diff --git a/src/problems/abstract.jl b/src/problems/abstract.jl index e434c30..d7a5263 100644 --- a/src/problems/abstract.jl +++ b/src/problems/abstract.jl @@ -74,10 +74,9 @@ last_timings(::AbstractTuningStrategy) = (sysid = 0.0, nlp = 0.0) accepts_global_data(strategy) -> Bool Whether the chassis should also interpolate `z_ref.global_data` toward the -candidate trajectory's globals on an accepted step. Default `false` — most -strategies own their globals internally (e.g. ILC's alternating calibration -writes calibrated θ directly into `z_ref`, so the candidate's phantom globals -must NOT overwrite it). +candidate trajectory's globals on an accepted step. Default `false` — a +strategy that manages global parameters itself writes them directly into +`z_ref`, so the candidate's phantom globals must NOT overwrite them. """ accepts_global_data(::AbstractTuningStrategy) = false