Fix type instability in LinMPC and NonLinMPC (introduced in 1.1.0)
#130
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`ControllerConstraint{NT}` is no longer concrete
`ControllerConstraint{NT, GCfunc}` is
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oh well it happens! I will work on that a little bit tomorrow. But I have a party on Saturday. so not Saturday. And not Sunday while we're at it XD 🎉 🎉 🎉 |
baggepinnen
approved these changes
Nov 29, 2024
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It's a common pitfall. Ways to protect yourself against future such changes are
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Yeah I'll implement your second option instead. I did not know that |
franckgaga
changed the title
LinMPC and NonLinMPC (introduced in 1.2.0) LinMPC and NonLinMPC (introduced in 1.1.0)
- it's dangerous with `setmodel!` (if `L_Hp` change, `noR̂u` can be incorrect - the code is simpler (no branching) - computational gains are negligible
…s (bis) the matrices `buffer.Ẽ` and `buffer.S̃` are added to store intermediary results
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #130 +/- ##
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- Coverage 98.99% 98.99% -0.01%
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Files 24 24
Lines 3676 3675 -1
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- Hits 3639 3638 -1
Misses 37 37 ☔ View full report in Codecov by Sentry. |
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ControllerConstraint{NT}is no longer concreteControllerConstraint{NT, GCfunc}is