[x] In 7.4.1 Environment Variables, It seems that "Distances upper boundary" is not correct, because it's not an environment variable to your program.
[x] In 7.4.3 Access Routine Semantics, verify valid(), should have either transition or output.
[x] In 6.5, you wrote "The value of each state variable can be accessed through its name (getter)." but in exception part of verify valid(): some function like Param.getdi(), Params.getCr() and so on are presented.
[x] "verify recommend" is in the "Exported Access Program" but there is not any description for it.
[x] optimoptions(): is not justified well.
[x] The document is not according to the template, some module don't have Exported Constant, some of them don't have Exported Access Program, I think it's better to check the whole document with the template.
[x] In section 9, Exported Access Program section is missed but you have some functions in this module.
[x] Some of the exception are missing in table2.
[x] "Error: Wrong input type" in table 2 does not have Message Id.
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