fix(mpc_lateral_controller): fix typo

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Jul 26, 2023 · 483cdb0 · 483cdb0
1 parent 13b96ad
commit 483cdb0
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Showing 6 changed files with 8 additions and 8 deletions.
diff --git a/control/mpc_lateral_controller/CMakeLists.txt b/control/mpc_lateral_controller/CMakeLists.txt
@@ -17,7 +17,7 @@ ament_auto_add_library(${MPC_LAT_CON_LIB} SHARED
   src/mpc_trajectory.cpp
   src/mpc_utils.cpp
   src/qp_solver/qp_solver_osqp.cpp
-  src/qp_solver/qp_solver_unconstr_fast.cpp
+  src/qp_solver/qp_solver_unconstraint_fast.cpp
   src/vehicle_model/vehicle_model_bicycle_dynamics.cpp
   src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp
   src/vehicle_model/vehicle_model_bicycle_kinematics.cpp

diff --git a/...ler/qp_solver/qp_solver_unconstr_fast.hpp → ...qp_solver/qp_solver_unconstraint_fast.hpp b/...ler/qp_solver/qp_solver_unconstr_fast.hpp → ...qp_solver/qp_solver_unconstraint_fast.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTR_FAST_HPP_
-#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTR_FAST_HPP_
+#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
+#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
 
 #include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
 
@@ -55,4 +55,4 @@ class QPSolverEigenLeastSquareLLT : public QPSolverInterface
     const Eigen::VectorXd & ub_a, Eigen::VectorXd & u) override;
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTR_FAST_HPP_
+#endif  // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
diff --git a/control/mpc_lateral_controller/model_predictive_control_algorithm.md b/control/mpc_lateral_controller/model_predictive_control_algorithm.md
@@ -344,7 +344,7 @@ $$
 \end{align}
 $$
 
-Discretisizing $\dot{u}$ as $\left(u_{k} - u_{k-1}\right)/\text{d}t$ and multiply both sides by dt the resulting constraint become linear and convex
+Discretizing $\dot{u}$ as $\left(u_{k} - u_{k-1}\right)/\text{d}t$ and multiply both sides by dt the resulting constraint become linear and convex
 
 $$
 \begin{align}

diff --git a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -16,7 +16,7 @@
 
 #include "motion_utils/motion_utils.hpp"
 #include "mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp"
+#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
 #include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
 #include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
 #include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"

diff --git a/...src/qp_solver/qp_solver_unconstr_fast.cpp → ...qp_solver/qp_solver_unconstraint_fast.cpp b/...src/qp_solver/qp_solver_unconstr_fast.cpp → ...qp_solver/qp_solver_unconstraint_fast.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp"
+#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
 
 #include <Eigen/Dense>
 

diff --git a/control/mpc_lateral_controller/test/test_mpc.cpp b/control/mpc_lateral_controller/test/test_mpc.cpp
@@ -15,7 +15,7 @@
 #include "gtest/gtest.h"
 #include "mpc_lateral_controller/mpc.hpp"
 #include "mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_unconstr_fast.hpp"
+#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
 #include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
 #include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
 #include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"