Merge pull request #285 from JuliaControl/default_postprocess

changed: sparse backends default to post-processing

Author: franckgaga

Project.toml

@@ -1,6 +1,6 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
-version = "1.13.1"
+version = "1.13.2"
 authors = ["Francis Gagnon"]
 
 [deps]
@@ -24,7 +24,7 @@ SparseMatrixColorings = "0a514795-09f3-496d-8182-132a7b665d35"
 [compat]
 ControlSystemsBase = "1.18.2"
 DAQP = "0.6, 0.7.1"
-DifferentiationInterface = "0.6.45, 0.7"
+DifferentiationInterface = "0.7.11"
 Documenter = "1"
 FiniteDiff = "2"
 ForwardDiff = "0.10, 1"

src/controller/nonlinmpc.jl

@@ -5,7 +5,7 @@ const DEFAULT_NONLINMPC_JACDENSE  = AutoForwardDiff()
 const DEFAULT_NONLINMPC_JACSPARSE = AutoSparse(
     AutoForwardDiff();
     sparsity_detector=TracerSparsityDetector(),
-    coloring_algorithm=GreedyColoringAlgorithm(ALL_COLORING_ORDERS),
+    coloring_algorithm=GreedyColoringAlgorithm(ALL_COLORING_ORDERS, postprocessing=true),
 )
 const DEFAULT_NONLINMPC_HESSIAN = DEFAULT_NONLINMPC_JACSPARSE
 
@@ -291,13 +291,16 @@ NonLinMPC controller with a sample time Ts = 10.0 s:
     AutoSparse(
         AutoForwardDiff(); 
         sparsity_detector  = TracerSparsityDetector(), 
-        coloring_algorithm = GreedyColoringAlgorithm((
+        coloring_algorithm = GreedyColoringAlgorithm(
+            (
             NaturalOrder(),
             LargestFirst(),
             SmallestLast(),
             IncidenceDegree(),
             DynamicLargestFirst()
-        ))
+            ), 
+        postprocessing = true
+        )
     )
     ```
     that is, it will test many coloring orders at preparation and keep the best. This is

src/estimator/mhe/construct.jl

@@ -5,7 +5,7 @@ const DEFAULT_NONLINMHE_JACOBIAN  = AutoForwardDiff()
 const DEFAULT_NONLINMHE_HESSIAN   = AutoSparse(
     AutoForwardDiff();
     sparsity_detector=TracerSparsityDetector(),
-    coloring_algorithm=GreedyColoringAlgorithm(ALL_COLORING_ORDERS),
+    coloring_algorithm=GreedyColoringAlgorithm(ALL_COLORING_ORDERS, postprocessing=true),
 ) 
 
 @doc raw"""
@@ -382,13 +382,16 @@ MovingHorizonEstimator estimator with a sample time Ts = 10.0 s:
     AutoSparse(
         AutoForwardDiff(); 
         sparsity_detector  = TracerSparsityDetector(), 
-        coloring_algorithm = GreedyColoringAlgorithm((
+        coloring_algorithm = GreedyColoringAlgorithm(
+            (
             NaturalOrder(),
             LargestFirst(),
             SmallestLast(),
             IncidenceDegree(),
             DynamicLargestFirst()
-        ))
+            ), 
+        postprocessing = true
+        )
     )
     ```
     that is, it will test many coloring orders at preparation and keep the best.