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fix some typos

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zanellia committed May 22, 2019
1 parent caa0ec8 commit 28d7ee5791f46625136f671e1b00dca67ebc58d3
Showing with 7 additions and 6 deletions.
  1. +4 −3 docs/interfaces/index.md
  2. +3 −3 interfaces/acados_template/acados_template/acados_ocp_nlp.py
@@ -59,9 +59,9 @@ The currently supported formulations reads as
&\,\,\,\quad \text{s.t.} &&x(0) - \bar{x}_0 = 0, &&\\
& &&F(x(t), \dot{x}(t), u(t), z(t), p) = 0, &&\quad t \in [0,\,T),\\
& &&\underline{h} \leq h(x(t), u(t), p) \leq \bar{h}, &&\quad t \in [0,\,T),\\
& &&\underline{x} \leq \Pi_{x}x(t) \leq \bar{x}, &&\quad t \in (0,\,T),\\
& &&\underline{u} \leq \Pi_{u}u(t) \leq \bar{u}, &&\quad t \in (0,\,T),\\
& &&\underline{c} \leq Cx(t) + Du(t)\leq \bar{c}, &&\quad t \in (0,\,T), \\
& &&\underline{x} \leq \Pi_{x}x(t) \leq \bar{x}, &&\quad t \in [0,\,T),\\
& &&\underline{u} \leq \Pi_{u}u(t) \leq \bar{u}, &&\quad t \in [0,\,T),\\
& &&\underline{c} \leq Cx(t) + Du(t)\leq \bar{c}, &&\quad t \in [0,\,T), \\
& && && \\[-1em]
& &&\underline{h}^e \leq h^e(x(T), p) \leq \bar{h}^e, &&\\
& &&\underline{x}^e \leq \Pi_{x}^e x(T) \leq \bar{x}^{e}, &&\\
@@ -79,6 +79,7 @@ Where:
* :math:`h: \mathbb{R}^{n_x}\times\mathbb{R}^{n_u}\times\mathbb{R}^{n_z}\times\mathbb{R}^{n_p} \rightarrow \mathbb{R}^{n_h}` and :math:`h^e: \mathbb{R}^{n_x}\times\mathbb{R}^{n_z}\times\mathbb{R}^{n_p} \rightarrow \mathbb{R}^{n_{h_e}}` are general nonlinear functions.
* :math:`C,\,D,\,C^e,\,\Pi_x,\,\Pi_u,\,\Pi_x^e` are matrices of appropriate dimensions defining the polytopic and box constraints.
Currently not yet implemented features:
@@ -476,12 +476,12 @@ def __init__(self):
self.__lbu = [] #: :math:`\underline{u}` - lower bounds on u
self.__ubx = [] #: :math:`\bar{x}` - upper bounds on x
self.__ubu = [] #: :math:`\bar{u}` - upper bounds on u
self.__idxbx = [] #: indexes of bounds on x (defines :math: `\Pi_x`)
self.__idxbu = [] #: indexes of bounds on u (defines :math: `\Pi_u`)
self.__idxbx = [] #: indexes of bounds on x (defines :math:`\Pi_x`)
self.__idxbu = [] #: indexes of bounds on u (defines :math:`\Pi_u`)
# bounds on x at t=T
self.__lbx_e = [] #: :math:`\underline{x}^e` - lower bounds on x at t=T
self.__ubx_e = [] #: :math:`\bar{x}^e` - upper bounds on x at t=T
self.__idxbx_e = [] #: indexes for bounds on x at t=T (defines :math: `\Pi_x^e`)
self.__idxbx_e = [] #: indexes for bounds on x at t=T (defines :math:`\Pi_x^e`)
# soft bounds on x and u
self.__lsbx = [] #: soft lower bounds on x
self.__lsbu = [] #: soft lower bounds on u

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