predict function received a vector instead of tuple

franckgaga · franckgaga · commit ccc64e992bb6 · 2023-05-08T17:11:11.000-04:00
diff --git a/src/controller/nonlinmpc.jl b/src/controller/nonlinmpc.jl
@@ -77,7 +77,7 @@ struct NonLinMPC{S<:StateEstimator, JEFunc<:Function} <: PredictiveController
         last_ΔŨ, last_C, last_Ŷ = nothing, nothing, nothing
         function Jfunc(ΔŨ::Float64...)
             if ΔŨ !== last_ΔŨ
-                last_Ŷ = predict(mpc, model, ΔŨ)
+                last_Ŷ = predict(mpc, model, collect(ΔŨ))
                 last_C = con_nonlinprog(mpc, model, last_Ŷ, ΔŨ)
                 last_ΔŨ = ΔŨ
             end
@@ -86,7 +86,7 @@ struct NonLinMPC{S<:StateEstimator, JEFunc<:Function} <: PredictiveController
         last_dΔŨ, last_dC, last_dŶ = nothing, nothing, nothing
         function Jfunc(dΔŨ::T...) where {T<:Real}
             if dΔŨ !== last_dΔŨ
-                last_dŶ = predict(mpc, model, dΔŨ)
+                last_dŶ = predict(mpc, model, collect(dΔŨ))
                 last_dC = con_nonlinprog(mpc, model, last_dŶ, dΔŨ)
                 last_dΔŨ = dΔŨ
             end
@@ -97,15 +97,15 @@ struct NonLinMPC{S<:StateEstimator, JEFunc<:Function} <: PredictiveController
         ncon = length(mpc.con.Ŷmin) + length(mpc.con.Ŷmax)
         function con_nonlinprog_i(i, ΔŨ::NTuple{N, Float64}) where {N}
             if ΔŨ !== last_ΔŨ
-                last_Ŷ = predict(mpc, model, ΔŨ)
+                last_Ŷ = predict(mpc, model, collect(ΔŨ))
                 last_C = con_nonlinprog(mpc, model, last_Ŷ, ΔŨ)
                 last_ΔŨ = ΔŨ
             end
             return last_C[i]
         end
         function con_nonlinprog_i(i, dΔŨ::NTuple{N, T}) where {N, T<:Real}
             if dΔŨ !== last_dΔŨ
-                last_dŶ = predict(mpc, model, dΔŨ)
+                last_dŶ = predict(mpc, model, collect(dΔŨ))
                 last_dC = con_nonlinprog(mpc, model, last_dŶ, dΔŨ)
                 last_dΔŨ = dΔŨ
             end
diff --git a/src/predictive_control.jl b/src/predictive_control.jl
@@ -387,8 +387,7 @@ end
 
 Evaluate the outputs predictions ``\\mathbf{Ŷ}`` when `model` is a [`LinModel`](@ref).
 """
-function predict(mpc::PredictiveController, ::LinModel, ΔŨ::NTuple{N, T}) where {N, T}
-    ΔŨ = collect(ΔŨ) # convert NTuple to Vector
+function predict(mpc::PredictiveController, ::LinModel, ΔŨ::Vector{T}) where {T<:Real}
     return mpc.Ẽ*ΔŨ + mpc.F
 end
 
@@ -397,8 +396,7 @@ end
 
 Evaluate  ``\\mathbf{Ŷ}`` when `model` is not a [`LinModel`](@ref).
 """
-function predict(mpc::PredictiveController, model::SimModel, ΔŨ::NTuple{N, T}) where {N, T}
-    ΔŨ = collect(ΔŨ) # convert NTuple to Vector
+function predict(mpc::PredictiveController, model::SimModel, ΔŨ::Vector{T}) where {T<:Real}
     U0 = mpc.S̃_Hp*ΔŨ + mpc.T_Hp*(mpc.estim.lastu0)
     Ŷd = Vector{T}(undef, model.ny*mpc.Hp)
     x̂d::Vector{T} = copy(mpc.x̂d)
