removed: specialized obj_nonlinprog! for LinModel in NonLinMPC (slower)#325
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franckgaga merged 4 commits intomainfrom Mar 4, 2026
Merged
removed: specialized obj_nonlinprog! for LinModel in NonLinMPC (slower)#325franckgaga merged 4 commits intomainfrom
obj_nonlinprog! for LinModel in NonLinMPC (slower)#325franckgaga merged 4 commits intomainfrom
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The two methods had different number of argument because of a refactor. It was always thus fallbacking to the one for `NonLinModel`. It works but it is less efficient.
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Surprise! 😲 The specialized Thanks to my benchmark suite! It does make sense a posteriori, since the Hessian matrix Conclusion: it make sense to specialize the output prediction equations but not the objective function. I will remove this method. |
franckgaga
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obj_nonlinprog! for LinModel in NonLinMPCobj_nonlinprog! for LinModel in NonLinMPC
franckgaga
changed the title
obj_nonlinprog! for LinModel in NonLinMPCobj_nonlinprog! for LinModel in NonLinMPC (slower)
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The two methods had different number of argument because of a refactor. It was always thus fallbacking to the general one for
NonLinModel. It works but it is less efficient.edit: see comment below, it's actually slower so the specialized method is removed.