debug: do not call jacobian! if nd==0 in linearize

some backend works with empty matrices (e.g. `AutoForwardDiff`) others not (e.g. : `AutoFiniteDiff`)

Author: franckgaga

src/controller/transcription.jl

@@ -302,7 +302,7 @@ function init_predmat(
     G  = Matrix{NT}(undef, Hp*ny, nd)
     jx̂ = Matrix{NT}(undef, nx̂, Hp*nd)
     J  = repeatdiag(D̂d, Hp)
-    if nd ≠ 0
+    if nd > 0
         for j=1:Hp
             iRow = (1:ny) .+ ny*(j-1)
             G[iRow,:] = Ĉ*getpower(Âpow, j-1)*B̂d
@@ -853,7 +853,7 @@ function linconstraint!(mpc::PredictiveController, model::LinModel, ::Transcript
     fx̂ .= mpc.con.bx̂
     mul!(fx̂, mpc.con.kx̂, mpc.estim.x̂0, 1, 1)
     mul!(fx̂, mpc.con.vx̂, mpc.estim.lastu0, 1, 1)
-    if model.nd ≠ 0
+    if model.nd > 0
         mul!(fx̂, mpc.con.gx̂, mpc.d0, 1, 1)
         mul!(fx̂, mpc.con.jx̂, mpc.D̂0, 1, 1)
     end
@@ -939,7 +939,7 @@ function linconstrainteq!(mpc::PredictiveController, model::LinModel, ::Multiple
     Fŝ .= mpc.con.Bŝ
     mul!(Fŝ, mpc.con.Kŝ, mpc.estim.x̂0, 1, 1)
     mul!(Fŝ, mpc.con.Vŝ, mpc.estim.lastu0, 1, 1)
-    if model.nd ≠ 0
+    if model.nd > 0
         mul!(Fŝ, mpc.con.Gŝ, mpc.d0, 1, 1)
         mul!(Fŝ, mpc.con.Jŝ, mpc.D̂0, 1, 1)
     end

src/estimator/mhe/execute.jl

@@ -191,7 +191,7 @@ function add_data_windows!(estim::MovingHorizonEstimator, y0m, d0, u0=estim.last
     if ismoving
         estim.Y0m[1:end-nym]     .= @views estim.Y0m[nym+1:end]
         estim.Y0m[end-nym+1:end] .= y0m
-        if nd ≠ 0
+        if nd > 0
             estim.D0[1:end-nd]       .= @views estim.D0[nd+1:end]
             estim.D0[end-nd+1:end]   .= d0
         end
@@ -204,7 +204,7 @@ function add_data_windows!(estim::MovingHorizonEstimator, y0m, d0, u0=estim.last
         estim.Nk .= estim.He
     else
         estim.Y0m[(1 + nym*(Nk-1)):(nym*Nk)]  .= y0m
-        if nd ≠ 0
+        if nd > 0
             # D0 include 1 additional measured disturbance if direct==true (p==0):
             estim.D0[(1 + nd*(Nk-p)):(nd*Nk+1-p)] .= d0 
         end  
@@ -252,7 +252,7 @@ function initpred!(estim::MovingHorizonEstimator, model::LinModel)
     # --- update F and fx̄ vectors for MHE predictions ---
     F .= estim.Y0m .+ estim.B
     mul!(F, estim.G, estim.U0, 1, 1)
-    if model.nd ≠ 0
+    if model.nd > 0
         mul!(F, estim.J, estim.D0, 1, 1)
     end
     estim.fx̄ .= estim.x̂0arr_old
@@ -290,7 +290,7 @@ function linconstraint!(estim::MovingHorizonEstimator, model::LinModel)
     Fx̂  = estim.con.Fx̂
     Fx̂ .= estim.con.Bx̂
     mul!(Fx̂, estim.con.Gx̂, estim.U0, 1, 1)
-    if model.nd ≠ 0
+    if model.nd > 0
         mul!(Fx̂, estim.con.Jx̂, estim.D0, 1, 1)
     end
     X̂0min, X̂0max = trunc_bounds(estim, estim.con.X̂0min, estim.con.X̂0max, estim.nx̂)

src/model/linearization.jl

@@ -39,9 +39,11 @@ function get_linearization_func(NT, solver_f!, solver_h!, nu, nx, ny, nd, p, sol
         # all the arguments before `backend` are mutated in this function
         jacobian!(f_x!, xnext, A,  A_prep,  backend, x, cache_k, cst_u, cst_d)
         jacobian!(f_u!, xnext, Bu, Bu_prep, backend, u, cache_k, cst_x, cst_d)
-        jacobian!(f_d!, xnext, Bd, Bd_prep, backend, d, cache_k, cst_x, cst_u)
         jacobian!(h_x!, y,     C,  C_prep,  backend, x, cst_d)
-        jacobian!(h_d!, y,     Dd, Dd_prep, backend, d, cst_x)
+        if nd > 0
+            jacobian!(f_d!, xnext, Bd, Bd_prep, backend, d, cache_k, cst_x, cst_u)
+            jacobian!(h_d!, y,     Dd, Dd_prep, backend, d, cst_x)
+        end
         return nothing
     end
     return linfunc!

src/plot_sim.jl

@@ -379,10 +379,10 @@ plot_recipe(::Nothing, ::SimResult{<:Real, <:SimModel}) = nothing
     nx = length(indices_x)
 
     layout_mat = Matrix{Tuple{Int64, Int64}}(undef, 1, 0)
-    ny ≠ 0 && (layout_mat = [layout_mat (ny, 1)])
-    nu ≠ 0 && (layout_mat = [layout_mat (nu, 1)])
-    nd ≠ 0 && (layout_mat = [layout_mat (nd, 1)])
-    nx ≠ 0 && (layout_mat = [layout_mat (nx, 1)])
+    ny > 0 && (layout_mat = [layout_mat (ny, 1)])
+    nu > 0 && (layout_mat = [layout_mat (nu, 1)])
+    nd > 0 && (layout_mat = [layout_mat (nd, 1)])
+    nx > 0 && (layout_mat = [layout_mat (nx, 1)])
     layout := layout_mat
 
     # --- outputs y ---