debug: predict! method of ExplicitMPC

franckgaga · franckgaga · commit ec93aa501111 · 2025-03-29T11:58:31.000-04:00
diff --git a/src/controller/explicitmpc.jl b/src/controller/explicitmpc.jl
@@ -195,7 +195,7 @@ optim_objective!(mpc::ExplicitMPC) = lmul!(-1, ldiv!(mpc.Z̃, mpc.H̃_chol, mpc.
 
 "Compute the predictions but not the terminal states if `mpc` is an [`ExplicitMPC`](@ref)."
 function predict!(
-    Ŷ0, x̂0end, _ , _ , mpc::ExplicitMPC, ::LinModel, ::TranscriptionMethod, _ , Z̃
+    Ŷ0, x̂0end, _ , _ , _ , mpc::ExplicitMPC, ::LinModel, ::TranscriptionMethod, _ , Z̃
 )
     # in-place operations to reduce allocations :
     Ŷ0    .= mul!(Ŷ0, mpc.Ẽ, Z̃) .+ mpc.F

Original file line number	Diff line number	Diff line change
`@@ -195,7 +195,7 @@ optim_objective!(mpc::ExplicitMPC) = lmul!(-1, ldiv!(mpc.Z̃, mpc.H̃_chol, mpc.`
`195`	`195`
`196`	`196`	"Compute the predictions but not the terminal states if `mpc` is an [`ExplicitMPC`](@ref)."
`197`	`197`	`function predict!(`
`198`		`- Ŷ0, x̂0end, _ , _ , mpc::ExplicitMPC, ::LinModel, ::TranscriptionMethod, _ , Z̃`
	`198`	`+ Ŷ0, x̂0end, _ , _ , _ , mpc::ExplicitMPC, ::LinModel, ::TranscriptionMethod, _ , Z̃`
`199`	`199`	`)`
`200`	`200`	`# in-place operations to reduce allocations :`
`201`	`201`	`Ŷ0 .= mul!(Ŷ0, mpc.Ẽ, Z̃) .+ mpc.F`