Rename initialize_y to compute_m

olejodd10 · Apr 29, 2024 · 5216870 · 5216870
1 parent 7ea8c7c
commit 5216870
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/src/SdqpLmpcConstant.c b/src/SdqpLmpcConstant.c
@@ -193,7 +193,7 @@ static void get_column_M4(size_t index, real_t *column_M4) {
         column_M4);
 }
 
-static void initialize_y(
+static void compute_m(
         size_t n_x,
         size_t n_u,
         size_t n_y, 
@@ -453,7 +453,7 @@ void sdqp_lmpc_constant_cleanup(void) {
 
 int sdqp_lmpc_constant_solve(size_t n_x, size_t n_u, size_t N, const real_t x0[n_x], real_t x[N][n_x], real_t u[N][n_u]) {
     // initialize y
-    initialize_y(n_x, n_u, m_n_y, m_n_t, N, m_n_H, 
+    compute_m(n_x, n_u, m_n_y, m_n_t, N, m_n_H, 
 		CAST_CONST_2D_VLA(m_Q, n_x), CAST_CONST_2D_VLA(m_S, n_x), CAST_CONST_2D_VLA(m_R, n_u),
 		CAST_CONST_2D_VLA(m_A, n_x), CAST_CONST_2D_VLA(m_B, n_u), CAST_CONST_2D_VLA(m_C, n_x),
 		CAST_CONST_2D_VLA(m_Lt, n_x), x0, m_y);

diff --git a/src/SdqpLmpcMmc.c b/src/SdqpLmpcMmc.c
@@ -189,7 +189,7 @@ static void get_column_M4(size_t index, real_t *column_M4) {
     }
 }
 
-static void initialize_y(
+static void compute_m(
         size_t n_x,
         size_t n_u,
         size_t N,
@@ -375,7 +375,7 @@ int sdqp_lmpc_mmc_solve(size_t n_x, size_t n_u, size_t N, const real_t x1_ref[N]
     // initialize y
     m_A = (real_t*)A;
     m_B = (real_t*)B;
-    initialize_y(n_x, n_u, N, m_n_M, m_n_H, m_n_a,
+    compute_m(n_x, n_u, N, m_n_M, m_n_H, m_n_a,
         m_q1, m_q2, x1_ref, x2_ref,
 		A, B, d,
         m_x_min, m_x_max, m_n_sm, m_insertion_index_deviation_allowance, m_u_min, m_u_max, 

diff --git a/src/SdqpLmpcVarying.c b/src/SdqpLmpcVarying.c
@@ -209,7 +209,7 @@ static void get_column_M4(size_t index, real_t *column_M4) {
     }
 }
 
-static void initialize_y(
+static void compute_m(
         size_t n_x,
         size_t n_u,
         size_t n_y, 
@@ -410,7 +410,7 @@ int sdqp_lmpc_varying_solve(size_t n_x, size_t n_u, size_t N, const real_t A[N][
     // initialize y
     m_A = (real_t*)A;
     m_B = (real_t*)B;
-    initialize_y(n_x, n_u, m_n_y, m_n_t, N, m_n_M, m_n_H, m_n_a,
+    compute_m(n_x, n_u, m_n_y, m_n_t, N, m_n_M, m_n_H, m_n_a,
 		CAST_CONST_2D_VLA(m_Q, n_x), CAST_CONST_2D_VLA(m_S, n_x), CAST_CONST_2D_VLA(m_R, n_u), m_fx, m_fu,
 		A, B, d, CAST_CONST_2D_VLA(m_C, n_x),
 		m_y_min, m_y_max, CAST_CONST_2D_VLA(m_Lt, n_x), m_lt, m_u_min, m_u_max,