added: :gc field in getinfo dict for NonLinMPC

Author: franckgaga

src/controller/execute.jl

@@ -96,8 +96,8 @@ The function should be called after calling [`moveinput!`](@ref). It returns the
 - `:d`   : current measured disturbance, ``\mathbf{d}(k)``
 
 For [`LinMPC`](@ref) and [`NonLinMPC`](@ref), the field `:sol` also contains the optimizer
-solution summary that can be printed. Lastly, the optimal economic cost `:JE` is also
-available for [`NonLinMPC`](@ref).
+solution summary that can be printed. Lastly, the economical cost `:JE` and the custom
+nonlinear constraints `:gc` values at the optimum are also available for [`NonLinMPC`](@ref).
 
 # Examples
 ```jldoctest
@@ -131,14 +131,14 @@ function getinfo(mpc::PredictiveController{NT}) where NT<:Real
     Ŷs .= mpc.F # predictstoch! init mpc.F with Ŷs value if estim is an InternalModel
     mpc.F .= oldF  # restore old F value
     info[:ΔU]   = mpc.ΔŨ[1:mpc.Hc*model.nu]
-    info[:ϵ]    = mpc.nϵ == 1 ? mpc.ΔŨ[end] : NaN
+    info[:ϵ]    = mpc.nϵ == 1 ? mpc.ΔŨ[end] : zero(NT)
     info[:J]    = J
     info[:U]    = U
     info[:u]    = info[:U][1:model.nu]
     info[:d]    = mpc.d0 + model.dop
     info[:D̂]    = mpc.D̂0 + mpc.Dop
     info[:ŷ]    = mpc.ŷ
-    info[:Ŷ]    = Ŷ0 + mpc.Yop
+    info[:Ŷ]    = Ŷ
     info[:x̂end] = x̂0end + mpc.estim.x̂op
     info[:Ŷs]   = Ŷs
     info[:R̂y]   = mpc.R̂y

src/controller/nonlinmpc.jl

@@ -423,7 +423,7 @@ function test_custom_functions(NT, model::SimModel, JE, gc!, nc, Uop, Yop, Dop,
             exception=(err, catch_backtrace())
         )
     end
-    ϵ, gc = 0, Vector{NT}(undef, nc) 
+    ϵ, gc = zero(NT), Vector{NT}(undef, nc) 
     try
         gc!(gc, Ue, Ŷe, D̂e, p, ϵ)
     catch err
@@ -444,12 +444,16 @@ end
 
 For [`NonLinMPC`](@ref), add `:sol` and the optimal economic cost `:JE`.
 """
-function addinfo!(info, mpc::NonLinMPC)
-    U, Ŷ, D̂, ŷ, d = info[:U], info[:Ŷ], info[:D̂], info[:ŷ], info[:d]
+function addinfo!(info, mpc::NonLinMPC{NT}) where NT<:Real
+    U, Ŷ, D̂, ŷ, d, ϵ = info[:U], info[:Ŷ], info[:D̂], info[:ŷ], info[:d], info[:ϵ]
     Ue = [U; U[(end - mpc.estim.model.nu + 1):end]]
     Ŷe = [ŷ; Ŷ]
-    D̂e = [d; D̂]
-    info[:JE]  = mpc.JE(Ue, Ŷe, D̂e, mpc.p)
+    D̂e = [d; D̂] 
+    JE = mpc.JE(Ue, Ŷe, D̂e, mpc.p)
+    LHS = Vector{NT}(undef, mpc.con.nc)
+    mpc.con.gc!(LHS, Ue, Ŷe, D̂e, mpc.p, ϵ)
+    info[:JE]  = JE 
+    info[:gc] = LHS
     info[:sol] = JuMP.solution_summary(mpc.optim, verbose=true)
     return info
 end

src/estimator/mhe/execute.jl

@@ -134,7 +134,7 @@ function getinfo(estim::MovingHorizonEstimator{NT}) where NT<:Real
     end
     info[:Ŵ] = estim.Ŵ[1:Nk*nŵ]
     info[:x̂arr] = x̂0arr + estim.x̂op
-    info[:ϵ]  = nϵ ≠ 0 ? estim.Z̃[begin] : NaN
+    info[:ϵ]  = nϵ ≠ 0 ? estim.Z̃[begin] : zero(NT)
     info[:J]  = obj_nonlinprog!(x̄, estim, estim.model, V̂, estim.Z̃)
     info[:X̂]  = X̂0       .+ @views [estim.x̂op; estim.X̂op[1:nx̂*Nk]]
     info[:x̂]  = estim.x̂0 .+ estim.x̂op