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Fix out-of-bounds access in tutorial code #656

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Dec 11, 2024
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Fix out-of-bounds access in tutorial code #656

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2 changes: 1 addition & 1 deletion docs/README-cpp.md
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Expand Up @@ -79,7 +79,7 @@ Next, we'll apply the state and input constraints.
```cpp
// Start and end at rest
problem.SubjectTo(X.Col(0) == Eigen::Matrix<double, 2, 1>{{0.0}, {0.0}});
problem.SubjectTo(X.Col(N + 1) == Eigen::Matrix<double, 2, 1>{{r}, {0.0}});
problem.SubjectTo(X.Col(N) == Eigen::Matrix<double, 2, 1>{{r}, {0.0}});

// Limit velocity
problem.SubjectTo(-1 <= X.Row(1));
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5 changes: 1 addition & 4 deletions docs/README-py.md
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Expand Up @@ -28,9 +28,6 @@ import numpy as np
First, we need to make a problem instance.

```py
from jormungandr.optimization import OptimizationProblem
import numpy as np

T = 5.0 # s
dt = 0.005 # 5 ms
N = int(T / dt)
Expand Down Expand Up @@ -80,7 +77,7 @@ Next, we'll apply the state and input constraints.
```py
# Start and end at rest
problem.subject_to(X[:, 0] == np.array([[0.0], [0.0]]))
problem.subject_to(X[:, N + 1] == np.array([[r], [0.0]]))
problem.subject_to(X[:, N] == np.array([[r], [0.0]]))

# Limit velocity
problem.subject_to(-1 <= X[1, :])
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