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Fix typos in docstrings, error messages, and verbose output #33

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Merged
merged 3 commits into from
Jun 29, 2025
Merged

Fix typos in docstrings, error messages, and verbose output #33

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4604eea
Fix wrong step printed in closed-loop simulations
pavelacamposp Jun 29, 2025
a347a3d
Fix docstring typo and remove comment in LTI controller
pavelacamposp Jun 29, 2025
578547e
Fix wrong error message in nonlinear controller
pavelacamposp Jun 29, 2025
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4 changes: 2 additions & 2 deletions direct_data_driven_mpc/lti_data_driven_mpc_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1097,15 +1097,15 @@ def set_input_output_setpoints(
Note:
This method sets the values of the `u_s` and `y_s` attributes with
the provided new setpoints and updates the values of `u_s_param`
and `y_r_param` to update the data-driven MPC controller setpoint.
and `y_s_param` to update the data-driven MPC controller setpoint.
"""
# Validate input types and dimensions
if u_s.shape != self.u_s.shape:
raise ValueError(
"Incorrect dimensions. `u_s` must have shape "
f"{self.u_s.shape}, but got {u_s.shape} instead."
)
if y_s.shape != self.y_s.shape: # Replace with actual expected shape
if y_s.shape != self.y_s.shape:
raise ValueError(
"Incorrect dimensions. `y_s` must have shape "
f"{self.y_s.shape}, but got {y_s.shape} instead."
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2 changes: 1 addition & 1 deletion direct_data_driven_mpc/nonlinear_data_driven_mpc_controller.py
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Expand Up @@ -1385,7 +1385,7 @@ def set_output_setpoint(self, y_r: np.ndarray) -> None:
if y_r.shape != self.y_r.shape:
raise ValueError(
"Incorrect dimensions. `y_r` must have shape "
f"{self.y_s.shape}, but got {y_r.shape} instead."
f"{self.y_r.shape}, but got {y_r.shape} instead."
)

# Update output setpoint and its parameter value
Expand Down
4 changes: 2 additions & 2 deletions direct_data_driven_mpc/utilities/controller/data_driven_mpc_sim.py
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Expand Up @@ -134,7 +134,7 @@ def simulate_lti_data_driven_mpc_control_loop(
mpc_cost_val = data_driven_mpc_controller.get_optimal_cost_value()
print_mpc_step_info(
verbose=verbose,
step=t,
step=k,
mpc_cost_val=mpc_cost_val,
u_sys_k=u_sys[k, :].flatten(),
u_s=u_s.flatten(),
Expand Down Expand Up @@ -305,7 +305,7 @@ def simulate_nonlinear_data_driven_mpc_control_loop(
mpc_cost_val = data_driven_mpc_controller.get_optimal_cost_value()
print_mpc_step_info(
verbose=verbose,
step=t,
step=k,
mpc_cost_val=mpc_cost_val,
y_sys_k=y_sys[k, :].flatten(),
y_s=y_r.flatten(),
Expand Down