changed: rename buffer.Cy and buffer.Cy to buffer.Ŷ and buffer.U, respect.

Author: franckgaga

src/controller/execute.jl

@@ -191,8 +191,7 @@ They are computed with these equations using in-place operations:
 function initpred!(mpc::PredictiveController, model::LinModel, d, D̂, R̂y, R̂u)
     mul!(mpc.T_lastu0, mpc.T, mpc.estim.lastu0)
     ŷ, F, q̃, r = mpc.ŷ, mpc.F, mpc.q̃, mpc.r
-    Cy, Cu = mpc.buffer.Cy, mpc.buffer.Cu
-    M_Hp_Ẽ, L_Hp_S̃ = mpc.buffer.Ẽ, mpc.buffer.S̃
+    Cy, Cu, M_Hp_Ẽ, L_Hp_S̃ = mpc.buffer.Ŷ, mpc.buffer.U, mpc.buffer.Ẽ, mpc.buffer.S̃
     ŷ .= evaloutput(mpc.estim, d)
     predictstoch!(mpc, mpc.estim)           # init F with Ŷs for InternalModel
     F .+= mpc.B                             # F = F + B

src/predictive_control.jl

@@ -23,8 +23,8 @@ struct PredictiveControllerBuffer{NT<:Real}
     u ::Vector{NT}
     R̂y::Vector{NT}
     D̂ ::Vector{NT}
-    Cy::Vector{NT}
-    Cu::Vector{NT}
+    Ŷ ::Vector{NT}
+    U ::Vector{NT}
     Ẽ ::Matrix{NT}
     S̃ ::Matrix{NT}
     empty::Vector{NT}
@@ -43,12 +43,12 @@ function PredictiveControllerBuffer{NT}(
     u  = Vector{NT}(undef, nu)
     R̂y = Vector{NT}(undef, ny*Hp)
     D̂  = Vector{NT}(undef, nd*Hp)
-    Cy = Vector{NT}(undef, ny*Hp)
-    Cu = Vector{NT}(undef, nu*Hp)
+    Ŷ  = Vector{NT}(undef, ny*Hp)
+    U  = Vector{NT}(undef, nu*Hp)
     Ẽ  = Matrix{NT}(undef, ny*Hp, nu*Hc + nϵ)
     S̃  = Matrix{NT}(undef, nu*Hp, nu*Hc + nϵ)
     empty = Vector{NT}(undef, 0)
-    return PredictiveControllerBuffer{NT}(u, R̂y, D̂, Cy, Cu, Ẽ, S̃, empty)
+    return PredictiveControllerBuffer{NT}(u, R̂y, D̂, Ŷ, U, Ẽ, S̃, empty)
 end
 
 include("controller/construct.jl")