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added: oracle option in NonLinMPC and MovingHorizonEstimator #270

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Merged
merged 4 commits into from
Oct 23, 2025
Merged

added: oracle option in NonLinMPC and MovingHorizonEstimator #270

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7c2a8c9
added: `oracle` option in `NonLinMPC` and `MovingHorizonEstimator`
franckgaga Oct 22, 2025
2f227f7
test: replicate tests but with `oracle=false`
franckgaga Oct 22, 2025
8a0fce4
bump
franckgaga Oct 22, 2025
c8f2f93
test: improve coverage for `oracle=false`
franckgaga Oct 22, 2025
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2 changes: 1 addition & 1 deletion 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 = "1.11.1"
version = "1.12.0"
authors = ["Francis Gagnon"]

[deps]
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8 changes: 2 additions & 6 deletions src/controller/construct.jl
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Expand Up @@ -439,8 +439,7 @@ function setconstraint!(
JuMP.delete(optim, optim[:linconstraint])
JuMP.unregister(optim, :linconstraint)
@constraint(optim, linconstraint, A*Z̃var .≤ b)
g_oracle, geq_oracle = get_nonlinops(mpc, optim)
set_nonlincon!(mpc, optim, g_oracle, geq_oracle)
reset_nonlincon!(mpc)
else
i_b, i_g = init_matconstraint_mpc(
model, transcription, nc,
Expand All @@ -454,11 +453,8 @@ function setconstraint!(
return mpc
end

"By default, no nonlinear operators, return 3 nothing"
get_nonlinops(::PredictiveController, _ ) = (nothing, nothing, nothing)

"By default, no nonlinear constraints, return nothing."
set_nonlincon!(::PredictiveController, _ , _ , _ ) = nothing
reset_nonlincon!(::PredictiveController) = nothing

"""
default_Hp(model::LinModel)
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