Better documentation.

RobotLocomotion · Oct 3, 2024 · c96ebff · c96ebff
1 parent f4c5832
commit c96ebff
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/multibody/tree/geometry_spatial_inertia.h b/multibody/tree/geometry_spatial_inertia.h
@@ -46,9 +46,8 @@ SpatialInertia<double> CalcSpatialInertia(const geometry::Shape& shape,
    - All triangles must be "wound" such that their normals point outward
      (according to the right-hand rule based on vertex winding).
 
- In the rare situation that we can detect when these requirements are not met,
- an exception is thrown and no value is returned. Otherwise, the returned
- SpatialInertia is meaningless.
+ In the rare situation that we detect unmet requirements, an exception is thrown
+ (no value is returned). Otherwise, the returned SpatialInertia is meaningless.
  @throws std::exception if the volume of `mesh` is negative or nearly zero.
  @pydrake_mkdoc_identifier{mesh} */
 SpatialInertia<double> CalcSpatialInertia(