Minor change controller estimator

do-mpc · Oct 14, 2022 · 7913352 · 7913352
1 parent bc7d88a
commit 7913352
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/do_mpc/controller.py b/do_mpc/controller.py
@@ -1318,8 +1318,8 @@ def _create_nlp(self):
             'expand': False,
             'ipopt.linear_solver': 'mumps',
         }.update(self.nlpsol_opts)
-        nlp = {'x': vertcat(self._opt_x), 'f': self._nlp_obj, 'g': self._nlp_cons, 'p': vertcat(self._opt_p)}
-        self.S = nlpsol('S', 'ipopt', nlp, self.nlpsol_opts)
+        self.nlp = {'x': vertcat(self._opt_x), 'f': self._nlp_obj, 'g': self._nlp_cons, 'p': vertcat(self._opt_p)}
+        self.S = nlpsol('S', 'ipopt', self.nlp, self.nlpsol_opts)
 
 
         # Create function to caculate all auxiliary expressions:

diff --git a/do_mpc/estimator.py b/do_mpc/estimator.py
@@ -1396,8 +1396,8 @@ def _create_nlp(self):
             'expand': False,
             'ipopt.linear_solver': 'mumps',
         }.update(self.nlpsol_opts)
-        nlp = {'x': vertcat(self._opt_x), 'f': self._nlp_obj, 'g': self._nlp_cons, 'p': vertcat(self._opt_p)}
-        self.S = nlpsol('S', 'ipopt', nlp, self.nlpsol_opts)
+        self.nlp = {'x': vertcat(self._opt_x), 'f': self._nlp_obj, 'g': self._nlp_cons, 'p': vertcat(self._opt_p)}
+        self.S = nlpsol('S', 'ipopt', self.nlp, self.nlpsol_opts)