debug: Function fields replaced by F and H types in LinModel

Author: franckgaga

example/juMPC.jl

@@ -95,7 +95,7 @@ setconstraint!(mpc, ŷmin=[-Inf,-Inf], ŷmax=[55, 35])
 setconstraint!(mpc, Δumin=[-Inf,-Inf],Δumax=[+Inf,+Inf])
 
 function test_mpc(model, mpc)
-    N = 20000
+    N = 2000
     u_data = zeros(2,N)
     y_data = zeros(2,N)
     r_data = zeros(2,N)

src/predictive_control.jl

@@ -668,13 +668,13 @@ julia> u = moveinput!(mpc, [5]); round.(u, digits=3)
 ```
 """
 function moveinput!(
-    mpc::PredictiveController, 
+    mpc::C, 
     ry::Vector{<:Real}, 
     d ::Vector{<:Real} = Float64[];
     R̂y::Vector{<:Real} = repeat(ry, mpc.Hp),
     D̂ ::Vector{<:Real} = repeat(d,  mpc.Hp),
     ym::Union{Vector{<:Real}, Nothing} = nothing
-)
+) where{C<:PredictiveController}
     lastu = mpc.info.u
     x̂d, x̂s = split_state(mpc.estim)
     ŷs, Ŷs = predict_stoch(mpc, mpc.estim, x̂s, d, ym)

src/sim_model.jl

@@ -27,8 +27,8 @@ struct LinModel{F<:Function, H<:Function} <: SimModel
     Bd  ::Matrix{Float64}
     Dd  ::Matrix{Float64}
     x::Vector{Float64}
-    f::Function
-    h::Function
+    f::F
+    h::H
     Ts::Float64
     nu::Int
     nx::Int
@@ -158,18 +158,15 @@ function LinModel(
     A   = sys_dis.A
     Bu  = sys_dis.B[:,1:nu]
     Bd  = sys_dis.B[:,nu+1:end]
-    C   = sys_dis.C;
+    C   = sys_dis.C
     Dd  = sys_dis.D[:,nu+1:end]
     # the `let` block captures and fixes A, Bu, Bd, C, Dd values (faster computations):
-    f = let A=A, Bu=Bu, Bd=Bd 
-        (x, u, d) -> A*x + Bu*u + Bd*d
-    end
-    h = let C=C, Dd=Dd
-        (x, d) -> C*x + Dd*d
-    end
+    f(x, u, d) = A*x + Bu*u + Bd*d
+    h(x, d) = C*x + Dd*d
     return LinModel_ssfunc(A, Bu, C, Bd, Dd, f, h, Ts, nu, nx, ny, nd)
 end
 
+
 @doc raw"""
     LinModel(sys::TransferFunction[, Ts]; i_u=1:size(sys,2), i_d=Int[])