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Update transcription.jl #259

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Merged
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Sep 19, 2025
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Update transcription.jl #259

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4 changes: 2 additions & 2 deletions src/controller/transcription.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ This transcription computes the predictions by calling the augmented discrete-ti
in the equality constraint function recursively over ``H_p``, or by updating the linear
equality constraint vector for [`LinModel`](@ref). It is generally more efficient for large
control horizon ``H_c``, unstable or highly nonlinear models/constraints. Multithreading
with `threads_f` or `threads_h` keyword arguments can be advantageous if ``\mathbf{f}`` or
with `f_threads` or `h_threads` keyword arguments can be advantageous if ``\mathbf{f}`` or
``\mathbf{h}`` in the [`NonLinModel`](@ref) is expensive to evaluate, respectively.

Sparse optimizers like `OSQP` or `Ipopt` and sparse Jacobian computations are recommended
Expand Down Expand Up @@ -1469,4 +1469,4 @@ function con_nonlinprogeq!(
end

"No eq. constraints for other cases e.g. [`SingleShooting`](@ref), returns `geq` unchanged."
con_nonlinprogeq!(geq,_,_,_,::PredictiveController,::SimModel,::TranscriptionMethod,_,_)=geq
con_nonlinprogeq!(geq,_,_,_,::PredictiveController,::SimModel,::TranscriptionMethod,_,_)=geq
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