let block for closures

Author: franckgaga

example/juMPC.jl

@@ -95,7 +95,7 @@ setconstraint!(mpc, ŷmin=[-Inf,-Inf], ŷmax=[55, 35])
 setconstraint!(mpc, Δumin=[-Inf,-Inf],Δumax=[+Inf,+Inf])
 
 function test_mpc(model, mpc)
-    N = 200
+    N = 20000
     u_data = zeros(2,N)
     y_data = zeros(2,N)
     r_data = zeros(2,N)

src/sim_model.jl

@@ -161,8 +161,12 @@ function LinModel(
     C   = sys_dis.C;
     Dd  = sys_dis.D[:,nu+1:end]
     # the `let` block captures and fixes A, Bu, Bd, C, Dd values (faster computations):
-    f = (x,u,d) -> A*x + Bu*u + Bd*d
-    h = (x,d) -> C*x + Dd*d
+    f = let A=A, Bu=Bu, Bd=Bd 
+        (x, u, d) -> A*x + Bu*u + Bd*d
+    end
+    h = let C=C, Dd=Dd
+        (x, d) -> C*x + Dd*d
+    end
     return LinModel_ssfunc(A, Bu, C, Bd, Dd, f, h, Ts, nu, nx, ny, nd)
 end