test: add getinfo! tests with :gc field

Author: franckgaga

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
 authors = ["Francis Gagnon"]
-version = "1.1.2"
+version = "1.1.3"
 
 [deps]
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"

test/test_predictive_control.jl

@@ -730,10 +730,11 @@ end
 end
 
 @testset "NonLinMPC constraint violation" begin
-    gc(Ue, Ŷe, _ ,p , ϵ) = [p[1]*(Ue .- 4.2 .- ϵ); p[2]*(Ŷe .- 3.14 .- ϵ)]
+    gc(Ue, Ŷe, _ ,p , ϵ) = [p[1]*(Ue[1:end-1] .- 4.2 .- ϵ); p[2]*(Ŷe[2:end] .- 3.14 .- ϵ)]
+    Hp=50
 
     linmodel = LinModel(tf([2], [10000, 1]), 3000.0)
-    nmpc_lin = NonLinMPC(linmodel, Hp=50, Hc=5, gc=gc, nc=2*(50+1), p=[0; 0])
+    nmpc_lin = NonLinMPC(linmodel, Hp=Hp, Hc=5, gc=gc, nc=2Hp, p=[0; 0])
 
     setconstraint!(nmpc_lin, x̂min=[-1e6,-Inf], x̂max=[1e6,+Inf])
     setconstraint!(nmpc_lin, umin=[-10], umax=[10])
@@ -768,7 +769,7 @@ end
     @test all(isapprox.(info[:Ŷ], 0.9; atol=1e-1))
     setconstraint!(nmpc_lin, ymin=[-100], ymax=[100])
 
-    setconstraint!(nmpc_lin, Ymin=[-0.5; fill(-100, 49)], Ymax=[0.9; fill(+100, 49)])
+    setconstraint!(nmpc_lin, Ymin=[-0.5; fill(-100, Hp-1)], Ymax=[0.9; fill(+100, Hp-1)])
     moveinput!(nmpc_lin, [-10])
     info = getinfo(nmpc_lin)
     @test info[:Ŷ][end]   ≈ -10  atol=1e-1
@@ -792,17 +793,18 @@ end
     moveinput!(nmpc_lin, [100])
     info = getinfo(nmpc_lin)
     @test all(isapprox.(info[:U], 4.2; atol=1e-1))
+    @test all(isapprox.(info[:gc][1:Hp], 0.0; atol=1e-1))
 
     nmpc_lin.p .= [0; 1]
     moveinput!(nmpc_lin, [100])
     info = getinfo(nmpc_lin)
     @test all(isapprox.(info[:Ŷ], 3.14; atol=1e-1))
-
+    @test all(isapprox.(info[:gc][Hp+1:end], 0.0; atol=1e-1))
 
     f = (x,u,_,p) -> p.A*x + p.Bu*u
     h = (x,_,p)   -> p.C*x
     nonlinmodel = NonLinModel(f, h, linmodel.Ts, 1, 1, 1, solver=nothing, p=linmodel)
-    nmpc = NonLinMPC(nonlinmodel, Hp=50, Hc=5, gc=gc, nc=2*(50+1), p=[0; 0])
+    nmpc = NonLinMPC(nonlinmodel, Hp=50, Hc=5, gc=gc, nc=2Hp, p=[0; 0])
 
     setconstraint!(nmpc, x̂min=[-1e6,-Inf], x̂max=[1e6,+Inf])
     setconstraint!(nmpc, umin=[-10], umax=[10])
@@ -837,7 +839,7 @@ end
     @test all(isapprox.(info[:Ŷ], 0.9; atol=1e-1))
     setconstraint!(nmpc, ymin=[-100], ymax=[100])
 
-    setconstraint!(nmpc, Ymin=[-0.5; fill(-100, 49)], Ymax=[0.9; fill(+100, 49)])
+    setconstraint!(nmpc, Ymin=[-0.5; fill(-100, Hp-1)], Ymax=[0.9; fill(+100, Hp-1)])
     moveinput!(nmpc, [-10])
     info = getinfo(nmpc)
     @test info[:Ŷ][end]   ≈ -10  atol=1e-1
@@ -861,11 +863,13 @@ end
     moveinput!(nmpc, [100])
     info = getinfo(nmpc)
     @test all(isapprox.(info[:U], 4.2; atol=1e-1))
+    @test all(isapprox.(info[:gc][1:Hp], 0.0; atol=1e-1))
 
     nmpc.p .= [0; 1]
     moveinput!(nmpc, [100])
     info = getinfo(nmpc)
     @test all(isapprox.(info[:Ŷ], 3.14; atol=1e-1))
+    @test all(isapprox.(info[:gc][Hp+1:end], 0.0; atol=1e-1))
 
 end