {
     EXPECT_EQ(result2(0), ChebyshevBasisElement(x_));
   }
 
-  // The chebyshev basis of x up to requestd degree 3 or 4 (with odd degrees) is
-  // [T1(x), T3(x)].
+  // The chebyshev basis of x up to requested degree 3 or 4 (with odd degrees)
+  // is [T1(x), T3(x)].
   for (int degree : {3, 4}) {
     const auto result4 =
         ComputePolynomialBasisUpToDegree<Eigen::Dynamic, ChebyshevBasisElement>(

common/symbolic/trigonometric_polynomial.h

@@ -18,7 +18,7 @@ enum class SinCosSubstitutionType {
   /** Substitutes s <=> sin(q/2), c <=> cos(q/2), and prefers sin when the
    choice is ambiguous; e.g. cos(q) => 1 - 2s². */
   kHalfAnglePreferSin,
-  /** Subsitutes s <=> sin(q/2), c <=> cos(q/2), and prefers cos when the
+  /** Substitutes s <=> sin(q/2), c <=> cos(q/2), and prefers cos when the
    choice is ambiguous; e.g. cos(q) => 2c² - 1. */
   kHalfAnglePreferCos,
 };

common/test/scalar_casting_test.cc

@@ -24,7 +24,7 @@ GTEST_TEST(ScalarCastingTest, Casting) {
   // const double ad_to_double = ad;  // Compile error.
   const double ad_to_double = ExtractDoubleOrThrow(ad);
   EXPECT_EQ(ad_to_double, 1.0);
-  // const double sym_to_double = sym;  // Compile errror.
+  // const double sym_to_double = sym;  // Compile error.
   const double sym_to_double = ExtractDoubleOrThrow(sym);
   EXPECT_EQ(sym_to_double, 1.0);
 }

common/test/type_safe_index_test.cc

@@ -518,7 +518,7 @@ GTEST_TEST(IntegralComparisons, CompareSizeT) {
 }
 
 // Confirms that comparisons with unsigned types that have fewer bits than
-// TypeSafeIndex's underlying int report propertly.
+// TypeSafeIndex's underlying int report property.
 GTEST_TEST(TypeSafeIndex, CompareUnsignedShort) {
   TestScalarComparisons<uint16_t>();
   TestScalarIncrement<uint16_t>();

common/timer.h

@@ -17,7 +17,7 @@ class Timer {
   Timer() = default;
   virtual ~Timer() = default;
 
-  /// Begins timing. Call Start everytime you want to reset the timer to zero.
+  /// Begins timing. Call Start every time you want to reset the timer to zero.
   virtual void Start() = 0;
 
   /// Obtains a timer measurement in seconds.

common/value.h

@@ -346,7 +346,7 @@ constexpr bool hash_template_argument_from_pretty_func(
       continue;
     }
     // GCC distinguishes between "<unnamed>" and "{anonymous}", while Clang does
-    // not. Map "<unamed>" to "{anonymous}" for consistency and to avoid
+    // not. Map "<unnamed>" to "{anonymous}" for consistency and to avoid
     // confusion with nested types ("<>") below.
     const char* const unnamed_spelling = "<unnamed>";
     const char* unnamed_iter = unnamed_spelling;

common/yaml/test/yaml_io_test.cc

@@ -162,7 +162,7 @@ GTEST_TEST(YamlIoTest, SaveStringDefaults) {
   EXPECT_EQ(result, "value:\n  save_string_defaults: 1.0\n");
 }
 
-// The implemenation of SaveYamlFile calls SaveYamlString, so we only need
+// The implementation of SaveYamlFile calls SaveYamlString, so we only need
 // to lightly test it (specifically the file-writing function).  We'll do
 // one test case with minimal arguments (just the filename) and one test
 // case with all arguments (to confirm that they are all forwarded).

common/yaml/test/yaml_node_test.cc

@@ -83,7 +83,7 @@ class YamlNodeParamaterizedTest : public testing::TestWithParam<Param> {
   }
 
   // Given a function name, returns the expected exception message in case the
-  // runtime type of the Node is incorect.
+  // runtime type of the Node is incorrect.
   std::string GetExpectedCannot(std::string_view operation) {
     return fmt::format(
         ".*Cannot.*{}.*on a {}.*",

common/yaml/test/yaml_write_archive_defaults_test.cc

@@ -200,7 +200,7 @@ TEST_F(YamlWriteArchiveDefaultsTest, DifferentMapValues) {
 )""");
 }
 
-// In the ununsual case that the user provided two different schemas to
+// In the unusual case that the user provided two different schemas to
 // subtract, we notice the discrepancy without throwing any exceptions.
 // This test case serves to help achieve code coverage; we do not intend
 // for users to necessarily depend on this behavior.
@@ -216,7 +216,7 @@ TEST_F(YamlWriteArchiveDefaultsTest, DifferentSchemas) {
 )""");
 }
 
-// In the ununsual case that the user provided two different (but similar)
+// In the unusual case that the user provided two different (but similar)
 // schemas to subtract, we notice the discrepancy without throwing any
 // exceptions.  This test case serves to help achieve code coverage; we do not
 // intend for users to necessarily depend on this behavior.  Here, we do

common/yaml/yaml_read_archive.h

@@ -285,7 +285,7 @@ class YamlReadArchive final {
   void VariantHelper(
       const std::string& tag, const char* name, Variant<Types...>* storage) {
     if (tag == internal::Node::kTagNull) {
-      // Our varaint parsing does not yet support nulls.  When the tag indicates
+      // Our variant parsing does not yet support nulls.  When the tag indicates
       // null, don't try to match it to a variant type; instead, just parse into
       // the first variant type in order to generate a useful error message.
       // TODO(jwnimmer-tri) Allow for std::monostate as one of the Types...,

doc/_pages/from_binary.md

@@ -68,7 +68,7 @@ Download the binary release ``*.tar.gz`` file, using one of the links above.
 In the example below, we'll use ``drake.tar.gz`` to refer to it, but your
 download will have a more version-specific filename.
 
-Create and activate the envionment:
+Create and activate the environment:
 
 ```bash
 mkdir -p env

doc/_release-notes/v0.18.0.md

@@ -43,7 +43,7 @@ New features
   * Add DiscreteTimeTrajectory ([#13157][_#13157])
   * Improve BsplineBasis and BsplineTrajectory ([#13149][_#13149], [#13057][_#13057], [#13158][_#13158])
   * Add PiecewisePolynomial unary minus ([#13109][_#13109])
-  * Add Subsitute(var, Polynomial) with support for multivariate polynomials ([#13108][_#13108])
+  * Add Substitute(var, Polynomial) with support for multivariate polynomials ([#13108][_#13108])
   * Add Lagrange Interpolating Polynomial and Block(i,j,p,q) ([#13269][_#13269])
 * System
   * Add support for implicit equations ([#13068][_#13068])
@@ -140,7 +140,7 @@ Fixes
 * Fetch sdformat and ignition_math from GitHub, not Bitbucket ([#13188][_#13188])
 * Don't install unused sdformat data ([#13268][_#13268])
 * Fix bazel third_party include path complaints ([#13189][_#13189])
-* Begin Ubuntu 20.04 (Focal Fossa) accomodations ([#13142][_#13142], [#13235][_#13235], [#13303][_#13303])
+* Begin Ubuntu 20.04 (Focal Fossa) accommodations ([#13142][_#13142], [#13235][_#13235], [#13303][_#13303])
 
 ## Newly-deprecated APIs
 

doc/_release-notes/v0.23.0.md

@@ -45,7 +45,7 @@ New features
 * Optionally suppress simulator initialization events ([#13872][_#13872])
 * Add SequentialExpressionManager::GetSequentialExpressionNames ([#13925][_#13925])
 * Implement derivatives for PiecewiseQuaternion ([#13972][_#13972])
-* Add InverseDynamicsController construtor overload to own the input plant ([#14037][_#14037])
+* Add InverseDynamicsController constructor overload to own the input plant ([#14037][_#14037])
 
 Fixes
 
@@ -80,7 +80,7 @@ Fixes
 New features
 
 * Add API to compute SpatialAccelerationInWorld ([#13773][_#13773])
-* Add API to set mass, center of pass, and spatial intertia in a Context ([#13860][_#13860])
+* Add API to set mass, center of pass, and spatial inertia in a Context ([#13860][_#13860])
 * Add API to set LinearBushingRollPitchYaw parameters in a Context ([#14000][_#14000])
 * Add API to get a frame's geometries ([#13999][_#13999])
 * Support parsing massless bodies ([#13908][_#13908], [#13927][_#13927])

doc/_release-notes/v0.27.0.md

@@ -116,7 +116,7 @@ Newly bound
 
 <!--
 Not installed:
-    * Start gathering sharable performance benchmarking infrastructure ([#14505][_#14505])
+    * Start gathering shareable performance benchmarking infrastructure ([#14505][_#14505])
     * Prepare for Jekyll website conversion ([#14531][_#14531], [#14612][_#14612])
     * Minor cleanup ([#14582][_#14582], [#14572][_#14572], [#14563][_#14563], [#14554][_#14554], [#14580][_#14580])
     * Define groupings in ``//doc`` to smooth our CI integration ([#14583][_#14583])

doc/_release-notes/v0.34.0.md

@@ -44,7 +44,7 @@ Fixes
 
 New features
 
-* Add suppport for more constraints and costs to IbexSolver ([#15607][_#15607])
+* Add support for more constraints and costs to IbexSolver ([#15607][_#15607])
 * For Constraint::CheckSatisfied on symbolic variables, return equality formulae when possible ([#15612][_#15612])
 * Support IBEX Solver options ([#15612][_#15612])
 * Choose best solver based on program type ([#15541][_#15541])