projectchrono · luzpaz · Jul 14, 2025
diff --git a/src/chrono_vehicle/CMakeLists.txt b/src/chrono_vehicle/CMakeLists.txt
@@ -53,7 +53,7 @@ if(CH_ENABLE_OPENCRG)
     install(FILES "${CMAKE_SOURCE_DIR}/cmake/FindOpenCRG.cmake" DESTINATION ${CH_CONFIG_INSTALL_PATH})
 
   else()
-    message("WARNINIG: OpenCRG not found; disabling CRG support in Chrono::Vehicle")
+    message("WARNING: OpenCRG not found; disabling CRG support in Chrono::Vehicle")
 
     set(OpenCRG_INCLUDE_DIR "" CACHE PATH "Directory containing OpenCRG include files")
     set(OpenCRG_LIBRARY "" CACHE FILEPATH "OpenCRG library")

diff --git a/src/chrono_vehicle/ChConfigVehicle.h.in b/src/chrono_vehicle/ChConfigVehicle.h.in
@@ -29,7 +29,7 @@
 // If OpenCRG support was enabled, define CHRONO_OPENCRG
 @CHRONO_OPENCRG@
 
-// If Irrklang suppport was enabled, define CHRONO_IRRKLANG
+// If Irrklang support was enabled, define CHRONO_IRRKLANG
 @CHRONO_IRRKLANG@
 
 

diff --git a/src/chrono_vehicle/ChDriver.cpp b/src/chrono_vehicle/ChDriver.cpp
@@ -37,7 +37,7 @@ DriverInputs ChDriver::GetInputs() const {
     return {m_steering, m_throttle, m_braking, m_clutch};
 }
 
-// Initialize output file for recording deriver inputs.
+// Initialize output file for recording driver inputs.
 bool ChDriver::LogInit(const std::string& filename) {
     m_log_filename = filename;
 

diff --git a/src/chrono_vehicle/ChEngine.h b/src/chrono_vehicle/ChEngine.h
@@ -56,7 +56,7 @@ class CH_VEHICLE_API ChEngine : public ChPart {
 
     /// Update the engine system at the current time.
     /// The engine is provided the current driver throttle input, a value in the range [0,1].
-    /// The motorshaft speed represents the input to the engine from the transmision system.
+    /// The motorshaft speed represents the input to the engine from the transmission system.
     /// This default implementation sets the speed of the motorshaft.
     virtual void Synchronize(double time,                        ///< current time
                              const DriverInputs& driver_inputs,  ///< current driver inputs

diff --git a/src/chrono_vehicle/ChPart.h b/src/chrono_vehicle/ChPart.h
@@ -195,7 +195,7 @@ class CH_VEHICLE_API ChPart {
     static void RemoveVisualizationAsset(std::shared_ptr<ChPhysicsItem> item, std::shared_ptr<ChVisualShape> shape);
 
     std::string m_name;  ///< subsystem name
-    bool m_initialized;  ///< specifies whether ot not the part is fully constructed
+    bool m_initialized;  ///< specifies whether or not the part is fully constructed
     bool m_output;       ///< specifies whether or not output is generated for this subsystem
 
     std::shared_ptr<ChPart> m_parent;  ///< parent subsystem (empty if parent is vehicle)

diff --git a/src/chrono_vehicle/ChPowertrainAssembly.h b/src/chrono_vehicle/ChPowertrainAssembly.h
@@ -31,7 +31,7 @@ namespace vehicle {
 /// @addtogroup vehicle_powertrain
 /// @{
 
-/// Defintion of a powertrain assembly system.
+/// Definition of a powertrain assembly system.
 /// A powertrain assembly consists of an engine and a transmission.
 class CH_VEHICLE_API ChPowertrainAssembly {
   public:

diff --git a/src/chrono_vehicle/ChSubsysDefs.h b/src/chrono_vehicle/ChSubsysDefs.h
@@ -84,7 +84,7 @@ struct TerrainForce {
     ChVector3d moment;  ///< moment vector, expressed in the global frame
 };
 
-/// Vector of terrain conatct force structures.
+/// Vector of terrain contact force structures.
 typedef std::vector<TerrainForce> TerrainForces;
 
 /// Driver (vehicle control) inputs.

diff --git a/src/chrono_vehicle/ChTransmission.h b/src/chrono_vehicle/ChTransmission.h
@@ -71,7 +71,7 @@ class CH_VEHICLE_API ChTransmission : public ChPart {
     virtual double GetOutputDriveshaftTorque() const = 0;
 
     /// Return the transmission output speed of the motorshaft.
-    /// This represents the output from the transmision subsystem that is passed to the engine subsystem.
+    /// This represents the output from the transmission subsystem that is passed to the engine subsystem.
     virtual double GetOutputMotorshaftSpeed() const = 0;
 
     /// Return the reaction torque on the chassis body.

diff --git a/src/chrono_vehicle/ChVehicle.h b/src/chrono_vehicle/ChVehicle.h
@@ -122,13 +122,13 @@ class CH_VEHICLE_API ChVehicle {
     ChQuaternion<> GetRot() const { return m_chassis->GetRot(); }
 
     /// Get vehicle roll angle.
-    /// This version returns the roll angle with respect to the absolte frame; as such, this is a proper representation
+    /// This version returns the roll angle with respect to the absolute frame; as such, this is a proper representation
     /// of vehicle roll only on flat horizontal terrain. In the ISO frame convention, a positive roll angle corresponds
     /// to the vehicle left side lifting (e.g., in a turn to the left).
     double GetRoll() const;
 
     /// Get vehicle pitch angle.
-    /// This version returns the pitch angle with respect to the absolte frame; as such, this is a proper representation
+    /// This version returns the pitch angle with respect to the absolute frame; as such, this is a proper representation
     /// of vehicle pitch only on flat horizontal terrain. In the ISO frame convention, a positive pitch angle
     /// corresponds to the vehicle front dipping (e.g., during braking).
     double GetPitch() const;
@@ -152,7 +152,7 @@ class CH_VEHICLE_API ChVehicle {
     double GetSpeed() const { return m_chassis->GetSpeed(); }
 
     /// Get the vehicle slip angle.
-    /// This represents the angle betwwen the forward vehicle X axis and the vehicle velocity vector (calculated at the
+    /// This represents the angle between the forward vehicle X axis and the vehicle velocity vector (calculated at the
     /// origin of the vehicle frame). The return value is in radians with a positive sign for a left turn and a negative
     /// sign for a right turn.
     double GetSlipAngle() const;
@@ -265,7 +265,7 @@ class CH_VEHICLE_API ChVehicle {
 
     /// Advance the state of this vehicle by the specified time step.
     /// A call to ChSystem::DoStepDynamics is done only if the vehicle owns the underlying Chrono system.
-    /// Otherwise, the caller is responsible for advancing the sate of the entire system.
+    /// Otherwise, the caller is responsible for advancing the state of the entire system.
     virtual void Advance(double step);
 
     /// Log current constraint violations.
@@ -317,7 +317,7 @@ class CH_VEHICLE_API ChVehicle {
     ChFrame<> m_com;         ///< current vehicle COM (relative to the vehicle reference frame)
     ChMatrix33<> m_inertia;  ///< current total vehicle inertia (Relative to the vehicle COM frame)
 
-    bool m_output;                 ///< generate ouput for this vehicle system
+    bool m_output;                 ///< generate output for this vehicle system
     ChVehicleOutput* m_output_db;  ///< vehicle output database
     double m_output_step;          ///< output time step
     double m_next_output_time;     ///< time for next output

diff --git a/src/chrono_vehicle/ChWorldFrame.h b/src/chrono_vehicle/ChWorldFrame.h
@@ -77,7 +77,7 @@ class CH_VEHICLE_API ChWorldFrame {
     static void Project(ChVector3d& v);
 
   private:
-    /// Default world frame is ISO, corresonding to an identity rotation.
+    /// Default world frame is ISO, corresponding to an identity rotation.
     ChWorldFrame() : m_rot(1), m_quat(1, 0, 0, 0), m_vertical(0, 0, 1), m_forward(1, 0, 0), m_ISO(true) {}
 
     /// Return the (unique) instance of the world frame.
@@ -90,7 +90,7 @@ class CH_VEHICLE_API ChWorldFrame {
     ChQuaternion<> m_quat;  ///< world frame orientation (relative to ISO) as quaternion
     ChVector3d m_vertical;  ///< vertical direction of the world frame
     ChVector3d m_forward;   ///< forward direction of the world frame
-    bool m_ISO;             ///< flag indicating whther or not the world frame is ISO
+    bool m_ISO;             ///< flag indicating whether or not the world frame is ISO
 };
 
 /// @} vehicle

diff --git a/src/chrono_vehicle/chassis/ChChassisConnectorArticulated.h b/src/chrono_vehicle/chassis/ChChassisConnectorArticulated.h
@@ -42,7 +42,7 @@ class CH_VEHICLE_API ChChassisConnectorArticulated : public ChChassisConnector {
     virtual std::string GetTemplateName() const override { return "ChassisConnectorArticulated"; }
 
     /// Initialize this chassis connector subsystem.
-    /// The subsystem is initialized by attaching it to the specified front and rear chassis bodies at their conection
+    /// The subsystem is initialized by attaching it to the specified front and rear chassis bodies at their connection
     /// points.
     virtual void Initialize(std::shared_ptr<ChChassis> front,    ///< [in] front chassis
                             std::shared_ptr<ChChassisRear> rear  ///< [in] rear chassis

diff --git a/src/chrono_vehicle/chassis/ChChassisConnectorFifthWheel.h b/src/chrono_vehicle/chassis/ChChassisConnectorFifthWheel.h
@@ -39,7 +39,7 @@ class CH_VEHICLE_API ChChassisConnectorFifthWheel : public ChChassisConnector {
     virtual std::string GetTemplateName() const override { return "ChassisConnectorFifthWheel"; }
 
     /// Initialize this chassis connector subsystem.
-    /// The subsystem is initialized by attaching it to the specified front and rear chassis bodies at their conection
+    /// The subsystem is initialized by attaching it to the specified front and rear chassis bodies at their connection
     /// points.
     virtual void Initialize(std::shared_ptr<ChChassis> front,    ///< [in] front chassis
                             std::shared_ptr<ChChassisRear> rear  ///< [in] rear chassis

diff --git a/src/chrono_vehicle/chassis/ChChassisConnectorHitch.h b/src/chrono_vehicle/chassis/ChChassisConnectorHitch.h
@@ -38,7 +38,7 @@ class CH_VEHICLE_API ChChassisConnectorHitch : public ChChassisConnector {
     virtual std::string GetTemplateName() const override { return "ChassisConnectorHitch"; }
 
     /// Initialize this chassis connector subsystem.
-    /// The subsystem is initialized by attaching it to the specified front and rear chassis bodies at their conection
+    /// The subsystem is initialized by attaching it to the specified front and rear chassis bodies at their connection
     /// points.
     virtual void Initialize(std::shared_ptr<ChChassis> front,    ///< [in] front chassis
                             std::shared_ptr<ChChassisRear> rear  ///< [in] rear chassis

diff --git a/src/chrono_vehicle/chassis/ChChassisConnectorTorsion.h b/src/chrono_vehicle/chassis/ChChassisConnectorTorsion.h
@@ -41,7 +41,7 @@ class CH_VEHICLE_API ChChassisConnectorTorsion : public ChChassisConnector {
     virtual std::string GetTemplateName() const override { return "ChassisConnectorTorsion"; }
 
     /// Initialize this chassis connector subsystem.
-    /// The subsystem is initialized by attaching it to the specified front and rear chassis bodies at their conection
+    /// The subsystem is initialized by attaching it to the specified front and rear chassis bodies at their connection
     /// points.
     virtual void Initialize(std::shared_ptr<ChChassis> front,    ///< [in] front chassis
                             std::shared_ptr<ChChassisRear> rear  ///< [in] rear chassis

diff --git a/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.cpp b/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.cpp
@@ -257,7 +257,7 @@ void ChVehicleCosimDBPRigImposedAngVel::InitializeRig(std::shared_ptr<ChBody> ch
     prism_vert->Initialize(m_carrier, chassis, ChFrame<>(m_carrier->GetPos(), QUNIT));
     chassis->GetSystem()->AddLink(prism_vert);
 
-    // Connect carrier to ground with a horizonal prismatic joint
+    // Connect carrier to ground with a horizontal prismatic joint
     auto prism_horiz = chrono_types::make_shared<ChLinkLockPrismatic>();
     prism_horiz->Initialize(m_carrier, ground, ChFrame<>(m_carrier->GetPos(), QuatFromAngleY(CH_PI_2)));
     chassis->GetSystem()->AddLink(prism_horiz);

diff --git a/src/chrono_vehicle/cosim/ChVehicleCosimTrackedMBSNode.h b/src/chrono_vehicle/cosim/ChVehicleCosimTrackedMBSNode.h
@@ -107,7 +107,7 @@ class CH_VEHICLE_API ChVehicleCosimTrackedMBSNode : public ChVehicleCosimBaseNod
     virtual void PostAdvance(double step_size) {}
 
     /// Perform additional output at the specified frame (called from within OutputData).
-    /// For example, output mechanism-specific data for post-procesing.
+    /// For example, output mechanism-specific data for post-processing.
     virtual void OnOutputData(int frame) {}
 
     /// Apply the provided force to the specified track shoe body

diff --git a/src/chrono_vehicle/cosim/ChVehicleCosimWheeledMBSNode.cpp b/src/chrono_vehicle/cosim/ChVehicleCosimWheeledMBSNode.cpp
@@ -147,7 +147,7 @@ void ChVehicleCosimWheeledMBSNode::Initialize() {
     }
 
     // Incorporate information on tire mass, radius, and width.
-    // This is defered to this point so that the MBS system could be initialized first and correct spindle locations
+    // This is deferred to this point so that the MBS system could be initialized first and correct spindle locations
     // sent to the tire nodes. Only after their own initialization can the tire nodes send back here the tire info.
     ApplyTireInfo(tire_info);
 

diff --git a/src/chrono_vehicle/cosim/ChVehicleCosimWheeledMBSNode.h b/src/chrono_vehicle/cosim/ChVehicleCosimWheeledMBSNode.h
@@ -125,7 +125,7 @@ class CH_VEHICLE_API ChVehicleCosimWheeledMBSNode : public ChVehicleCosimBaseNod
     virtual void PostAdvance(double step_size) {}
 
     /// Perform additional output at the specified frame (called from within OutputData).
-    /// For example, output mechanism-specific data for post-procesing.
+    /// For example, output mechanism-specific data for post-processing.
     virtual void OnOutputData(int frame) {}
 
     /// Apply the provided force to the i-th spindle body.

diff --git a/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeChrono.h b/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeChrono.h
@@ -108,7 +108,7 @@ class CH_VEHICLE_API ChVehicleCosimTerrainNodeChrono : public ChVehicleCosimTerr
     /// Construct a base class terrain node.
     ChVehicleCosimTerrainNodeChrono(Type type,              ///< terrain type
                                     double length,          ///< terrain patch length
-                                    double width,           ///< terain patch width
+                                    double width,           ///< terrain patch width
                                     ChContactMethod method  ///< contact method (SMC or NSC)
     );
 

diff --git a/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeGranularGPU.cpp b/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeGranularGPU.cpp
@@ -229,7 +229,7 @@ void ChVehicleCosimTerrainNodeGranularGPU::Construct() {
 #endif
 
     // Calculate domain size
-    //// TODO: For now, we need to hack in a larger dimZ to accomodate any wheels that will only show up later.
+    //// TODO: For now, we need to hack in a larger dimZ to accommodate any wheels that will only show up later.
     ////       This limitations needs to be removed in Chrono::Gpu!
     ////       Second, we are limited to creating this domain centered at the origin!?!
     float r = m_separation_factor * (float)m_radius_g;

diff --git a/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeGranularOMP.cpp b/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeGranularOMP.cpp
@@ -909,7 +909,7 @@ void ChVehicleCosimTerrainNodeGranularOMP::UpdateMeshProxy(unsigned int i, MeshS
         //// RADU TODO: angular velocity
         proxy->bodies[it]->SetAngVelLocal(ChVector3d(0, 0, 0));
 
-        // Update triangle contact shape (expressed in local frame) by writting directly
+        // Update triangle contact shape (expressed in local frame) by writing directly
         // into the Chrono::Multicore data structures.
         // ATTENTION: It is assumed that no other triangle contact shapes have been added
         // to the system BEFORE those corresponding to the object mesh faces!

diff --git a/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeSCM.h b/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeSCM.h
@@ -102,7 +102,7 @@ class CH_VEHICLE_API ChVehicleCosimTerrainNodeSCM : public ChVehicleCosimTerrain
     double m_Mohr_friction;  ///< Friction angle (in degrees!), for shear failure
     double m_Janosi_shear;   ///< J , shear parameter, in meters, in Janosi-Hanamoto formula (usually few mm or cm)
     double m_elastic_K;      ///< elastic stiffness K per unit area [Pa/m]
-    double m_damping_R;      ///< vetical damping R per unit area [Pa.s/m]
+    double m_damping_R;      ///< vertical damping R per unit area [Pa.s/m]
 
     double m_radius_p;  ///< radius for a proxy body
 

diff --git a/src/chrono_vehicle/driver/ChHumanDriver.cpp b/src/chrono_vehicle/driver/ChHumanDriver.cpp
@@ -306,7 +306,7 @@ void ChHumanDriver::Advance(double step) {  // distance in front of the vehicle.
     // define field of view angle of the driver +-10 deg
     const double ny = 10.0 * CH_DEG_TO_RAD;
     // which speed to choose?
-    // search intervalls for longitudinal controller
+    // search intervals for longitudinal controller
     double d_long = 0;
     bool i_restrict = false;
     bool j_restrict = false;

diff --git a/src/chrono_vehicle/fmi/cosim/fmu2_force_element_tire/FMU_ForceElementTire.cpp b/src/chrono_vehicle/fmi/cosim/fmu2_force_element_tire/FMU_ForceElementTire.cpp
@@ -79,7 +79,7 @@ FmuComponent::FmuComponent(fmi2String instanceName,
     AddFmuVariable(&out_path, "out_path", FmuVariable::Type::String, "1", "output directory",    //
                    FmuVariable::CausalityType::parameter, FmuVariable::VariabilityType::fixed);  //
 
-    // Set CONTINOUS INPUTS for this FMU (wheel state)
+    // Set CONTINUOUS INPUTS for this FMU (wheel state)
     AddFmuVecVariable(wheel_state.pos, "wheel_state.pos", "m", "wheel position",                      //
                       FmuVariable::CausalityType::input, FmuVariable::VariabilityType::continuous);   //
     AddFmuQuatVariable(wheel_state.rot, "wheel_state.rot", "1", "wheel rotation",                     //

diff --git a/src/chrono_vehicle/fmi/cosim/fmu2_path_follower_driver/FMU_PathFollowerDriver.cpp b/src/chrono_vehicle/fmi/cosim/fmu2_path_follower_driver/FMU_PathFollowerDriver.cpp
@@ -144,7 +144,7 @@ FmuComponent::FmuComponent(fmi2String instanceName,
     AddFmuVariable(&init_yaw, "init_yaw", FmuVariable::Type::Real, "rad", "orientation of first path segment",  //
                    FmuVariable::CausalityType::output, FmuVariable::VariabilityType::constant);                 //
 
-    // Set CONTINOUS INPUTS for this FMU
+    // Set CONTINUOUS INPUTS for this FMU
     AddFmuFrameMovingVariable(ref_frame, "ref_frame", "m", "m/s", "reference frame",                         //
                               FmuVariable::CausalityType::input, FmuVariable::VariabilityType::continuous);  //
     AddFmuVariable(&target_speed, "target_speed", FmuVariable::Type::Real, "m/s", "target speed",            //
@@ -154,7 +154,7 @@ FmuComponent::FmuComponent(fmi2String instanceName,
     AddFmuVariable((int*)(&save_img), "save_img", FmuVariable::Type::Boolean, "1", "trigger saving images",  //
                    FmuVariable::CausalityType::input, FmuVariable::VariabilityType::discrete);               //
 
-    // Set CONTINOUS OUTPUTS for this FMU
+    // Set CONTINUOUS OUTPUTS for this FMU
     AddFmuVariable(&steering, "steering", FmuVariable::Type::Real, "1", "steering command",       //
                    FmuVariable::CausalityType::output, FmuVariable::VariabilityType::continuous,  //
                    FmuVariable::InitialType::exact);                                              //

diff --git a/src/chrono_vehicle/fmi/cosim/fmu2_path_follower_driver/FMU_PathFollowerDriver.h b/src/chrono_vehicle/fmi/cosim/fmu2_path_follower_driver/FMU_PathFollowerDriver.h
@@ -113,7 +113,7 @@ class FmuComponent : public chrono::fmi2::FmuChronoComponentBase {
     bool save_img;         ///< enable/disable saving of visualization snapshots
     double fps;            ///< snapshot saving frequency (in FPS)
 
-    // Vehicle driver commands (FMU countinuous outputs)
+    // Vehicle driver commands (FMU continuous outputs)
     double steering;  ///< steering command, in [-1,1]
     double throttle;  ///< throttle command, in [0,1]
     double braking;   ///< braking command, in [0,1]

diff --git a/src/chrono_vehicle/fmi/cosim/fmu2_powertrain/FMU_Powertrain.cpp b/src/chrono_vehicle/fmi/cosim/fmu2_powertrain/FMU_Powertrain.cpp
@@ -85,7 +85,7 @@ FmuComponent::FmuComponent(fmi2String instanceName,
     AddFmuVariable(&out_path, "out_path", FmuVariable::Type::String, "1", "output directory",    //
                    FmuVariable::CausalityType::parameter, FmuVariable::VariabilityType::fixed);  //
 
-    // Set CONTINOUS INPUTS for this FMU (driver inputs)
+    // Set CONTINUOUS INPUTS for this FMU (driver inputs)
     AddFmuVariable(&throttle, "throttle", FmuVariable::Type::Real, "1", "throttle input",         //
                    FmuVariable::CausalityType::input, FmuVariable::VariabilityType::continuous);  //
     AddFmuVariable(&clutch, "clutch", FmuVariable::Type::Real, "1", "clutch input",               //

diff --git a/src/chrono_vehicle/fmi/cosim/fmu2_wheeled_vehicle/FMU_WheeledVehicle.cpp b/src/chrono_vehicle/fmi/cosim/fmu2_wheeled_vehicle/FMU_WheeledVehicle.cpp
@@ -131,7 +131,7 @@ FmuComponent::FmuComponent(fmi2String instanceName,
     AddFmuVariable(&fps, "fps", FmuVariable::Type::Real, "1", "rendering frequency",             //
                    FmuVariable::CausalityType::parameter, FmuVariable::VariabilityType::fixed);  //
 
-    // Set CONTINOUS INPUTS for this FMU (driver inputs)
+    // Set CONTINUOUS INPUTS for this FMU (driver inputs)
     AddFmuVariable(&driver_inputs.m_steering, "steering", FmuVariable::Type::Real, "1", "steering input",  //
                    FmuVariable::CausalityType::input, FmuVariable::VariabilityType::continuous);           //
     AddFmuVariable(&driver_inputs.m_throttle, "throttle", FmuVariable::Type::Real, "1", "throttle input",  //
@@ -149,7 +149,7 @@ FmuComponent::FmuComponent(fmi2String instanceName,
     AddFmuFrameMovingVariable(ref_frame, "ref_frame", "m", "m/s", "reference frame",                          //
                               FmuVariable::CausalityType::output, FmuVariable::VariabilityType::continuous);  //
 
-    // Set CONTINOUS INPUTS and OUTPUTS for this FMU (driveshaft speed and torque for co-simulation)
+    // Set CONTINUOUS INPUTS and OUTPUTS for this FMU (driveshaft speed and torque for co-simulation)
     AddFmuVariable(&driveshaft_torque, "driveshaft_torque", FmuVariable::Type::Real,              //
                    "Nm", "driveshaft motor torque",                                               //
                    FmuVariable::CausalityType::input, FmuVariable::VariabilityType::continuous);  //
@@ -165,7 +165,7 @@ FmuComponent::FmuComponent(fmi2String instanceName,
                    "Nm", "transmission reaction torque",                                          //
                    FmuVariable::CausalityType::input, FmuVariable::VariabilityType::continuous);  //
 
-    // Set CONTINOUS INPUTS and OUTPUTS for this FMU (wheel state and forces for co-simulation)
+    // Set CONTINUOUS INPUTS and OUTPUTS for this FMU (wheel state and forces for co-simulation)
     for (int iw = 0; iw < 4; iw++) {
         wheel_data[iw].state.lin_vel = VNULL;
         wheel_data[iw].state.ang_vel = VNULL;