Made all count variable names consistent across the codebase. #94
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There were inconsistencies among different functions and the theory documentation regarding the variable names for the counts of different sets, e.g. number of states, number of unknown inputs, etc. This patch attempts to unify the language and add clarifications to different docstrings.
RiccardoGM
reviewed
Jun 18, 2021
| where the dimension of the unknown vectors are: | ||
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| - :math:`\mathbf{r}_u \in \mathbb{R}^q` | ||
| - :math:`\mathbf{p}_u \in \mathbb{R}^r` |
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p and p_u have the same dimension r
RiccardoGM
reviewed
Jun 18, 2021
docs/theory.rst
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| @@ -156,12 +161,12 @@ Then, defining :math:`\mathbf{x}_i` to be: | |||
| \mathbf{x}_i = [\mathbf{y}_i \quad \mathbf{r}_{ui} \quad \mathbf{p}_{ui}]^T | |||
RiccardoGM
reviewed
Jun 18, 2021
docs/theory.rst
Outdated
| optimization problem can formally be written as: | ||
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| .. math:: | ||
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| & \underset{\mathbf{x}_i \in \mathbb{R}^{(n + p)m + q}} | ||
| & \underset{\mathbf{x}_i \in \mathbb{R}^{(n + q)N + r}} |
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x_i has dimension n + q + r
it is the vector (y_1, r_u1, y_2, r_u2, ...p_u) that has dimension (n + q)N + r
RiccardoGM
reviewed
Jun 18, 2021
| @@ -178,14 +178,22 @@ def objective(self, free): | |||
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| Parameters | |||
| ========== | |||
| free : ndarray, (n * N + m * M + q, ) | |||
| free : ndarray, (n*N + q*N + r, ) | |||
RiccardoGM
reviewed
Jun 18, 2021
| - n : number of unknown state trajectories | ||
| - q : number of unknown input trajectories | ||
| - r : number of unknown parameters | ||
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I would add a description of 'numinstance'
RiccardoGM
reviewed
Jun 18, 2021
| - N : number of collocation nodes | ||
| - n : number of states | ||
| - m : number of input trajectories | ||
| - p : number of parameters |
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In theory.rst parameters and unknown parameters have the same dimension: r
RiccardoGM
reviewed
Jun 18, 2021
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Merging. Thanks! |
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There were inconsistencies among different functions and the theory
documentation regarding the variable names for the counts of different
sets, e.g. number of states, number of unknown inputs, etc. This patch
attempts to unify the language and add clarifications to different
docstrings.