debug tests

Author: franckgaga

src/controller/nonlinmpc.jl

@@ -299,14 +299,14 @@ function init_optimization!(mpc::NonLinMPC, optim::JuMP.GenericModel{JNT}) where
     model = mpc.estim.model
     nu, ny, nx̂, Hp, ng = model.nu, model.ny, mpc.estim.nx̂, mpc.Hp, length(con.i_g)
     # inspired from https://jump.dev/JuMP.jl/stable/tutorials/nonlinear/tips_and_tricks/#User-defined-operators-with-vector-outputs
-    Jfunc, gfunc = let mpc=mpc, model=model, ng=ng, nΔŨ=nΔŨ , nŶ=Hp*ny, nx̂=nx̂, nu=nu
+    Jfunc, gfunc = let mpc=mpc, model=model, ng=ng, nΔŨ=nΔŨ, nŶ=Hp*ny, nx̂=nx̂, nu=nu, nU=Hp*nu
         last_ΔŨtup_float, last_ΔŨtup_dual = nothing, nothing
         Ŷ_cache ::DiffCache{Vector{JNT}, Vector{JNT}} = DiffCache(zeros(JNT, nŶ), nΔŨ + 3)
         g_cache ::DiffCache{Vector{JNT}, Vector{JNT}} = DiffCache(zeros(JNT, ng), nΔŨ + 3)
         x̂_cache ::DiffCache{Vector{JNT}, Vector{JNT}} = DiffCache(zeros(JNT, nx̂), nΔŨ + 3)
         u0_cache::DiffCache{Vector{JNT}, Vector{JNT}} = DiffCache(zeros(JNT, nu), nΔŨ + 3)
         Ȳ_cache ::DiffCache{Vector{JNT}, Vector{JNT}} = DiffCache(zeros(JNT, nŶ), nΔŨ + 3)
-        Ū_cache ::DiffCache{Vector{JNT}, Vector{JNT}} = DiffCache(zeros(JNT, nu), nΔŨ + 3)
+        Ū_cache ::DiffCache{Vector{JNT}, Vector{JNT}} = DiffCache(zeros(JNT, nU), nΔŨ + 3)
         function Jfunc(ΔŨtup::JNT...)
             ΔŨtud1 = ΔŨtup[begin]
             Ŷ = get_tmp(Ŷ_cache, ΔŨtud1)