diff -r 331fcc41ca23 scripts/optimization/sqp.m
--- a/scripts/optimization/sqp.m	Thu Jan 13 03:04:51 2011 -0500
+++ b/scripts/optimization/sqp.m	Thu Jan 13 10:55:41 2011 +0100
@@ -18,11 +18,11 @@
 
 ## -*- texinfo -*-
 ## @deftypefn  {Function File} address@hidden, @var{obj}, @var{info}, @var{iter}, @var{nf}, @var{lambda}] =} sqp (@var{x0}, @var{phi})
-## @deftypefnx {Function File} address@hidden =} sqp (@var{x0}, @var{phi}, @var{g})
-## @deftypefnx {Function File} address@hidden =} sqp (@var{x0}, @var{phi}, @var{g}, @var{h})
-## @deftypefnx {Function File} address@hidden =} sqp (@var{x0}, @var{phi}, @var{g}, @var{h}, @var{lb}, @var{ub})
-## @deftypefnx {Function File} address@hidden =} sqp (@var{x0}, @var{phi}, @var{g}, @var{h}, @var{lb}, @var{ub}, @var{maxiter})
-## @deftypefnx {Function File} address@hidden =} sqp (@var{x0}, @var{phi}, @var{g}, @var{h}, @var{lb}, @var{ub}, @var{maxiter}, @var{tolerance})
+## @deftypefnx {Function File} address@hidden =} sqp (@var{x0}, @var{phi}, @var{k})
+## @deftypefnx {Function File} address@hidden =} sqp (@var{x0}, @var{phi}, @var{k}, @var{m})
+## @deftypefnx {Function File} address@hidden =} sqp (@var{x0}, @var{phi}, @var{k}, @var{m}, @var{lb}, @var{ub})
+## @deftypefnx {Function File} address@hidden =} sqp (@var{x0}, @var{phi}, @var{k}, @var{m}, @var{lb}, @var{ub}, @var{maxiter})
+## @deftypefnx {Function File} address@hidden =} sqp (@var{x0}, @var{phi}, @var{k}, @var{m}, @var{lb}, @var{ub}, @var{maxiter}, @var{tolerance})
 ## Solve the nonlinear program
 ## @tex
 ## $$
@@ -42,15 +42,15 @@
 ## subject to
 ## @tex
 ## $$
-##  g(x) = 0 \qquad h(x) \geq 0 \qquad lb \leq x \leq ub
+##  k(x) = 0 \qquad m(x) \geq 0 \qquad lb \leq x \leq ub
 ## $$
 ## @end tex
 ## @ifnottex
 ##
 ## @example
 ## @group
-##      g(x)  = 0
-##      h(x) >= 0
+##      k(x)  = 0
+##      m(x) >= 0
 ##      lb <= x <= ub
 ## @end group
 ## @end example
@@ -74,8 +74,8 @@
 ## The second argument may also be a 2- or 3-element cell array of
 ## function handles.  The first element should point to the objective
 ## function, the second should point to a function that computes the
-## gradient of the objective function, and the third should point to a
-## function that computes the Hessian of the objective function.  If the
+## gradient @var{g} of the objective function, and the third should point to a
+## function @var{h} that computes the Hessian of the objective function.  If the
 ## gradient function is not supplied, the gradient is computed by finite
 ## differences.  If the Hessian function is not supplied, a BFGS update
 ## formula is used to approximate the Hessian.
@@ -109,11 +109,14 @@
 ## of the form
 ##
 ## @example
-## @var{r} = f (@var{x})
+## @var{k} = f1 (@var{x})
+## @end example
+## @example
+## @var{m} = f2 (@var{x})
 ## @end example
 ##
 ## @noindent
-## in which @var{x} is a vector and @var{r} is a vector.
+## in which @var{x}, @var{k} and @var{m} are vectors.
 ## 
 ## The third and fourth arguments may also be 2-element cell arrays of
 ## function handles.  The first element should point to the constraint