changed: ΔU->U conversion with floats (faster)

Author: franckgaga

src/controller/explicitmpc.jl

@@ -12,8 +12,8 @@ struct ExplicitMPC{NT<:Real, SE<:StateEstimator} <: PredictiveController{NT}
     R̂u::Vector{NT}
     R̂y::Vector{NT}
     noR̂u::Bool
-    S̃::BitMatrix
-    T::BitMatrix
+    S̃::Matrix{NT} 
+    T::Matrix{NT}
     Ẽ::Matrix{NT}
     F::Vector{NT}
     G::Matrix{NT}
@@ -44,7 +44,7 @@ struct ExplicitMPC{NT<:Real, SE<:StateEstimator} <: PredictiveController{NT}
         # dummy vals (updated just before optimization):
         R̂y, R̂u = zeros(NT, ny*Hp), zeros(NT, nu*Hp)
         noR̂u = iszero(L_Hp)
-        S, T = init_ΔUtoU(nu, Hp, Hc)
+        S, T = init_ΔUtoU(model, Hp, Hc)
         E, F, G, J, K, V = init_predmat(estim, model, Hp, Hc)
         S̃, Ñ_Hc, Ẽ  = S, N_Hc, E # no slack variable ϵ for ExplicitMPC
         P̃, q̃, p = init_quadprog(model, Ẽ, S̃, M_Hp, Ñ_Hc, L_Hp)

src/controller/linmpc.jl

@@ -22,8 +22,8 @@ struct LinMPC{
     R̂u::Vector{NT}
     R̂y::Vector{NT}
     noR̂u::Bool
-    S̃::BitMatrix
-    T::BitMatrix
+    S̃::Matrix{NT} 
+    T::Matrix{NT}
     Ẽ::Matrix{NT}
     F::Vector{NT}
     G::Matrix{NT}
@@ -52,7 +52,7 @@ struct LinMPC{
         # dummy vals (updated just before optimization):
         R̂y, R̂u = zeros(NT, ny*Hp), zeros(NT, nu*Hp) 
         noR̂u = iszero(L_Hp)
-        S, T = init_ΔUtoU(nu, Hp, Hc)
+        S, T = init_ΔUtoU(model, Hp, Hc)
         E, F, G, J, K, V, ex̂, fx̂, gx̂, jx̂, kx̂, vx̂ = init_predmat(estim, model, Hp, Hc)
         con, S̃, Ñ_Hc, Ẽ = init_defaultcon(estim, Hp, Hc, Cwt, S, N_Hc, E, ex̂, fx̂, gx̂, jx̂, kx̂, vx̂)
         P̃, q̃, p = init_quadprog(model, Ẽ, S̃, M_Hp, Ñ_Hc, L_Hp)

src/controller/nonlinmpc.jl

@@ -24,8 +24,8 @@ struct NonLinMPC{
     R̂u::Vector{NT}
     R̂y::Vector{NT}
     noR̂u::Bool
-    S̃::BitMatrix
-    T::BitMatrix
+    S̃::Matrix{NT}
+    T::Matrix{NT}
     Ẽ::Matrix{NT}
     F::Vector{NT}
     G::Matrix{NT}
@@ -53,7 +53,7 @@ struct NonLinMPC{
         # dummy vals (updated just before optimization):
         R̂y, R̂u = zeros(NT, ny*Hp), zeros(NT, nu*Hp)
         noR̂u = iszero(L_Hp)
-        S, T = init_ΔUtoU(nu, Hp, Hc)
+        S, T = init_ΔUtoU(model, Hp, Hc)
         E, F, G, J, K, V, ex̂, fx̂, gx̂, jx̂, kx̂, vx̂ = init_predmat(estim, model, Hp, Hc)
         con, S̃, Ñ_Hc, Ẽ = init_defaultcon(estim, Hp, Hc, Cwt, S, N_Hc, E, ex̂, fx̂, gx̂, jx̂, kx̂, vx̂)
         P̃, q̃, p = init_quadprog(model, Ẽ, S̃, M_Hp, Ñ_Hc, L_Hp)

src/predictive_control.jl

@@ -742,7 +742,7 @@ end
 set_objective_linear_coef!(::PredictiveController, _ ) = nothing
 
 @doc raw"""
-    init_ΔUtoU(nu, Hp) -> S, T
+    init_ΔUtoU(model, Hp, Hc) -> S, T
 
 Init manipulated input increments to inputs conversion matrices.
 
@@ -752,8 +752,9 @@ are calculated by:
 \mathbf{U} = \mathbf{S} \mathbf{ΔU} + \mathbf{T} \mathbf{u}(k-1) \\
 ```
 """
-function init_ΔUtoU(nu, Hp, Hc)
-    I_nu = BitMatrix(I(nu))
+function init_ΔUtoU(model::SimModel{NT}, Hp, Hc) where {NT<:Real}
+    # S and T are `Matrix{NT}` since conversion is faster than `Matrix{Bool}` or `BitMatrix`
+    I_nu = Matrix{NT}(I, model.nu, model.nu)
     S_Hc = LowerTriangular(repeat(I_nu, Hc, Hc))
     S = [S_Hc; repeat(I_nu, Hp - Hc, Hc)]
     T = repeat(I_nu, Hp)
@@ -1082,14 +1083,13 @@ constraints:
 ```
 """
 function relaxU(::SimModel{NT}, C, C_umin, C_umax, S) where {NT<:Real}
-    S_NT = convert(Matrix{NT}, S)
     if !isinf(C) # ΔŨ = [ΔU; ϵ]
         # ϵ impacts ΔU → U conversion for constraint calculations:
-        A_Umin, A_Umax = -[S_NT  C_umin], [S_NT -C_umax] 
+        A_Umin, A_Umax = -[S  C_umin], [S -C_umax] 
         # ϵ has no impact on ΔU → U conversion for prediction calculations:
-        S̃ = [S falses(size(S, 1))]
+        S̃ = [S zeros(NT, size(S, 1))]
     else # ΔŨ = ΔU (only hard constraints)
-        A_Umin, A_Umax = -S_NT,  S_NT
+        A_Umin, A_Umax = -S,  S
         S̃ = S
     end
     return A_Umin, A_Umax, S̃