debug: ExplicitMPC method predict!

Author: franckgaga

src/controller/execute.jl

@@ -352,7 +352,7 @@ function extended_vectors!(Ue, Ŷe, mpc::PredictiveController, U0, Ŷ0)
     if !(mpc.weights.iszero_L_Hp[] && nocustomfcts)
         Ue[1:end-nu] .= U0 .+ mpc.Uop
         # u(k + Hp) = u(k + Hp - 1) since Δu(k+Hp) = 0 (because Hc ≤ Hp):
-        Ue[end-nu+1:end] .= @views U[end-nu+1:end]
+        Ue[end-nu+1:end] .= @views Ue[end-2*nu+1:end-nu]
     end
     # --- extended output predictions Ŷe = [ŷ(k); Ŷ] ---
     if !(mpc.weights.iszero_M_Hp[] && nocustomfcts)

src/controller/explicitmpc.jl

@@ -195,11 +195,10 @@ optim_objective!(mpc::ExplicitMPC) = lmul!(-1, ldiv!(mpc.Z̃, mpc.H̃_chol, mpc.
 
 "Compute the predictions but not the terminal states if `mpc` is an [`ExplicitMPC`](@ref)."
 function predict!(
-    Ŷ0, x̂0next, _ , _ , _ , mpc::ExplicitMPC, ::LinModel, ::TranscriptionMethod, Z̃
+    Ŷ0, x̂0end, _ , _ , mpc::ExplicitMPC, ::LinModel, ::TranscriptionMethod, _ , Z̃
 )
     # in-place operations to reduce allocations :
     Ŷ0    .= mul!(Ŷ0, mpc.Ẽ, Z̃) .+ mpc.F
-    x̂0end  = x̂0next
     x̂0end .= NaN 
     return Ŷ0, x̂0end
 end