fix some typos

 @@ -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