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changed: sparse backends default to post-processing #285

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Merged
franckgaga merged 3 commits into from
Nov 9, 2025
Merged

changed: sparse backends default to post-processing #285

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7ab29de
changed: sparse backends default to post-processing
franckgaga Nov 9, 2025
24dda29
changed: bump `DifferentiationInterface.jl` compat
franckgaga Nov 9, 2025
a5f25e7
doc: adding `postprocessing` in default sparse backend
franckgaga Nov 9, 2025
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4 changes: 2 additions & 2 deletions Project.toml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
name = "ModelPredictiveControl"
uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
version = "1.13.1"
version = "1.13.2"
authors = ["Francis Gagnon"]

[deps]
Expand All @@ -24,7 +24,7 @@ SparseMatrixColorings = "0a514795-09f3-496d-8182-132a7b665d35"
[compat]
ControlSystemsBase = "1.18.2"
DAQP = "0.6, 0.7.1"
DifferentiationInterface = "0.6.45, 0.7"
DifferentiationInterface = "0.7.11"
Documenter = "1"
FiniteDiff = "2"
ForwardDiff = "0.10, 1"
Expand Down
9 changes: 6 additions & 3 deletions src/controller/nonlinmpc.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ const DEFAULT_NONLINMPC_JACDENSE = AutoForwardDiff()
const DEFAULT_NONLINMPC_JACSPARSE = AutoSparse(
AutoForwardDiff();
sparsity_detector=TracerSparsityDetector(),
coloring_algorithm=GreedyColoringAlgorithm(ALL_COLORING_ORDERS),
coloring_algorithm=GreedyColoringAlgorithm(ALL_COLORING_ORDERS, postprocessing=true),
)
const DEFAULT_NONLINMPC_HESSIAN = DEFAULT_NONLINMPC_JACSPARSE

Expand Down Expand Up @@ -291,13 +291,16 @@ NonLinMPC controller with a sample time Ts = 10.0 s:
AutoSparse(
AutoForwardDiff();
sparsity_detector = TracerSparsityDetector(),
coloring_algorithm = GreedyColoringAlgorithm((
coloring_algorithm = GreedyColoringAlgorithm(
(
NaturalOrder(),
LargestFirst(),
SmallestLast(),
IncidenceDegree(),
DynamicLargestFirst()
))
),
postprocessing = true
)
)
```
that is, it will test many coloring orders at preparation and keep the best. This is
Expand Down
9 changes: 6 additions & 3 deletions src/estimator/mhe/construct.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ const DEFAULT_NONLINMHE_JACOBIAN = AutoForwardDiff()
const DEFAULT_NONLINMHE_HESSIAN = AutoSparse(
AutoForwardDiff();
sparsity_detector=TracerSparsityDetector(),
coloring_algorithm=GreedyColoringAlgorithm(ALL_COLORING_ORDERS),
coloring_algorithm=GreedyColoringAlgorithm(ALL_COLORING_ORDERS, postprocessing=true),
)

@doc raw"""
Expand Down Expand Up @@ -382,13 +382,16 @@ MovingHorizonEstimator estimator with a sample time Ts = 10.0 s:
AutoSparse(
AutoForwardDiff();
sparsity_detector = TracerSparsityDetector(),
coloring_algorithm = GreedyColoringAlgorithm((
coloring_algorithm = GreedyColoringAlgorithm(
(
NaturalOrder(),
LargestFirst(),
SmallestLast(),
IncidenceDegree(),
DynamicLargestFirst()
))
),
postprocessing = true
)
)
```
that is, it will test many coloring orders at preparation and keep the best.
Expand Down