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changed: exclude Inf bounds in the inequality constraint fields of getinfo#337

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franckgaga merged 3 commits intomainfrom
getinfo_g_no_inf
Mar 11, 2026
Merged

changed: exclude Inf bounds in the inequality constraint fields of getinfo#337
franckgaga merged 3 commits intomainfrom
getinfo_g_no_inf

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@franckgaga franckgaga commented Mar 11, 2026

Before this PR, the vector and matrices related to the nonlinear inequality constraints $\mathbf{g}$ returned by getinfo! included the bounds at ±Inf. At first, it seems clever since it allows the user to inspect all the nonlinear inequality constraints, including the bounds at ±Inf. But it is counterintuitive, come to think of it :

  1. The inequality constraint vector, Jacobian and Hessian sent to the optimizer exclude the ±Inf values. It is way more intuitive and logical that getinfo returns the same data that the optimizer receive.
  2. I may add the number of color for the sparse Jacobians and Hessians in the dictionnary. The reported number of color needs to be identical to the REAL number of color in the matrices sent to the optimizer (for playing around with the order algorithms)
  3. Inspecting bounds at ±Inf is completely useless, AFAIK.

Now the vector, Jacobians and Hessians related to the inequality constraints returned by getinfo exclude the ±Inf bounds.

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codecov-commenter commented Mar 11, 2026

Codecov Report

❌ Patch coverage is 97.40260% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 98.58%. Comparing base (4be6029) to head (16d0c95).
⚠️ Report is 20 commits behind head on main.

Files with missing lines Patch % Lines
src/controller/nonlinmpc.jl 97.72% 1 Missing ⚠️
src/estimator/mhe/execute.jl 96.87% 1 Missing ⚠️
Additional details and impacted files
@@           Coverage Diff           @@
##             main     #337   +/-   ##
=======================================
  Coverage   98.58%   98.58%           
=======================================
  Files          27       27           
  Lines        5176     5177    +1     
=======================================
+ Hits         5103     5104    +1     
  Misses         73       73           

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@franckgaga franckgaga changed the title changed: exclude Infs in inequality constraint fields of getinfo changed: exclude Inf bounds in the inequality constraint fields of getinfo Mar 11, 2026
@franckgaga franckgaga merged commit b509dbc into main Mar 11, 2026
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@franckgaga franckgaga deleted the getinfo_g_no_inf branch March 11, 2026 21:34
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