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rename augment_model_with_polynomial_control() to reformulate_with_polynomial_control() #1129

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Merged
merged 1 commit into from
Jun 4, 2024
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rename augment_model_with_polynomial_control() to reformulate_with_polynomial_control() #1129

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2 changes: 1 addition & 1 deletion examples/acados_python/time_varying/piecewiese_polynomial_control_example.py
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Expand Up @@ -99,7 +99,7 @@ def create_ocp_formulation_without_opts(cost_type, degree_u_polynom, explicit_sy

ocp.constraints.x0 = np.array([0.0, np.pi, 0.0, 0.0])

evaluate_polynomial_u_fun = model.augment_model_with_polynomial_control(degree_u_polynom)
evaluate_polynomial_u_fun = model.reformulate_with_polynomial_control(degree_u_polynom)

return ocp, evaluate_polynomial_u_fun

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4 changes: 4 additions & 0 deletions interfaces/acados_template/acados_template/acados_model.py
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Expand Up @@ -320,6 +320,10 @@ def substitute(self, var: Union[ca.SX, ca.MX], expr_new: Union[ca.SX, ca.MX]) ->


def augment_model_with_polynomial_control(self, degree: int) -> None:
print("Deprecation warning: augment_model_with_polynomial_control() is deprecated and has been renamed to reformulate_with_polynomial_control().")
self.reformulate_with_polynomial_control()

def reformulate_with_polynomial_control(self, degree: int) -> None:
"""
Augment the model with polynomial control.

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