debug : getinfo on ExplicitMPC now works

Author: franckgaga

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
 authors = ["Francis Gagnon"]
-version = "1.1.4"
+version = "1.2.0"
 
 [deps]
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"

src/controller/execute.jl

@@ -124,7 +124,7 @@ function getinfo(mpc::PredictiveController{NT}) where NT<:Real
     Ŷe, Ue    = extended_predictions!(Ŷe, Ue, Ū, mpc, model, Ŷ0, mpc.ΔŨ)
     J         = obj_nonlinprog!(Ȳ, Ū, mpc, model, Ue, Ŷe, mpc.ΔŨ)
     U, Ŷ = Ū, Ȳ
-    U   .= mul!(U, mpc.S̃, ΔŨ) .+ mpc.T_lastu 
+    U   .= mul!(U, mpc.S̃, mpc.ΔŨ) .+ mpc.T_lastu 
     Ŷ   .= Ŷ0 .+ mpc.Yop
     oldF = copy(mpc.F)
     F    = predictstoch!(mpc, mpc.estim) 
@@ -390,14 +390,14 @@ special cases in which `Ŷe`, `Ue` and `Ū` are not mutated:
 """
 function extended_predictions!(Ŷe, Ue, Ū, mpc, model, Ŷ0, ΔŨ)
     ny, nu = model.ny, model.nu
-    nocustomfcts = (mpc.weights.iszero_E && mpc.con.nc==0)
+    nocustomfonctions = (mpc.weights.iszero_E && iszero_nc(mpc))
     # --- extended output predictions Ŷe = [ŷ(k); Ŷ] ---
-    if !(mpc.weights.iszero_M_Hp[] && nocustomfcts)
+    if !(mpc.weights.iszero_M_Hp[] && mpc.nocustomfcts)
         Ŷe[1:ny] .= mpc.ŷ
         Ŷe[ny+1:end] .= Ŷ0 .+ mpc.Yop
     end
     # --- extended manipulated inputs Ue = [U; u(k+Hp-1)] ---
-    if !(mpc.weights.iszero_L_Hp[] && nocustomfcts)
+    if !(mpc.weights.iszero_L_Hp[] && mpc.nocustomfcts)
         U  = Ū
         U .= mul!(U, mpc.S̃, ΔŨ) .+ mpc.T_lastu
         Ue[1:end-nu] .= U
@@ -407,6 +407,9 @@ function extended_predictions!(Ŷe, Ue, Ū, mpc, model, Ŷ0, ΔŨ)
     return Ŷe, Ue 
 end
 
+"Verify if the custom nonlinear constraint has zero elements."
+iszero_nc(mpc::PredictiveController) = (mpc.con.nc == 0)
+
 """
     obj_nonlinprog!( _ , _ , mpc::PredictiveController, model::LinModel, Ue, Ŷe, ΔŨ)
 

src/controller/explicitmpc.jl

@@ -195,6 +195,8 @@ function predict!(Ŷ, x̂, _ , _ , _ , mpc::ExplicitMPC, ::LinModel, ΔŨ)
     return Ŷ, x̂
 end
 
+"`ExplicitMPC` does not support custom nonlinear constraint, return `true`."
+iszero_nc(mpc::ExplicitMPC) = true
 
 """
     addinfo!(info, mpc::ExplicitMPC) -> info