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changed: error handling one less alloc #47

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merged 1 commit into from
Apr 8, 2024
Merged

changed: error handling one less alloc #47

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7 changes: 5 additions & 2 deletions src/controller/execute.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -445,7 +445,6 @@ function optim_objective!(mpc::PredictiveController{NT}) where {NT<:Real}
rethrow(err)
end
end
ΔŨcurr, ΔŨlast = value.(ΔŨvar), ΔŨ0
if !issolved(optim)
status = termination_status(optim)
if iserror(optim)
Expand All @@ -457,7 +456,11 @@ function optim_objective!(mpc::PredictiveController{NT}) where {NT<:Real}
end
@debug solution_summary(optim, verbose=true)
end
mpc.ΔŨ .= iserror(optim) ? ΔŨlast : ΔŨcurr
if iserror(optim)
mpc.ΔŨ .= ΔŨ0
else
mpc.ΔŨ .= value.(ΔŨvar)
end
return mpc.ΔŨ
end

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7 changes: 5 additions & 2 deletions src/estimator/mhe/execute.jl
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Expand Up @@ -62,7 +62,6 @@ function update_estimate!(estim::MovingHorizonEstimator{NT}, u, ym, d) where NT<
end
end
# -------- error handling -------------------------
Z̃curr, Z̃last = value.(Z̃var), Z̃0
if !issolved(optim)
status = termination_status(optim)
if iserror(optim)
Expand All @@ -74,7 +73,11 @@ function update_estimate!(estim::MovingHorizonEstimator{NT}, u, ym, d) where NT<
end
@debug solution_summary(optim, verbose=true)
end
estim.Z̃ .= iserror(optim) ? Z̃last : Z̃curr
if iserror(optim)
mpc.Z̃ .= Z̃0
else
mpc.Z̃ .= value.(Z̃var)
end
# --------- update estimate -----------------------
estim.Ŵ[1:nŵ*Nk] .= @views estim.Z̃[nx̃+1:nx̃+nŵ*Nk] # update Ŵ with optimum for warm-start
V̂, X̂ = predict!(V̂, X̂, û, ŷ, estim, model, estim.Z̃)
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