From 1e87de3a34e3e3d13a91740f88f21976b3904919 Mon Sep 17 00:00:00 2001 From: franckgaga Date: Wed, 4 Mar 2026 20:03:39 -0500 Subject: [PATCH] doc: minor modification --- src/controller/transcription.jl | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/src/controller/transcription.jl b/src/controller/transcription.jl index e273d7e1f..630c6ca1a 100644 --- a/src/controller/transcription.jl +++ b/src/controller/transcription.jl @@ -153,12 +153,10 @@ and ``\mathbf{k}_i(k+j)`` is the deterministic state prediction for the ``i``th point at the ``j``th stage/interval/finite element (details in Extended Help). The `roots` keyword argument is either `:gaussradau` or `:gausslegendre`, for Gauss-Radau or Gauss-Legendre quadrature, respectively. See [`MultipleShooting`](@ref) docstring for -descriptions of `f_threads` and `h_threads` keywords. - -This transcription computes the predictions by enforcing the collocation and continuity -constraints at the collocation points. It is efficient for highly stiff systems, but -generally more expensive than the other methods for non-stiff systems. See Extended Help for -more details. +descriptions of `f_threads` and `h_threads` keywords. This transcription computes the +predictions by enforcing the collocation and continuity constraints at the collocation +points. It is efficient for highly stiff systems, but generally more expensive than the +other methods for non-stiff systems. See Extended Help for more details. !!! warning The built-in [`StateEstimator`](@ref) will still use the `solver` provided at the @@ -178,7 +176,7 @@ this transcription method (sparser formulation than [`MultipleShooting`](@ref)). "optimal" for approximating the state trajectories with polynomials of degree ``n_o``. The method then enforces the system dynamics at these points. The Gauss-Legendre scheme is more accurate than Gauss-Radau but only A-stable, while the latter being L-stable. - See [`con_nonlinprogeq!`](@ref) for details on the implementation. + See [`con_nonlinprogeq!`](@ref) for implementation details. """ struct OrthogonalCollocation <: CollocationMethod h::Int