test: NonLinMPC construction with MultipleShooting

Author: franckgaga

test/3_test_predictive_control.jl

@@ -575,6 +575,14 @@ end
     LHS = zeros(1)
     nmpc15.con.gc!(LHS,[1,2],[3,4],[4,6],10,0.1) 
     @test LHS ≈ [10*dot([1,2],[3,4])+sum([4,6])+0.1]
+    nmpc16 = NonLinMPC(nonlinmodel, Hp=10, transcription=MultipleShooting())
+    @test nmpc16.transcription == MultipleShooting()
+    @test length(nmpc16.Z̃) == nonlinmodel.nu*nmpc16.Hc + nmpc16.estim.nx̂*nmpc16.Hp + nmpc16.nϵ
+    @test nmpc16.con.neq == nmpc16.estim.nx̂*nmpc16.Hp
+    nmpc17 = NonLinMPC(linmodel1, Hp=10, transcription=MultipleShooting())
+    @test nmpc17.transcription == MultipleShooting()
+    @test length(nmpc17.Z̃) == linmodel1.nu*nmpc17.Hc + nmpc17.estim.nx̂*nmpc17.Hp + nmpc17.nϵ
+    @test size(nmpc17.con.Aeq, 1) == nmpc17.estim.nx̂*nmpc17.Hp
 
     nonlinmodel2 = NonLinModel{Float32}(f, h, Ts, 2, 4, 2, 1, solver=nothing)
     nmpc15  = NonLinMPC(nonlinmodel2, Hp=15)