improve function name

leggedrobotics · Dec 20, 2022 · f4174ec · f4174ec
1 parent 8dd1647
commit f4174ec
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/ocs2_ipm/include/ocs2_ipm/IpmInitialization.h b/ocs2_ipm/include/ocs2_ipm/IpmInitialization.h
@@ -109,8 +109,8 @@ vector_t initializeTerminalSlackVariable(OptimalControlProblem& ocpDefinition, s
  * @param initialSlackMarginRate : Additional margin rate of the initial slack variables. Corresponds to `slack_bound_frac` option of IPOPT.
  * @return Initialized slack variable of the pre-jump state-only constraints.
  */
-vector_t initializePreJumpSlackVariable(OptimalControlProblem& ocpDefinition, scalar_t time, const vector_t& state,
-                                        scalar_t initialSlackLowerBound, scalar_t initialSlackMarginRate);
+vector_t initializeEventSlackVariable(OptimalControlProblem& ocpDefinition, scalar_t time, const vector_t& state,
+                                      scalar_t initialSlackLowerBound, scalar_t initialSlackMarginRate);
 
 }  // namespace ipm
 }  // namespace ocs2
diff --git a/ocs2_ipm/src/IpmInitialization.cpp b/ocs2_ipm/src/IpmInitialization.cpp
@@ -69,8 +69,8 @@ vector_t initializeTerminalSlackVariable(OptimalControlProblem& ocpDefinition, s
   return initializeSlackVariable(ineqConstraint, initialSlackLowerBound, initialSlackMarginRate);
 }
 
-vector_t initializePreJumpSlackVariable(OptimalControlProblem& ocpDefinition, scalar_t time, const vector_t& state,
-                                        scalar_t initialSlackLowerBound, scalar_t initialSlackMarginRate) {
+vector_t initializeEventSlackVariable(OptimalControlProblem& ocpDefinition, scalar_t time, const vector_t& state,
+                                      scalar_t initialSlackLowerBound, scalar_t initialSlackMarginRate) {
   if (ocpDefinition.preJumpInequalityConstraintPtr->empty()) {
     return vector_t();
   }

diff --git a/ocs2_ipm/src/IpmSolver.cpp b/ocs2_ipm/src/IpmSolver.cpp
@@ -425,8 +425,8 @@ void IpmSolver::initializeSlackDualTrajectory(const std::vector<AnnotatedTime>&
         std::tie(slackStateIneq[i], std::ignore) = ipm::fromMultiplierCollection(slackIneqTrajectory_.preJumps[cachedEventIndex]);
         std::tie(dualStateIneq[i], std::ignore) = ipm::fromMultiplierCollection(dualIneqTrajectory_.preJumps[cachedEventIndex]);
       } else {
-        slackStateIneq[i] = ipm::initializePreJumpSlackVariable(ocpDefinition, getIntervalStart(timeDiscretization[i]), x[i],
-                                                                settings_.initialSlackLowerBound, settings_.initialSlackMarginRate);
+        slackStateIneq[i] = ipm::initializeEventSlackVariable(ocpDefinition, getIntervalStart(timeDiscretization[i]), x[i],
+                                                              settings_.initialSlackLowerBound, settings_.initialSlackMarginRate);
         dualStateIneq[i] =
             ipm::initializeDualVariable(slackStateIneq[i], barrierParam, settings_.initialDualLowerBound, settings_.initialDualMarginRate);
       }