changed: avoid non-AbstractArrays in DI.Constant()

By using a closure on `mpc::NonLinMPC` and `estim::MovingHorizonEstimator`

Author: franckgaga

src/controller/nonlinmpc.jl

@@ -600,13 +600,12 @@ function get_optim_functions(mpc::NonLinMPC, ::JuMP.GenericModel{JNT}) where JNT
         end
         return obj_nonlinprog!(Ŷ0, U0, mpc, model, Ue, Ŷe, ΔŨ)::T
     end
-    function Jfunc!(Z̃, mpc, ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, X̂0, gc, g, geq)
+    function Jfunc!(Z̃, ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, X̂0, gc, g, geq)
         update_predictions!(ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, X̂0, gc, g, geq, mpc, Z̃)
         return obj_nonlinprog!(Ŷ0, U0, mpc, model, Ue, Ŷe, ΔŨ)
     end
     Z̃_∇J = fill(myNaN, nZ̃) 
     ∇J_context = (
-        Constant(mpc),
         Cache(ΔŨ), Cache(x̂0end), Cache(Ue), Cache(Ŷe), Cache(U0), Cache(Ŷ0), 
         Cache(Û0), Cache(X̂0), 
         Cache(gc), Cache(g), Cache(geq),
@@ -638,12 +637,11 @@ function get_optim_functions(mpc::NonLinMPC, ::JuMP.GenericModel{JNT}) where JNT
         end
         gfuncs[i] = gfunc_i
     end
-    function gfunc!(g, Z̃, mpc, ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, X̂0, gc, geq)
+    function gfunc!(g, Z̃, ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, X̂0, gc, geq)
         return update_predictions!(ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, X̂0, gc, g, geq, mpc, Z̃)
     end
     Z̃_∇g = fill(myNaN, nZ̃)
     ∇g_context = (
-        Constant(mpc),
         Cache(ΔŨ), Cache(x̂0end), Cache(Ue), Cache(Ŷe), Cache(U0), Cache(Ŷ0), 
         Cache(Û0), Cache(X̂0), 
         Cache(gc), Cache(geq),
@@ -686,12 +684,11 @@ function get_optim_functions(mpc::NonLinMPC, ::JuMP.GenericModel{JNT}) where JNT
         end
         geqfuncs[i] = geqfunc_i          
     end
-    function geqfunc!(geq, Z̃, mpc, ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, X̂0, gc, g) 
+    function geqfunc!(geq, Z̃, ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, X̂0, gc, g) 
         return update_predictions!(ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, X̂0, gc, g, geq, mpc, Z̃)
     end
     Z̃_∇geq = fill(myNaN, nZ̃)
     ∇geq_context = (
-        Constant(mpc),
         Cache(ΔŨ), Cache(x̂0end), Cache(Ue), Cache(Ŷe), Cache(U0), Cache(Ŷ0),
         Cache(Û0), Cache(X̂0),
         Cache(gc), Cache(g)

src/estimator/mhe/construct.jl

@@ -1346,13 +1346,12 @@ function get_optim_functions(
         end
         return obj_nonlinprog!(x̄, estim, model, V̂, Z̃)::T
     end
-    function Jfunc!(Z̃, estim, V̂, X̂0, û0, ŷ0, g, x̄)
+    function Jfunc!(Z̃, V̂, X̂0, û0, ŷ0, g, x̄)
         update_prediction!(V̂, X̂0, û0, ŷ0, g, estim, Z̃)
         return obj_nonlinprog!(x̄, estim, model, V̂, Z̃)
     end
     Z̃_∇J    = fill(myNaN, nZ̃) 
     ∇J_context = (
-        Constant(estim),
         Cache(V̂),  Cache(X̂0),
         Cache(û0), Cache(ŷ0),
         Cache(g),
@@ -1383,12 +1382,11 @@ function get_optim_functions(
         end
         gfuncs[i] = gfunc_i
     end
-    function gfunc!(g, Z̃, estim, V̂, X̂0, û0, ŷ0)
+    function gfunc!(g, Z̃, V̂, X̂0, û0, ŷ0)
         return update_prediction!(V̂, X̂0, û0, ŷ0, g, estim, Z̃)
     end
     Z̃_∇g     = fill(myNaN, nZ̃)
     ∇g_context = (
-        Constant(estim),
         Cache(V̂),  Cache(X̂0),
         Cache(û0), Cache(ŷ0),
     )