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added: do not call gc! if nc==0 #138

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Dec 16, 2024
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added: do not call gc! if nc==0 #138

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21 changes: 16 additions & 5 deletions src/controller/nonlinmpc.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -530,8 +530,8 @@ function get_optim_functions(mpc::NonLinMPC, ::JuMP.GenericModel{JNT}) where JNT
Ŷ0, x̂0end = predict!(Ȳ, x̂0, x̂0next, u0, û0, mpc, model, ΔŨ)
Ue, Ŷe = extended_predictions!(Ue, Ŷe, Ū, mpc, model, Ŷ0, ΔŨ)
ϵ = (nϵ ≠ 0) ? ΔŨ[end] : zero(T) # ϵ = 0 if nϵ == 0 (meaning no relaxation)
mpc.con.gc!(gc, Ue, Ŷe, mpc.D̂e, mpc.p, ϵ)
g = con_nonlinprog!(g, mpc, model, x̂0end, Ŷ0, gc, ϵ)
gc = con_custom!(gc, mpc, Ue, Ŷe, ϵ)
g = con_nonlinprog!(g, mpc, model, x̂0end, Ŷ0, gc, ϵ)
return obj_nonlinprog!(Ȳ, Ū, mpc, model, Ue, Ŷe, ΔŨ)::T
end
function gfunc_i(i, ΔŨtup::NTuple{N, T}) where {N, T<:Real}
Expand All @@ -549,8 +549,8 @@ function get_optim_functions(mpc::NonLinMPC, ::JuMP.GenericModel{JNT}) where JNT
Ŷ0, x̂0end = predict!(Ȳ, x̂0, x̂0next, u0, û0, mpc, model, ΔŨ)
Ue, Ŷe = extended_predictions!(Ue, Ŷe, Ū, mpc, model, Ŷ0, ΔŨ)
ϵ = (nϵ ≠ 0) ? ΔŨ[end] : zero(T) # ϵ = 0 if nϵ == 0 (meaning no relaxation)
mpc.con.gc!(gc, Ue, Ŷe, mpc.D̂e, mpc.p, ϵ)
g = con_nonlinprog!(g, mpc, model, x̂0end, Ŷ0, gc, ϵ)
gc = con_custom!(gc, mpc, Ue, Ŷe, ϵ)
g = con_nonlinprog!(g, mpc, model, x̂0end, Ŷ0, gc, ϵ)
end
return g[i]::T
end
Expand Down Expand Up @@ -659,7 +659,7 @@ function set_nonlincon!(
end

"""
con_nonlinprog!(g, mpc::NonLinMPC, model::LinModel, _ , _ , gc, ϵ)
con_nonlinprog!(g, mpc::NonLinMPC, model::LinModel, _ , _ , gc, ϵ) -> g

Nonlinear constrains for [`NonLinMPC`](@ref) when `model` is a [`LinModel`](@ref).

Expand Down Expand Up @@ -705,6 +705,17 @@ function con_nonlinprog!(g, mpc::NonLinMPC, ::SimModel, x̂0end, Ŷ0, gc, ϵ)
return g
end


@doc raw"""
con_custom!(gc, mpc::NonLinMPC, Ue, Ŷe, ϵ) -> gc

Evaluate the custom inequality constraint `gc` in-place and return it.
"""
function con_custom!(gc, mpc::NonLinMPC, Ue, Ŷe, ϵ)
mpc.con.nc ≠ 0 && mpc.con.gc!(gc, Ue, Ŷe, mpc.D̂e, mpc.p, ϵ)
return gc
end

"Evaluate the economic term `E*JE` of the objective function for [`NonLinMPC`](@ref)."
function obj_econ(
mpc::NonLinMPC, model::SimModel, Ue, Ŷe::AbstractVector{NT}
Expand Down
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