debug: jacobian matrix with ngi lines

franckgaga · franckgaga · commit d2441944017e · 2025-10-19T13:04:20.000-04:00
diff --git a/src/controller/nonlinmpc.jl b/src/controller/nonlinmpc.jl
@@ -766,7 +766,7 @@ function get_nonlinops(mpc::NonLinMPC, ::JuMP.GenericModel{JNT}) where JNT<:Real
         Cache(gc), Cache(geq), Cache(g)
     )
     ∇gi_prep = prepare_jacobian(gi!, gi, jac, Z̃_∇gi, ∇gi_context...; strict)
-    ∇gi      = init_diffmat(JNT, jac, ∇gi_prep, nZ̃, ng)
+    ∇gi      = init_diffmat(JNT, jac, ∇gi_prep, nZ̃, ngi)
     function update_con!(gi, ∇gi, Z̃_∇gi, Z̃_arg)
         if isdifferent(Z̃_arg, Z̃_∇gi)
             Z̃_∇gi .= Z̃_arg

Original file line number	Diff line number	Diff line change
`@@ -766,7 +766,7 @@ function get_nonlinops(mpc::NonLinMPC, ::JuMP.GenericModel{JNT}) where JNT<:Real`
`766`	`766`	`Cache(gc), Cache(geq), Cache(g)`
`767`	`767`	`)`
`768`	`768`	`∇gi_prep = prepare_jacobian(gi!, gi, jac, Z̃_∇gi, ∇gi_context...; strict)`
`769`		`- ∇gi = init_diffmat(JNT, jac, ∇gi_prep, nZ̃, ng)`
	`769`	`+ ∇gi = init_diffmat(JNT, jac, ∇gi_prep, nZ̃, ngi)`
`770`	`770`	`function update_con!(gi, ∇gi, Z̃_∇gi, Z̃_arg)`
`771`	`771`	`if isdifferent(Z̃_arg, Z̃_∇gi)`
`772`	`772`	`Z̃_∇gi .= Z̃_arg`