code cleaning for nonlinear constraints

Author: franckgaga

src/controller/nonlinmpc.jl

@@ -349,21 +349,12 @@ function setnonlincon!(mpc::NonLinMPC, ::NonLinModel)
     return nothing
 end
 
-
-"""
-    con_nonlinprog!(C, mpc::NonLinMPC, model::LinModel, ΔŨ::Vector{Real})
-
-Nonlinear constraints for [`NonLinMPC`](@ref) when `model` is a [`LinModel`](@ref).
-"""
-function con_nonlinprog!(C, ::NonLinMPC, ::LinModel, _ , ::Vector{T}) where {T<:Real}
-    return C
-end
 """
-    con_nonlinprog!(C, mpc::NonLinMPC, model::NonLinModel, ΔŨ::Vector{Real})
+    con_nonlinprog!(C, mpc::NonLinMPC, model::SimModel, ΔŨ)
 
 Nonlinear constrains for [`NonLinMPC`](@ref) when `model` is not a [`LinModel`](@ref).
 """
-function con_nonlinprog!(C, mpc::NonLinMPC, model::SimModel, Ŷ, ΔŨ::Vector{T}) where {T<:Real}
+function con_nonlinprog!(C, mpc::NonLinMPC, model::SimModel, Ŷ, ΔŨ)
     ny, Hp = model.ny, mpc.Hp
     if !isinf(mpc.C) # constraint softening activated :
         ϵ = ΔŨ[end]
@@ -375,4 +366,7 @@ function con_nonlinprog!(C, mpc::NonLinMPC, model::SimModel, Ŷ, ΔŨ::Vector{
     end
     C[isinf.(C)] .= 0 # replace ±Inf with 0 to avoid INVALID_MODEL error
     return C
-end
+end
+
+"No nonlinear constraints if `model` is a [`LinModel`](@ref), return `C` unchanged."
+con_nonlinprog!(C, ::NonLinMPC, ::LinModel, _ , _ ) = C

src/predictive_control.jl

@@ -744,7 +744,9 @@ The function is called by the nonlinear optimizer of [`NonLinMPC`](@ref) control
 also be called on any [`PredictiveController`](@ref)s to evaluate the objective function `J`
 at specific input increments `ΔŨ` and predictions `Ŷ` values.
 """
-function obj_nonlinprog(mpc::PredictiveController, model::LinModel, Ŷ, ΔŨ::Vector{T}) where {T<:Real}
+function obj_nonlinprog(
+    mpc::PredictiveController, model::LinModel, Ŷ, ΔŨ::Vector{T}
+) where {T<:Real}
     J = obj_quadprog(ΔŨ, mpc.P̃, mpc.q̃)
     if !iszero(mpc.E)
         U = mpc.S̃_Hp*ΔŨ + mpc.T_Hp*(mpc.estim.lastu0 + model.uop)
@@ -761,7 +763,9 @@ end
 
 Nonlinear programming objective function when `model` is not a [`LinModel`](@ref).
 """
-function obj_nonlinprog(mpc::PredictiveController, model::SimModel, Ŷ, ΔŨ::Vector{T}) where {T<:Real}
+function obj_nonlinprog(
+    mpc::PredictiveController, model::SimModel, Ŷ, ΔŨ::Vector{T}
+) where {T<:Real}
     # --- output setpoint tracking term ---
     êy = mpc.R̂y - Ŷ
     JR̂y = êy'*mpc.M_Hp*êy