Shape of Problem.jacobian(free) // shape of Problem.jacobianstructure()

[Peter230655]

In the opty documentation release 1.4.0.dev0 on page 129 it says:
jacobian(free)
Returns.....
Return type
ndarray.shape((2n + q + r + s) * (n(N-1) + o ), )
but in my tests it returns
ndarray.shape((2n + q + r + s) * (n(N-1)) + o, ) The bracket to the right of o is moved to the left.

Is there a mistale in my tests or is this a typo in the documentation?

When I tested Problem.jacobianstructure()
also the shape did not seem to match the shape given on page 129, but I found no alternative formula.

[moorepants]

Probably a typo.

[moorepants]

Yes it is a type. o is the number of instance constraints which is just added to the other EoM based constraints.

[Peter230655]

Thanks!
The meaning of o is explained in the docs.
Should I close this and make it an issue, so you remember when you write the next update on the documentation?
Or, is it possible that I make a PR on the documentation?

[moorepants]

Or, is it possible that I make a PR on the documentation?

That would be most ideal.

[Peter230655]

.....but you must give me a hint how to get started on doing this. :-)
What I mean is this: I now know, I think, how to push examples. I know how to change something in direct_collocation.py
But I have no idea how to propose a change in the documentation.

I looked wherever I could think of to find the document where this typo might be, but no luck :-(