From fe8f0f95cd732acc2dd1b0780f963eb6de123db0 Mon Sep 17 00:00:00 2001
From: Robert Lefringhausen <robert.lefringhausen@tum.de>
Date: Thu, 23 May 2024 16:32:57 +0200
Subject: [PATCH] Fixed typo in function docstring.

---
 Julia/src/optimal_control_Ipopt.jl | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Julia/src/optimal_control_Ipopt.jl b/Julia/src/optimal_control_Ipopt.jl
index 1e971f5..ae874a9 100644
--- a/Julia/src/optimal_control_Ipopt.jl
+++ b/Julia/src/optimal_control_Ipopt.jl
@@ -24,7 +24,7 @@ h(&u_{0:H},x_{0:H}^{[k]},y_{0:H}^{[k]}) \\leq 0.
 - `H`: horizon of the OCP
 - `J`: function with input arguments (``u_{1:H}``, ``x_{1:H}``, ``y_{1:H}``) (or ``u_{1:H}`` if `J_u` is set true) that returns the cost to be minimized
 - `h_scenario`: function with input arguments (``u_{1:H}``, ``x_{1:H}``, ``y_{1:H}``) that returns the constraint vector belonging to a scenario; a feasible solution must satisfy ``h_{\\mathrm{scenario}} \\leq 0`` for all scenarios.
-- `h_u`: function with input argument ``u_{1:H}`` that returns the constraint vector for the control inputs; a feasible solution satisfy yield ``h_u \\leq 0``
+- `h_u`: function with input argument ``u_{1:H}`` that returns the constraint vector for the control inputs; a feasible solution satisfy ``h_u \\leq 0``.
 - `J_u`: set to true if cost depends only on inputs ``u_{1:H}` - this accelerates the optimization
 - `x_vec_0`: vector with K * n_x elements containing the initial state of all models - if not provided, the initial states are sampled based on the PGS samples
 - `v_vec`: array of dimension n_x x H x K that contains the process noise for all models and all timesteps - if not provided, the noise is sampled based on the PGS samples
@@ -245,7 +245,7 @@ h(&u_{0:H},x_{0:H}^{[k]},y_{0:H}^{[k]}) \\leq 0.
 - `H`: horizon of the OCP
 - `J`: function with input arguments (``u_{1:H}``, ``x_{1:H}``, ``y_{1:H}``) (or ``u_{1:H}`` if `J_u` is set true) that returns the cost to be minimized
 - `h_scenario`: function with input arguments (``u_{1:H}``, ``x_{1:H}``, ``y_{1:H}``) that returns the constraint vector belonging to a scenario; a feasible solution must satisfy ``h_{\\mathrm{scenario}} \\leq 0`` for all scenarios.
-- `h_u`: function with input argument ``u_{1:H}`` that returns the constraint vector for the control inputs; a feasible solution satisfy yield ``h_u \\leq 0``
+- `h_u`: function with input argument ``u_{1:H}`` that returns the constraint vector for the control inputs; a feasible solution satisfy ``h_u \\leq 0``.
 - `β`: confidence parameter
 - `J_u`: set to true if cost depends only on inputs ``u_{1:H}` - this accelerates the optimization
 - `x_vec_0`: vector with K * n_x elements containing the initial state of all models - if not provided, the initial states are sampled based on the PGS samples