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Clarify that the objective should not contain any known symbols #137

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Mar 13, 2024
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Clarify that the objective should not contain any known symbols #137

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7 changes: 4 additions & 3 deletions opty/utils.py
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Expand Up @@ -238,9 +238,10 @@ def create_objective_function(
Parameters
----------
objective : sympy.Expr
The objective function to be minimized, which is a function of the
states and inputs. The objective function can contain non-nested
indefinite integrals of time, e.g. ``Integral(f(t)**2, t)``.
The objective function to be minimized. It should solely depend on the
states, inputs, and unknown symbols. Any known symbols should be
substituted beforehand. Additionally, the objective function can contain
non-nested indefinite integrals of time, e.g. ``Integral(f(t)**2, t)``.
state_symbols : iterable of symbols
The state variables.
input_symbols : iterable of symbols
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