Merge pull request #286 from JuliaControl/random_order

added: `RandomOrder` in default sparse Jacobian and Hessian backends

Author: franckgaga

Project.toml

@@ -1,6 +1,6 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
-version = "1.13.2"
+version = "1.13.3"
 authors = ["Francis Gagnon"]
 
 [deps]
@@ -20,6 +20,7 @@ RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 SparseConnectivityTracer = "9f842d2f-2579-4b1d-911e-f412cf18a3f5"
 SparseMatrixColorings = "0a514795-09f3-496d-8182-132a7b665d35"
+StableRNGs = "860ef19b-820b-49d6-a774-d7a799459cd3"
 
 [compat]
 ControlSystemsBase = "1.18.2"
@@ -42,6 +43,7 @@ RecipesBase = "1"
 SparseArrays = "1.10"
 SparseConnectivityTracer = "0.6.13, 1"
 SparseMatrixColorings = "0.4.14"
+StableRNGs = "1.0.4"
 TestItemRunner = "1"
 TestItems = "1"
 julia = "1.10"

src/ModelPredictiveControl.jl

@@ -3,6 +3,7 @@ module ModelPredictiveControl
 using PrecompileTools 
 using LinearAlgebra, SparseArrays
 using Random: randn
+using StableRNGs: StableRNG
 
 using RecipesBase
 
@@ -15,7 +16,7 @@ using DifferentiationInterface: Constant, Cache
 using SparseConnectivityTracer: TracerSparsityDetector
 using SparseMatrixColorings: GreedyColoringAlgorithm, sparsity_pattern
 using SparseMatrixColorings: NaturalOrder, LargestFirst, SmallestLast
-using SparseMatrixColorings: IncidenceDegree, DynamicLargestFirst
+using SparseMatrixColorings: IncidenceDegree, DynamicLargestFirst, RandomOrder
 
 import ProgressLogging
 

src/controller/nonlinmpc.jl

@@ -293,11 +293,12 @@ NonLinMPC controller with a sample time Ts = 10.0 s:
         sparsity_detector  = TracerSparsityDetector(), 
         coloring_algorithm = GreedyColoringAlgorithm(
             (
-            NaturalOrder(),
-            LargestFirst(),
-            SmallestLast(),
-            IncidenceDegree(),
-            DynamicLargestFirst()
+                NaturalOrder(),
+                LargestFirst(),
+                SmallestLast(),
+                IncidenceDegree(),
+                DynamicLargestFirst(),
+                RandomOrder(StableRNG(0), 0)
             ), 
         postprocessing = true
         )

src/estimator/mhe/construct.jl

@@ -384,11 +384,12 @@ MovingHorizonEstimator estimator with a sample time Ts = 10.0 s:
         sparsity_detector  = TracerSparsityDetector(), 
         coloring_algorithm = GreedyColoringAlgorithm(
             (
-            NaturalOrder(),
-            LargestFirst(),
-            SmallestLast(),
-            IncidenceDegree(),
-            DynamicLargestFirst()
+                NaturalOrder(),
+                LargestFirst(),
+                SmallestLast(),
+                IncidenceDegree(),
+                DynamicLargestFirst(),
+                RandomOrder(StableRNG(0), 0)
             ), 
         postprocessing = true
         )

src/general.jl

@@ -13,6 +13,7 @@ const ALL_COLORING_ORDERS = (
     SmallestLast(),
     IncidenceDegree(),
     DynamicLargestFirst(),
+    RandomOrder(StableRNG(0), 0)
 )
 
 "Termination status that means 'no solution available'."