From 0ebf79b54c9597f1a6dd27bf9fbc0914d2e6afca Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 18 Jan 2023 13:46:45 -0800
Subject: [PATCH] [wpimath] Fix typo in Pose3d::Exp() docs (NFC) (#4966)

---
 wpimath/src/main/native/cpp/geometry/Pose3d.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
index 4732c4d10c..69d37c219e 100644
--- a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
@@ -82,7 +82,7 @@ Pose3d Pose3d::Exp(const Twist3d& twist) const {
   // http://asrl.utias.utoronto.ca/~tdb/bib/barfoot_ser17_identities.pdf
   Matrixd<3, 3> J;
   if (thetaSq < 1E-9 * 1E-9) {
-    // V = I + 0.5ω
+    // J = I + 0.5ω
     J = Matrixd<3, 3>::Identity() + 0.5 * Omega;
   } else {
     double theta = std::sqrt(thetaSq);