debug: resolve ambiguous methods

Author: franckgaga

docs/src/internals/predictive_control.md

@@ -30,7 +30,7 @@ ModelPredictiveControl.init_nonlincon!
 
 ```@docs
 ModelPredictiveControl.initpred!(::PredictiveController, ::LinModel, ::Any, ::Any, ::Any, ::Any)
-ModelPredictiveControl.linconstraint!(::PredictiveController, ::LinModel)
+ModelPredictiveControl.linconstraint!(::PredictiveController, ::LinModel, ::TranscriptionMethod)
 ModelPredictiveControl.linconstrainteq!
 ```
 

src/ModelPredictiveControl.jl

@@ -32,7 +32,7 @@ export SteadyKalmanFilter, KalmanFilter, UnscentedKalmanFilter, ExtendedKalmanFi
 export MovingHorizonEstimator
 export default_nint, initstate!
 export PredictiveController, ExplicitMPC, LinMPC, NonLinMPC, setconstraint!, moveinput!
-export SingleShooting, MultipleShooting
+export TranscriptionMethod, SingleShooting, MultipleShooting
 export SimResult, getinfo, sim!
 
 include("general.jl")

src/controller/transcription.jl

@@ -776,10 +776,10 @@ end
 """
     set_nonlincon!(mpc::PredictiveController, ::NonLinModel, ::MultipleShooting, optim)
 
-Also set output prediction `Ŷ` constraints for `NonLinModel` and `MultipleShooting`.
+Also set output prediction `Ŷ` constraints for `NonLinModel` and non-`SingleShooting`.
 """
 function set_nonlincon!(
-    mpc::PredictiveController, ::SimModel, ::MultipleShooting, ::JuMP.GenericModel{JNT}
+    mpc::PredictiveController, ::NonLinModel, ::TranscriptionMethod, ::JuMP.GenericModel{JNT}
 ) where JNT<:Real
     optim = mpc.optim
     Z̃var = optim[:Z̃var]