Fixes #1350 mpMILP with parametric cost fails

yalmip · Dec 1, 2023 · d18078a · d18078a
1 parent 54ab083
commit d18078a
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/modules/parametric/mpt_project_back_equality.m b/modules/parametric/mpt_project_back_equality.m
@@ -27,6 +27,10 @@
             for i=1:length(Fi)
                 details.Bi{i} = OriginalMatrices.H*Fi{i} + OriginalMatrices.F;
                 details.Ci{i} = OriginalMatrices.H*Gi{i};
+                if isfield(OriginalMatrices,'D')
+                  %  details.Ai{i} = Fi{i}'*OriginalMatrices.D;
+                    details.Bi{i} = details.Bi{i} + Gi{i}'*OriginalMatrices.D;
+                end
             end
         end
     end

diff --git a/modules/parametric/mpt_project_on_equality.m b/modules/parametric/mpt_project_on_equality.m
@@ -80,7 +80,8 @@
         Matrices.H = M.H*S1;     
         if isfield(Matrices,'D')
             % Latest MPT does not fullify D
-            Matrices.D = full((Matrices.D'*S1)');
+            Matrices.Cx = full(Matrices.Cx + S3'*Matrices.D);            
+            Matrices.D = full((Matrices.D'*S1)');        
         end
     end