issue #54: Refactored the code according to the Coding Policy

products/+elltool/+doc/+snip/s_chapter06_section05_snippet01.m

@@ -3,35 +3,35 @@
 k2 = 500;
 m1 = 150;
 m2 = 100;
-L = 5;
+l = 5;
 g = 9.8;
-Jc = 100;
+jc = 100;
 
 x1 = 1;
 v1 = 0;
 theta1 = pi/2;
 omega1 = 0;
 t1 = 1;
 
-d = Jc + m2*L^2/4;
+d = jc + m2*l^2/4;
 % define matrices aMat, bMat, and control bounds uBoundsEllObj:
-aMat = [0, 1, 0, 0; 0, -k1/m1, 0, 0; 0, 0, 0, 1; 0, 0, m2*L*g/2/d, -k2*L/d];
+aMat = [0, 1, 0, 0; 0, -k1/m1, 0, 0; 0, 0, 0, 1; 0, 0, m2*l*g/2/d, -k2*l/d];
 bMat = [0; 1/m1; 0; 0];
 uBoundsEllObj = alpha * ell_unitball(1);
 %define disturbance:
-gMat = [0; 0; 0; -m2*L*g*pi/4/d];
+gMat = [0; 0; 0; -m2*l*g*pi/4/d];
 vEllObj = ellipsoid(1, 0); %known disturbance
 
 %linear system
-lsys = elltool.linsys.LinSysContinuous(aMat, bMat, uBoundsEllObj,...
+lsysObj = elltool.linsys.LinSysContinuous(aMat, bMat, uBoundsEllObj,...
     gMat, vEllObj);
 timeVec = [t1, 0];
 % initial directions:
 dirsMat = [1 0 1 0; 1 -1 0 0; 0 -1 0 1; 1 1 -1 1; -1 1 1 0; -2 0 1 1].';
 x1EllObj = ellipsoid([x1; v1; theta1; omega1], zeros(4)); %known final point
 
 %backward reach set
-brsObj = elltool.reach.ReachContinuous(lsys, x1EllObj, dirsMat, timeVec,...
+brsObj = elltool.reach.ReachContinuous(lsysObj, x1EllObj, dirsMat, timeVec,...
     'isRegEnabled', true, 'isJustCheck', false, 'regTol', 1e-4,...
     'absTol', 1e-5, 'relTol', 1e-4);