@@ -121,11 +121,11 @@ function linearize!(
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A:: Matrix{NT} , Bu:: Matrix{NT} , Bd:: Matrix{NT} = linmodel. A, linmodel. Bu, linmodel. Bd
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C:: Matrix{NT} , Dd:: Matrix{NT} = linmodel. C, linmodel. Dd
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xnext0:: Vector{NT} , y0:: Vector{NT} = linmodel. buffer. x, linmodel. buffer. y
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- myf_x0! = (xnext0, x0) -> f! (xnext0, nonlinmodel, x0, u0, d0)
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- myf_u0! = (xnext0, u0) -> f! (xnext0, nonlinmodel, x0, u0, d0)
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- myf_d0! = (xnext0, d0) -> f! (xnext0, nonlinmodel, x0, u0, d0)
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- myh_x0! = (y0, x0) -> h! (y0, nonlinmodel, x0, d0)
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- myh_d0! = (y0, d0) -> h! (y0, nonlinmodel, x0, d0)
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+ myf_x0! (xnext0, x0) = f! (xnext0, nonlinmodel, x0, u0, d0)
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+ myf_u0! (xnext0, u0) = f! (xnext0, nonlinmodel, x0, u0, d0)
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+ myf_d0! (xnext0, d0) = f! (xnext0, nonlinmodel, x0, u0, d0)
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+ myh_x0! (y0, x0) = h! (y0, nonlinmodel, x0, d0)
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+ myh_d0! (y0, d0) = h! (y0, nonlinmodel, x0, d0)
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ForwardDiff. jacobian! (A, myf_x0!, xnext0, x0)
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ForwardDiff. jacobian! (Bu, myf_u0!, xnext0, u0)
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ForwardDiff. jacobian! (Bd, myf_d0!, xnext0, d0)
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