Docs + error msgs: Fixed .setup_model

Now it says .model always.

do_mpc/controller.py

@@ -466,7 +466,7 @@ def set_objective(self, mterm=None, lterm=None):
         """
         assert mterm.shape == (1,1), 'mterm must have shape=(1,1). You have {}'.format(mterm.shape)
         assert lterm.shape == (1,1), 'lterm must have shape=(1,1). You have {}'.format(lterm.shape)
-        assert self.flags['setup'] == False, 'Cannot call .set_objective after .setup_model.'
+        assert self.flags['setup'] == False, 'Cannot call .set_objective after .setup().'
 
         _x, _u, _z, _tvp, _p = self.model['x','u','z','tvp','p']
 
@@ -542,7 +542,7 @@ def set_rterm(self, **kwargs):
             For :math:`k=0` we obtain :math:`u_{-1}` from the previous solution.
 
         """
-        assert self.flags['setup'] == False, 'Cannot call .set_rterm after .setup_model.'
+        assert self.flags['setup'] == False, 'Cannot call .set_rterm after .setup().'
 
         self.flags['set_rterm'] = True
         for key, val in kwargs.items():

do_mpc/data.py

@@ -42,7 +42,7 @@ class Data:
     """
     def __init__(self, model):
         self.dtype = 'default'
-        assert model.flags['setup'] == True, 'Model was not setup. After the complete model creation call model.setup_model().'
+        assert model.flags['setup'] == True, 'Model was not setup. After the complete model creation call model.setup().'
         # As discussed here: https://groups.google.com/forum/#!topic/casadi-users/dqAb4tnA2ik
         # struct_SX cannot be unpickled (seems like a bug)
         # TODO: Find better workaround.

do_mpc/estimator.py

@@ -45,7 +45,7 @@ def __init__(self, model):
         self.model = model
         do_mpc.model.IteratedVariables.__init__(self)
 
-        assert model.flags['setup'] == True, 'Model for estimator was not setup. After the complete model creation call model.setup_model().'
+        assert model.flags['setup'] == True, 'Model for estimator was not setup. After the complete model creation call model.setup().'
 
         self.data = do_mpc.data.Data(model)
         self.data.dtype = 'Estimator'

do_mpc/optimizer.py

@@ -317,7 +317,7 @@ def set_nl_cons(self, expr_name, expr, ub=np.inf, soft_constraint=False, penalty
         :return: Returns the newly created expression. Expression can be used e.g. for the RHS.
         :rtype: casadi.SX or casadi.MX
         """
-        assert self.flags['setup'] == False, 'Cannot call .set_expression after .setup_model.'
+        assert self.flags['setup'] == False, 'Cannot call .set_expression after .setup().'
         assert isinstance(expr_name, str), 'expr_name must be str, you have: {}'.format(type(expr_name))
         assert isinstance(expr, (casadi.SX, casadi.MX)), 'expr must be a casadi SX or MX type, you have: {}'.format(type(expr))
         assert isinstance(ub, (int, float, np.ndarray)), 'ub must be float, int or numpy.ndarray, you have: {}'.format(type(ub))

do_mpc/simulator.py

@@ -65,7 +65,7 @@ def __init__(self, model):
         self.model = model
         do_mpc.model.IteratedVariables.__init__(self)
 
-        assert model.flags['setup'] == True, 'Model for simulator was not setup. After the complete model creation call model.setup_model().'
+        assert model.flags['setup'] == True, 'Model for simulator was not setup. After the complete model creation call model.setup().'
 
         self.data = Data(model)
 

documentation/source/mhe_example.ipynb

@@ -186,7 +186,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "The model setup is completed by calling `model.setup_model()`:"
+    "The model setup is completed by calling `model.setup()`:"
    ]
   },
   {
@@ -202,7 +202,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "After calling `model.setup_model()` we cannot define further variables etc."
+    "After calling `model.setup()` we cannot define further variables etc."
    ]
   },
   {