added: oracle option in NonLinMPC and MovingHorizonEstimator

Author: franckgaga

src/controller/construct.jl

@@ -439,8 +439,7 @@ function setconstraint!(
         JuMP.delete(optim, optim[:linconstraint])
         JuMP.unregister(optim, :linconstraint)
         @constraint(optim, linconstraint, A*Z̃var .≤ b)
-        g_oracle, geq_oracle = get_nonlinops(mpc, optim)
-        set_nonlincon!(mpc, optim, g_oracle, geq_oracle)
+        reset_nonlincon!(mpc)
     else
         i_b, i_g = init_matconstraint_mpc(
             model, transcription, nc,
@@ -454,11 +453,8 @@ function setconstraint!(
     return mpc
 end
 
-"By default, no nonlinear operators, return 3 nothing"
-get_nonlinops(::PredictiveController, _ ) = (nothing, nothing, nothing)
-
 "By default, no nonlinear constraints, return nothing."
-set_nonlincon!(::PredictiveController, _ , _ , _ ) = nothing
+reset_nonlincon!(::PredictiveController) = nothing
 
 """
     default_Hp(model::LinModel)