Skip to content

doc : minor clarifications #211

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
franckgaga merged 1 commit into from
Jun 5, 2025
Merged

doc : minor clarifications #211

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion src/controller/construct.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -458,7 +458,7 @@ estimate_delays(::SimModel) = 0


@doc raw"""
move_blocking(Hp::Int, Hc::AbstractVector{Int}) -> nb
move_blocking(Hp::Int, Hc::Vector{Int}) -> nb

Get the move blocking vector `nb` from the `Hc` argument, and modify it to match `Hp`.

Expand Down
10 changes: 5 additions & 5 deletions src/controller/transcription.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -114,9 +114,9 @@ The ``\mathbf{P_u}`` and ``\mathbf{T_u}`` matrices are defined in the Extended H
# Extended Help
!!! details "Extended Help"
With ``n_i``, the ``i``th element of the ``\mathbf{n_b}`` vector defined in [`move_blocking`](@ref)
documentation, we introduce the ``\mathbf{Q}(i)`` matrix of size `(nu*ni, nu)`:
documentation, we introduce the ``\mathbf{Q}(n_i)`` matrix of size `(nu*ni, nu)`:
```math
\mathbf{Q}(i) = \begin{bmatrix}
\mathbf{Q}(n_i) = \begin{bmatrix}
\mathbf{I} \\
\mathbf{I} \\
\vdots \\
Expand Down Expand Up @@ -153,10 +153,10 @@ function init_ZtoU(
I_nu = Matrix{NT}(I, nu, nu)
PuDagger = Matrix{NT}(undef, nu*Hp, nu*Hc)
for i=1:Hc
ni = nb[i]
Qi = repeat(I_nu, ni, 1)
ni = nb[i]
Q_ni = repeat(I_nu, ni, 1)
iRows = (1:nu*ni) .+ @views nu*sum(nb[1:i-1])
PuDagger[iRows, :] = [repeat(Qi, 1, i) zeros(nu*ni, nu*(Hc-i))]
PuDagger[iRows, :] = [repeat(Q_ni, 1, i) zeros(nu*ni, nu*(Hc-i))]
end
Pu = init_PUmat(estim, transcription, Hp, Hc, PuDagger)
Tu = repeat(I_nu, Hp)
Expand Down