debug: NonLinMPC with LinModel and custom constraints now works

franckgaga · franckgaga · commit 30b2e4d911dd · 2025-03-18T12:04:47.000-04:00
diff --git a/src/controller/transcription.jl b/src/controller/transcription.jl
@@ -624,7 +624,7 @@ function init_nonlincon!(
         for i in 1:con.nc
             name = Symbol("g_c_$i")
             optim[name] = JuMP.add_nonlinear_operator(
-                optim, nZ̃, gfuncs[i_base+i]; name
+                optim, nZ̃, gfuncs[i_base+i], ∇gfuncs![i_base+i]; name
             )
         end
     end

Original file line number	Diff line number	Diff line change
`@@ -624,7 +624,7 @@ function init_nonlincon!(`
`624`	`624`	`for i in 1:con.nc`
`625`	`625`	`name = Symbol("g_c_$i")`
`626`	`626`	`optim[name] = JuMP.add_nonlinear_operator(`
`627`		`- optim, nZ̃, gfuncs[i_base+i]; name`
	`627`	`+ optim, nZ̃, gfuncs[i_base+i], ∇gfuncs![i_base+i]; name`
`628`	`628`	`)`
`629`	`629`	`end`
`630`	`630`	`end`