add test for con_nonlinprog_i methods

franckgaga · franckgaga · commit d42013d0a2be · 2023-07-30T13:19:47.000-04:00
diff --git a/src/controller/nonlinmpc.jl b/src/controller/nonlinmpc.jl
@@ -261,7 +261,7 @@ function init_optimization!(mpc::NonLinMPC)
         function con_nonlinprog_i(i, ΔŨtup::NTuple{N, Float64}) where {N}
             C = get_tmp(C_cache, ΔŨtup[1])
             if ΔŨtup != last_ΔŨtup_float
-                Ŷ = get_tmp(Ŷ_cache, ΔŨtup_1)
+                Ŷ = get_tmp(Ŷ_cache, ΔŨtup[1])
                 ΔŨ = collect(ΔŨtup)
                 Ŷ[:] = predict(mpc, model, ΔŨ)
                 C[:] = con_nonlinprog(mpc, model, Ŷ, ΔŨ)
@@ -272,7 +272,7 @@ function init_optimization!(mpc::NonLinMPC)
         function con_nonlinprog_i(i, ΔŨtup::NTuple{N, Real}) where {N}
             C = get_tmp(C_cache, ΔŨtup[1])
             if ΔŨtup != last_ΔŨtup_dual
-                Ŷ = get_tmp(Ŷ_cache, ΔŨtup_1)
+                Ŷ = get_tmp(Ŷ_cache, ΔŨtup[1])
                 ΔŨ = collect(ΔŨtup)
                 Ŷ[:] = predict(mpc, model, ΔŨ)
                 C[:] = con_nonlinprog(mpc, model, Ŷ, ΔŨ)
diff --git a/test/test_predictive_control.jl b/test/test_predictive_control.jl
@@ -173,6 +173,10 @@ end
     nmpc5 = NonLinMPC(nonlinmodel, Mwt=[0], Nwt=[0], Cwt=Inf, Ewt=1, JE=JE, Hp=Hp, Hc=1)
     u = moveinput!(nmpc5)
     @test u ≈ [1] atol=1e-2
+    nmpc6 = setconstraint!(NonLinMPC(nonlinmodel, Cwt=Inf), ŷmin=[-1])
+    C_Ŷmax_end = nmpc6.optim.nlp_model.operators.registered_multivariate_operators[end].f
+    @test C_Ŷmax_end(Float64.((1.0, 1.0))) ≤ 0.0 # test con_nonlinprog_i(i,::NTuple{N, Float64})
+    @test C_Ŷmax_end(Float32.((1.0, 1.0))) ≤ 0.0 # test con_nonlinprog_i(i,::NTuple{N, Real})
 end
 
 @testset "NonLinMPC other methods" begin
