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Merged
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Apr 26, 2025
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doc: minor corrections #196

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8 changes: 4 additions & 4 deletions src/controller/transcription.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -952,13 +952,13 @@ linconstrainteq!(::PredictiveController, ::SimModel, ::SingleShooting) = nothing
linconstrainteq!(::PredictiveController, ::SimModel, ::MultipleShooting) = nothing

@doc raw"""
set_warmstart!(mpc::PredictiveController, transcription::SingleShooting, Z̃var) -> Z̃0
set_warmstart!(mpc::PredictiveController, transcription::SingleShooting, Z̃var) -> Z̃s

Set and return the warm start value of `Z̃var` for [`SingleShooting`](@ref) transcription.

If supported by `mpc.optim`, it warm-starts the solver at:
```math
\mathbf{ΔŨ} =
\mathbf{Z̃_s} =
\begin{bmatrix}
\mathbf{Δu}(k+0|k-1) \\
\mathbf{Δu}(k+1|k-1) \\
Expand All @@ -983,13 +983,13 @@ function set_warmstart!(mpc::PredictiveController, transcription::SingleShooting
end

@doc raw"""
set_warmstart!(mpc::PredictiveController, transcription::MultipleShooting, Z̃var) -> Z̃0
set_warmstart!(mpc::PredictiveController, transcription::MultipleShooting, Z̃var) -> Z̃s

Set and return the warm start value of `Z̃var` for [`MultipleShooting`](@ref) transcription.

It warm-starts the solver at:
```math
\mathbf{ΔŨ} =
\mathbf{Z̃_s} =
\begin{bmatrix}
\mathbf{Δu}(k+0|k-1) \\
\mathbf{Δu}(k+1|k-1) \\
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2 changes: 1 addition & 1 deletion src/model/nonlinmodel.jl
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Expand Up @@ -111,7 +111,7 @@ form. The optional parameter `NT` explicitly set the number type of vectors (def
!!! warning
The two functions must be in pure Julia to use the model in [`NonLinMPC`](@ref),
[`ExtendedKalmanFilter`](@ref), [`MovingHorizonEstimator`](@ref) and [`linearize`](@ref),
except if a finite difference backend is used (e.g. [`AutoFiniteDiff`](@extref DifferentiationInterface List).
except if a finite difference backend is used (e.g. [`AutoFiniteDiff`](@extref DifferentiationInterface List)).

See also [`LinModel`](@ref).

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