debug: correct argument order for set_nonlincon!

Author: franckgaga

src/controller/construct.jl

@@ -386,7 +386,7 @@ function setconstraint!(
         JuMP.delete(optim, optim[:linconstraint])
         JuMP.unregister(optim, :linconstraint)
         @constraint(optim, linconstraint, A*Z̃var .≤ b)
-        set_nonlincon!(mpc, model, optim, transcription)
+        set_nonlincon!(mpc, model, transcription, optim)
     else
         i_b, i_g = init_matconstraint_mpc(
             model, transcription, nc,

src/controller/nonlinmpc.jl

@@ -509,7 +509,7 @@ function init_optimization!(mpc::NonLinMPC, model::SimModel, optim)
     @operator(optim, J, nZ̃, Jfunc, ∇Jfunc!)
     @objective(optim, Min, J(Z̃var...))
     init_nonlincon!(mpc, model, transcription, gfuncs, ∇gfuncs!, geqfuncs, ∇geqfuncs!)
-    set_nonlincon!(mpc, model, optim, transcription)
+    set_nonlincon!(mpc, model, transcription, optim)
     return nothing
 end
 

src/controller/transcription.jl

@@ -613,8 +613,10 @@ Init nonlinear constraints for [`LinModel`](@ref) for all [`TranscriptionMethod`
 The only nonlinear constraints are the custom inequality constraints `gc`.
 """
 function init_nonlincon!(
-        mpc::PredictiveController, ::LinModel, ::TranscriptionMethod, gfuncs, ∇gfuncs!, _ , _    
-    ) 
+    mpc::PredictiveController, ::LinModel, ::TranscriptionMethod,
+    gfuncs, ∇gfuncs!, 
+    _ , _    
+) 
     optim, con = mpc.optim, mpc.con
     nZ̃ = length(mpc.Z̃)
     if length(con.i_g) ≠ 0
@@ -746,7 +748,7 @@ end
 
 "By default, there is no nonlinear constraint, thus do nothing."
 function set_nonlincon!(
-    ::PredictiveController, ::SimModel, ::JuMP.GenericModel, ::TranscriptionMethod
+    ::PredictiveController, ::SimModel, ::TranscriptionMethod, ::JuMP.GenericModel, 
     )
     return nothing
 end