changed: cleanup in new nonlinear oracle code

Author: franckgaga

src/controller/construct.jl

@@ -439,11 +439,11 @@ function setconstraint!(
         JuMP.delete(optim, optim[:linconstraint])
         JuMP.unregister(optim, :linconstraint)
         @constraint(optim, linconstraint, A*Z̃var .≤ b)
-        # TODO: change this !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
         if JuMP.solver_name(optim) ≠ "Ipopt"
             set_nonlincon!(mpc, model, transcription, optim)
         else
-            set_nonlincon_exp(mpc, optim)
+            g_oracle, geq_oracle = get_nonlinops(mpc, optim)
+            set_nonlincon_exp!(mpc, transcription, g_oracle, geq_oracle)
         end
     else
         i_b, i_g = init_matconstraint_mpc(
@@ -458,6 +458,12 @@ function setconstraint!(
     return mpc
 end
 
+"By default, no nonlinear operators, return 4 nothing"
+get_nonlinops(::PredictiveController, _ ) = (nothing, nothing, nothing, nothing)
+
+"By default, no nonlinear constraints, return nothing."
+set_nonlincon_exp!(::PredictiveController, ::TranscriptionMethod, _ , _) = nothing
+
 """
     default_Hp(model::LinModel)