added: RandomOrder and StableRNGs dep.

This significantly improve the efficiency of `hessian!` for the economic MPC on the pendulum.

Author: franckgaga

Project.toml

@@ -20,6 +20,7 @@ RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 SparseConnectivityTracer = "9f842d2f-2579-4b1d-911e-f412cf18a3f5"
 SparseMatrixColorings = "0a514795-09f3-496d-8182-132a7b665d35"
+StableRNGs = "860ef19b-820b-49d6-a774-d7a799459cd3"
 
 [compat]
 ControlSystemsBase = "1.18.2"
@@ -42,6 +43,7 @@ RecipesBase = "1"
 SparseArrays = "1.10"
 SparseConnectivityTracer = "0.6.13, 1"
 SparseMatrixColorings = "0.4.14"
+StableRNGs = "1.0.4"
 TestItemRunner = "1"
 TestItems = "1"
 julia = "1.10"

src/ModelPredictiveControl.jl

@@ -3,6 +3,7 @@ module ModelPredictiveControl
 using PrecompileTools 
 using LinearAlgebra, SparseArrays
 using Random: randn
+using StableRNGs: StableRNG
 
 using RecipesBase
 
@@ -15,7 +16,9 @@ using DifferentiationInterface: Constant, Cache
 using SparseConnectivityTracer: TracerSparsityDetector
 using SparseMatrixColorings: GreedyColoringAlgorithm, sparsity_pattern
 using SparseMatrixColorings: NaturalOrder, LargestFirst, SmallestLast
-using SparseMatrixColorings: IncidenceDegree, DynamicLargestFirst
+using SparseMatrixColorings: IncidenceDegree, DynamicLargestFirst, RandomOrder
+
+using SparseMatrixColorings: ncolors
 
 import ProgressLogging
 

src/controller/nonlinmpc.jl

@@ -662,6 +662,8 @@ function get_nonlinobj_op(mpc::NonLinMPC, optim::JuMP.GenericModel{JNT}) where J
         ∇²J_prep = prepare_hessian(J!, hess, Z̃_J, J_cache...; strict)
         ∇²J = init_diffmat(JNT, hess, ∇²J_prep, nZ̃, nZ̃)
         ∇²J_structure = lowertriangle_indices(init_diffstructure(∇²J))
+        @show ncolors(∇²J_prep)
+        display(sparsity_pattern(∇²J_prep))
     end
     update_objective! = if !isnothing(hess)
         function (J, ∇J, ∇²J, Z̃_J, Z̃_arg)

src/general.jl

@@ -13,6 +13,7 @@ const ALL_COLORING_ORDERS = (
     SmallestLast(),
     IncidenceDegree(),
     DynamicLargestFirst(),
+    RandomOrder(StableRNG(0), 0)
 )
 
 "Termination status that means 'no solution available'."