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named function instead of anonymous
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src/model/linearization.jl

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -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
124-
myf_x0! = (xnext0, x0) -> f!(xnext0, nonlinmodel, x0, u0, d0)
125-
myf_u0! = (xnext0, u0) -> f!(xnext0, nonlinmodel, x0, u0, d0)
126-
myf_d0! = (xnext0, d0) -> f!(xnext0, nonlinmodel, x0, u0, d0)
127-
myh_x0! = (y0, x0) -> h!(y0, nonlinmodel, x0, d0)
128-
myh_d0! = (y0, d0) -> h!(y0, nonlinmodel, x0, d0)
124+
myf_x0!(xnext0, x0) = f!(xnext0, nonlinmodel, x0, u0, d0)
125+
myf_u0!(xnext0, u0) = f!(xnext0, nonlinmodel, x0, u0, d0)
126+
myf_d0!(xnext0, d0) = f!(xnext0, nonlinmodel, x0, u0, d0)
127+
myh_x0!(y0, x0) = h!(y0, nonlinmodel, x0, d0)
128+
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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