From d18078afc441f4c56ca62298a7331fe407b3e129 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Johan=20L=C3=B6fberg?= <johanl@isy.liu.se>
Date: Fri, 1 Dec 2023 10:12:40 +0100
Subject: [PATCH] Fixes #1350 mpMILP with parametric cost fails

---
 modules/parametric/mpt_project_back_equality.m | 4 ++++
 modules/parametric/mpt_project_on_equality.m   | 3 ++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/modules/parametric/mpt_project_back_equality.m b/modules/parametric/mpt_project_back_equality.m
index d0390c91..6d516aa7 100644
--- 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
index 925774cb..06573cec 100644
--- 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