Minor changes

do_mpc/estimator.py

@@ -568,8 +568,9 @@ def set_objective(self, stage_cost, arrival_cost):
         self.flags['set_objective'] = True
 
     def set_default_objective(self, P_x, P_v=None, P_p=None, P_w=None, P_y=None):
-        """ Wrapper function to set the suggested default MHE formulation:
+        """ Configure the suggested default MHE formulation.
 
+        Use this method to pass tuning matrices for the MHE optimization problem:
         .. math::
 
             \\underset{

do_mpc/graphics.py

@@ -223,7 +223,7 @@ def reset_prop_cycle(self):
         """
         for ax_i in self.ax_list:
             ax_i.set_prop_cycle(None)
-            
+
     def clear(self, lines=None):
         """Clears all data from lines.
 
@@ -484,6 +484,7 @@ def animate(graphics, fig, n_steps=None, export_path='./', export_name='animatio
     :param fps: (Optional) Frames per second for the resulting animation.
     :type fps: int
     :param writer: (Optional) If supplied, the ``fps`` and ``format argument are discarded. Use this to configure your own writer.
+    :type writer: writer class
 
     :return: None
     """