static type of linear constraints

Author: franckgaga

example/juMPC.jl

@@ -134,19 +134,20 @@ function test_mpc(model, mpc)
         u = moveinput!(mpc, r, d)
         u_data[:,k+1] = u
         y_data[:,k+1] = y
-        r_data[:,k+1] = r 
+        r_data[:,k+1] = r
         d_data[:,k+1] = d
         updatestate!(mpc, u, y, d)
         updatestate!(model, u, d)
     end
     return u_data, y_data, r_data, d_data
 end
 
+test_mpc(linModel4, mpc)
 @time u_data, y_data, r_data, d_data = test_mpc(linModel4, mpc)
 
-@time u_data, y_data, r_data, d_data = test_mpc(linModel4, nmpc)
+#@time u_data, y_data, r_data, d_data = test_mpc(linModel4, nmpc)
 
-@time u_data, y_data, r_data, d_data = test_mpc(nonLinModel2, nmpc2)
+#@time u_data, y_data, r_data, d_data = test_mpc(nonLinModel2, nmpc2)
 
 
 using PlotThemes, Plots

src/predictive_control.jl

@@ -19,6 +19,12 @@ julia> u = mpc([5]); round.(u, digits=3)
 """
 abstract type PredictiveController end
 
+const LinConVector = Vector{ConstraintRef{
+    Model, 
+    MOI.ConstraintIndex{MOI.ScalarAffineFunction{Float64}, MOI.LessThan{Float64}}, 
+    ScalarShape
+}}
+
 "Include all the data for the constraints of [`PredictiveController`](@ref)"
 struct ControllerConstraint
     Umin   ::Vector{Float64}
@@ -389,7 +395,8 @@ function linconstraint!(mpc::PredictiveController, model::LinModel)
         -mpc.con.Ŷmin + mpc.F
         +mpc.con.Ŷmax - mpc.F
     ]
-    set_normalized_rhs.(mpc.optim[:linconstraint], mpc.con.b[mpc.con.i_b])
+    lincon::LinConVector = mpc.optim[:linconstraint]
+    set_normalized_rhs.(lincon, mpc.con.b[mpc.con.i_b])
 end
 
 "Set `b` excluding predicted output constraints when `model` is not a [`LinModel`](@ref)."
@@ -400,7 +407,8 @@ function linconstraint!(mpc::PredictiveController, model::SimModel)
         -mpc.con.ΔŨmin
         +mpc.con.ΔŨmax 
     ]
-    set_normalized_rhs.(mpc.optim[:linconstraint], mpc.con.b[mpc.con.i_b])
+    lincon::LinConVector = mpc.optim[:linconstraint]
+    set_normalized_rhs.(lincon, mpc.con.b[mpc.con.i_b])
 end
 
 """