changed: back to zero(T) for ϵ if hard constraints

franckgaga · franckgaga · commit 7d8928b25b2a · 2024-12-03T16:42:58.000-05:00
diff --git a/src/controller/nonlinmpc.jl b/src/controller/nonlinmpc.jl
@@ -525,7 +525,7 @@ function get_optim_functions(mpc::NonLinMPC, ::JuMP.GenericModel{JNT}) where JNT
         gc         = get_tmp(gc_cache, ΔŨ1)
         Ŷ0, x̂0end  = predict!(Ȳ, x̂0, x̂0next, u0, û0, mpc, model, ΔŨ)
         Ue, Ŷe     = extended_predictions!(Ue, Ŷe, Ū, mpc, model, Ŷ0, ΔŨ)
-        ϵ = (nϵ ≠ 0) ? ΔŨ[end] : 0 # ϵ = 0 if nϵ == 0 (meaning no relaxation)
+        ϵ = (nϵ ≠ 0) ? ΔŨ[end] : zero(T) # ϵ = 0 if nϵ == 0 (meaning no relaxation)
         mpc.con.gc!(gc, Ue, Ŷe, mpc.D̂e, mpc.p, ϵ)
         g = con_nonlinprog!(g, mpc, model, x̂0end, Ŷ0, gc, ϵ)
         return obj_nonlinprog!(Ȳ, Ū, mpc, model, Ue, Ŷe, ΔŨ)::T
@@ -544,7 +544,7 @@ function get_optim_functions(mpc::NonLinMPC, ::JuMP.GenericModel{JNT}) where JNT
             gc         = get_tmp(gc_cache, ΔŨ1)
             Ŷ0, x̂0end  = predict!(Ȳ, x̂0, x̂0next, u0, û0, mpc, model, ΔŨ)
             Ue, Ŷe     = extended_predictions!(Ue, Ŷe, Ū, mpc, model, Ŷ0, ΔŨ)
-            ϵ = (nϵ ≠ 0) ? ΔŨ[end] : 0 # ϵ = 0 if nϵ == 0 (meaning no relaxation)
+            ϵ = (nϵ ≠ 0) ? ΔŨ[end] : zero(T) # ϵ = 0 if nϵ == 0 (meaning no relaxation)
             mpc.con.gc!(gc, Ue, Ŷe, mpc.D̂e, mpc.p, ϵ)
             g = con_nonlinprog!(g, mpc, model, x̂0end, Ŷ0, gc, ϵ)
         end
