doc: some comments on hessian

franckgaga · franckgaga · commit bbf48dd369cd · 2025-10-30T17:41:16.000-04:00
diff --git a/src/controller/nonlinmpc.jl b/src/controller/nonlinmpc.jl
@@ -706,6 +706,8 @@ function get_nonlinops(mpc::NonLinMPC, optim::JuMP.GenericModel{JNT}) where JNT<
         hessian_lagrangian_structure = ∇²gi_structure,
         eval_hessian_lagrangian = ∇²gi_func!
     )
+    #TODO: verify if I must fill only upper/lower triangular part ?
+    #TODO: add Hessian for 1. Jfunc and 2. geq
     # ------------- equality constraints : nonlinear oracle ------------------------------
     function geq!(geq, Z̃, ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, K0, X̂0, gc, g) 
         update_predictions!(ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, K0, X̂0, gc, g, geq, mpc, Z̃)

Original file line number	Diff line number	Diff line change
`@@ -706,6 +706,8 @@ function get_nonlinops(mpc::NonLinMPC, optim::JuMP.GenericModel{JNT}) where JNT<`
`706`	`706`	`hessian_lagrangian_structure = ∇²gi_structure,`
`707`	`707`	`eval_hessian_lagrangian = ∇²gi_func!`
`708`	`708`	`)`
	`709`	`+ #TODO: verify if I must fill only upper/lower triangular part ?`
	`710`	`+ #TODO: add Hessian for 1. Jfunc and 2. geq`
`709`	`711`	`# ------------- equality constraints : nonlinear oracle ------------------------------`
`710`	`712`	`function geq!(geq, Z̃, ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, K0, X̂0, gc, g)`
`711`	`713`	`update_predictions!(ΔŨ, x̂0end, Ue, Ŷe, U0, Ŷ0, Û0, K0, X̂0, gc, g, geq, mpc, Z̃)`