debug: forgot to rename some d0

Author: franckgaga

src/controller/transcription.jl

@@ -1416,13 +1416,13 @@ function con_nonlinprogeq!(
         x0, xs     = @views x̂0[1:nx], x̂0[nx+1:end]
         mul!(û0, Cs_u, xs)                 
         û0 .+= u0                          
-        model.f!(k1, x0, û0, d0, p)
+        model.f!(k1, x0, û0, d̂0, p)
         lastk2 = k1
     end
     #TODO: allow parallel for loop or threads? 
     for j=1:Hp
         k0       = @views   K0[(1 + nk*(j-1)):(nk*j)]
-        d0next   = @views   D̂0[(1 + nd*(j-1)):(nd*j)]
+        d̂0next   = @views   D̂0[(1 + nd*(j-1)):(nd*j)]
         x̂0next   = @views   X̂0[(1 + nx̂*(j-1)):(nx̂*j)]
         x̂0next_Z̃ = @views X̂0_Z̃[(1 + nx̂*(j-1)):(nx̂*j)]  
         ŝnext    = @views  geq[(1 + nx̂*(j-1)):(nx̂*j)]  
@@ -1440,33 +1440,33 @@ function con_nonlinprogeq!(
             û0 = @views Û0[(1 + nu*(j-1)):(nu*j)]
             mul!(û0, Cs_u, xs)                 # ys_u(k) = Cs_u*xs(k)
             û0 .+= u0                          #   û0(k) = u0(k) + ys_u(k)
-            model.f!(k1, x0, û0, d0, p)
-            model.f!(k2, x0next_Z̃, û0, d0next, p)
+            model.f!(k1, x0, û0, d̂0, p)
+            model.f!(k2, x0next_Z̃, û0, d̂0next, p)
         else # piecewise linear manipulated inputs u:
             k1 .= lastk2
             j == Hp && break # special case, treated after the loop
             u0next = @views U0[(1 + nu*j):(nu*(j+1))]
             û0next = @views Û0[(1 + nu*j):(nu*(j+1))]
             mul!(û0next, Cs_u, xsnext_Z̃)      # ys_u(k+1) = Cs_u*xs(k+1)
             û0next .+= u0next                 #   û0(k+1) = u0(k+1) + ys_u(k+1)
-            model.f!(k2, x0next_Z̃, û0next, d0next, p)
+            model.f!(k2, x0next_Z̃, û0next, d̂0next, p)
             lastk2 = k2
         end
         sdnext .= @. x0 - x0next_Z̃ + 0.5*Ts*(k1 + k2)
         x̂0 = x̂0next_Z̃ # using states in Z̃ for next iteration (allow parallel for)
-        d̂0 = d0next
+        d̂0 = d̂0next
     end
     if !iszero(h)
         # j = Hp special case: u(k+Hp-1) = u(k+Hp) since Hc ≤ Hp implies Δu(k+Hp)=0
         x̂0, x̂0next_Z̃   = @views X̂0_Z̃[end-2nx̂+1:end-nx̂], X̂0_Z̃[end-nx̂+1:end]
         k1, k2         = @views K0[end-2nx+1:end-nx], K0[end-nx+1:end] # k1 already filled
-        d0next         = @views D̂0[end-nd+1:end]
+        d̂0next         = @views D̂0[end-nd+1:end]
         û0next, u0next = @views Û0[end-nu+1:end], U0[end-nu+1:end] # correspond to u(k+Hp-1)
         x0, x0next_Z̃, xsnext_Z̃ = @views x̂0[1:nx], x̂0next_Z̃[1:nx], x̂0next_Z̃[nx+1:end]
         sdnext = @views geq[end-nx̂+1:end-nx̂+nx] # ssnext already filled
         mul!(û0next, Cs_u, xsnext_Z̃)                 
         û0next .+= u0next                          
-        model.f!(k2, x0next_Z̃, û0next, d0next, p)
+        model.f!(k2, x0next_Z̃, û0next, d̂0next, p)
         sdnext .= @. x0 - x0next_Z̃ + (Ts/2)*(k1 + k2)
     end
     return geq