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changed: loosened argument type for vectors in API #308

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Merged
franckgaga merged 1 commit into from
Jan 12, 2026
+9 −9
Merged

changed: loosened argument type for vectors in API #308

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12 changes: 6 additions & 6 deletions src/controller/execute.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -58,12 +58,12 @@ julia> u = moveinput!(mpc, ry); round.(u, digits=3)
"""
function moveinput!(
mpc::PredictiveController,
ry::Vector = mpc.estim.model.yop,
d ::Vector = mpc.buffer.empty;
lastu::Vector = (mpc.buffer.u .= mpc.lastu0 .+ mpc.estim.model.uop),
Dhat ::Vector = repeat!(mpc.buffer.D̂, d, mpc.Hp),
Rhaty::Vector = repeat!(mpc.buffer.Ŷ, ry, mpc.Hp),
Rhatu::Vector = mpc.Uop,
ry::AbstractVector = mpc.estim.model.yop,
d ::AbstractVector = mpc.buffer.empty;
lastu::AbstractVector = (mpc.buffer.u .= mpc.lastu0 .+ mpc.estim.model.uop),
Dhat ::AbstractVector = repeat!(mpc.buffer.D̂, d, mpc.Hp),
Rhaty::AbstractVector = repeat!(mpc.buffer.Ŷ, ry, mpc.Hp),
Rhatu::AbstractVector = mpc.Uop,
D̂ = Dhat,
R̂y = Rhaty,
R̂u = Rhatu
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2 changes: 1 addition & 1 deletion src/general.jl
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Expand Up @@ -174,7 +174,7 @@ function repeatdiag(A::Hermitian{NT, Diagonal{NT, Vector{NT}}}, n::Int) where {N
end

"In-place version of `repeat` but for vectors only."
function repeat!(Y::Vector, a::Vector, n::Int)
function repeat!(Y::AbstractVector, a::AbstractVector, n::Int)
na = length(a)
for i=0:n-1
# stop if Y is too short, another clearer error is thrown later in the code:
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4 changes: 2 additions & 2 deletions src/predictive_control.jl
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Expand Up @@ -51,8 +51,8 @@ print_backends(::IO, ::PredictiveController) = nothing

"Functor allowing callable `PredictiveController` object as an alias for `moveinput!`."
function (mpc::PredictiveController)(
ry::Vector = mpc.estim.model.yop,
d ::Vector = mpc.estim.buffer.empty;
ry::AbstractVector = mpc.estim.model.yop,
d ::AbstractVector = mpc.estim.buffer.empty;
kwargs...
)
return moveinput!(mpc, ry, d; kwargs...)
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