Fixed documentation

irlc/ex03/control_model.py

@@ -31,23 +31,16 @@ class ControlModel:
         c_F(t_0, t_F, x(t_0), x(t_F)) + \int_{t_0}^{t_F} c(t, x, u) dt
 
     as well as constraints and boundary conditions on :math:`x`, :math:`u` and the initial conditions state :math:`x(t_0)`.
-    this course, the cost function will always be quadratic, and can be accessed as ``model.get_cost``.
+    this course, the cost function will always be quadratic and can be obtained using the function :func:`~irlc.ex03.control_model.ControlModel.get_cost`.
 
     If you want to implement your own model, the best approach is to start with an existing model and modify it for
-    your needs. The overall idea is that you implement the dynamics,``sym_f``, and the cost function ``get_cost``,
-    and optionally define bounds as needed.
+    your needs. The overall idea is that you implement the dynamics, :func:`~irlc.ex03.control_model.ControlModel.sym_f`, and the cost function :func:`~irlc.ex03.control_model.ControlModel.get_cost`,
+    and (optionally) define whichever bounds are suitable for your problem.
     """
     state_labels = None     # Labels (as lists) used for visualizations.
     action_labels = None    # Labels (as lists) used for visualizations.
 
     def __init__(self): 
-        """
-        The cost must be an instance of :class:`irlc.ex04.cost_continuous.SymbolicQRCost`.
-        Bounds is a dictionary but otherwise optional; the model should give it a default value.
-
-        :param cost: A quadratic cost function
-        :param dict bounds: A dictionary of boundary constraints.
-        """
         if self.state_labels is None:
             self.state_labels = [f'x{i}' for i in range(self.state_size)]
         if self.action_labels is None:
@@ -117,17 +110,17 @@ class ControlModel:
     def get_cost(self) -> SymbolicQRCost:
         """Return the cost.
 
-        This function should return a :class:`SymbolicQRCost` instance. The function must be implemented
-        since the cost object is used to guess the number of states and actions. Note that you can specify a trivial cost
+        This function should return a  :func:`~irlc.ex03.control_cost.SymbolicQRCost` instance. The function must be implemented
+        since the cost object is used to guess the number of states and actions. Note that you can easily specify a trivial cost
         instance such as :python:`return SymbolicQRCost.zero(n_states, n_actions)`.
 
-        :return: A :class:`SymbolicQRCost` instance representing the models cost function.
+        :return: A :func:`~irlc.ex03.control_cost.SymbolicQRCost` instance representing the models cost function.
         """
         raise NotImplementedError("When you implement the model, you must implement the get_cost() function.\nfor instance, use return SymbolicQRCost(Q=np.eye(n), R=np.eye(d))")
 
     def sym_f(self, x, u, t=None): 
         """
-        The symbolic (``sympy``) version of the dynamics :math:`f(x, u, t)`. This is the main place where you specify
+        The symbolic (:mod:`sympy`) version of the dynamics :math:`f(x, u, t)`. This is the main place where you specify
         the dynamics when you build a new model. you should look at concrete implementations of models for specifics.
 
         :param x: A list of symbolic expressions ``['x0', 'x1', ..]`` corresponding to :math:`x`