cleanup: simpler NonLinModel and NonLinMPC inner constructor

Author: franckgaga

src/controller/nonlinmpc.jl

@@ -45,7 +45,7 @@ struct NonLinMPC{
     Yop::Vector{NT}
     Dop::Vector{NT}
     buffer::PredictiveControllerBuffer{NT}
-    function NonLinMPC{NT, SE, JM, JEfunc, GCfunc, P}(
+    function NonLinMPC{NT, SE, JM, P}(
         estim::SE, 
         Hp, Hc, M_Hp, N_Hc, L_Hp, Cwt, Ewt, JE::JEfunc, gc!::GCfunc, nc, p::P, optim::JM
     ) where {
@@ -337,8 +337,7 @@ function NonLinMPC(
     end
     validate_JE(NT, JE)
     gc! = get_mutating_gc(NT, gc)
-    GCfunc = get_type_mutating_gc(gc!)
-    return NonLinMPC{NT, SE, JM, JEfunc, GCfunc, P}(
+    return NonLinMPC{NT, SE, JM, P}(
         estim, Hp, Hc, M_Hp, N_Hc, L_Hp, Cwt, Ewt, JE, gc!, nc, p, optim
     )
 end
@@ -396,9 +395,6 @@ function get_mutating_gc(NT, gc)
     return gc!
 end
 
-"Get the type of the mutating version of the custom constrain function `gc!`."
-get_type_mutating_gc(::GCfunc) where {GCfunc<:Function} = GCfunc
-
 """
     test_custom_functions(NT, model::SimModel, JE, gc!, nc, Uop, Yop, Dop, p)
 

src/model/nonlinmodel.jl

@@ -22,7 +22,7 @@ struct NonLinModel{
     dname::Vector{String}
     xname::Vector{String}
     buffer::SMB
-    function NonLinModel{NT, F, H, P, DS}(
+    function NonLinModel{NT}(
         f!::F, h!::H, Ts, nu, nx, ny, nd, p::P, solver::DS, buffer::SMB
     ) where {NT<:Real, F<:Function, H<:Function, P<:Any, DS<:DiffSolver, SMB<:SimModelBuffer}
         Ts > 0 || error("Sampling time Ts must be positive")
@@ -144,10 +144,9 @@ function NonLinModel{NT}(
     isnothing(solver) && (solver=EmptySolver())
     f!, h! = get_mutating_functions(NT, f, h)
     f!, h! = get_solver_functions(NT, solver, f!, h!, Ts, nu, nx, ny, nd)
-    F, H, P, DS = get_types(f!, h!, p, solver)
     jacobian = JacobianBuffer{NT}(f!, h!, nu, nx, ny, nd)
     buffer = SimModelBuffer{NT}(nu, nx, ny, nd, jacobian)
-    return NonLinModel{NT, F, H, P, DS}(f!, h!, Ts, nu, nx, ny, nd, p, solver, buffer)
+    return NonLinModel{NT}(f!, h!, Ts, nu, nx, ny, nd, p, solver, buffer)
 end
 
 function NonLinModel(
@@ -225,13 +224,6 @@ function validate_h(NT, h)
     return ismutating
 end
 
-"Get the types of `f!`, `h!` and `solver` to construct a `NonLinModel`."
-function get_types(
-    ::F, ::H, ::P, ::DS
-) where {F<:Function, H<:Function, P<:Any, DS<:DiffSolver} 
-    return F, H, P, DS
-end
-
 "Do nothing if `model` is a [`NonLinModel`](@ref)."
 steadystate!(::SimModel, _ , _ ) = nothing