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franckgaga merged 1 commit into from
Jul 14, 2026
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doc: minor correction #399

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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 @@ -250,8 +250,8 @@ The collocation constraints are nonlinear, but the defects of deterministic stat
\mathbf{k}_{n_o}(k+j) \end{bmatrix}
+ λ_o \mathbf{x̂_d}(k+j) - \mathbf{x̂_d}(k+j+1)
```
for ``j = 0, 1, ... , H_p-1``. The ``\mathbf{k}_i(k+j)`` and ``\mathbf{x̂_d}(k+j)`` vectors
are all directly extracted from the decision variable `Z̃`.
for ``j = 0, 1, ... , H_p-1``. The ``\mathbf{k}_i`` and ``\mathbf{x̂_d}`` vectors are all
directly extracted from the decision variable `Z̃`.
"""
function init_orthocolloc(
model::SimModel{NT}, transcription::OrthogonalCollocation
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