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added: custom linear inequality constraints for `LinMPC` and `NonLinMPC` - #310

Merged

franckgaga merged 44 commits into

mainfrom

custom_linconstraint

Feb 6, 2026

Merged

added: custom linear inequality constraints for `LinMPC` and `NonLinMPC`#310
franckgaga merged 44 commits into
mainfrom
custom_linconstraint

Commits on Jan 28, 2026
- doc: API for custom linear ineq. constraints
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- doc: idem
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Commits on Jan 29, 2026
- doc: idem
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- doc: also supported by `MultipleShooting`
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- doc: more precise applicability
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Commits on Jan 30, 2026
- doc: output instead of state in custom linear constraints
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- changed: output instead of state in custom lin. constraint
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- wip: custom linear constraints
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- debug: correct variable name and signatures
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- added: storing repeated custom linear constraint matrices
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Commits on Feb 3, 2026
- added: custom linear constraint almost finished
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- debug: correct signature
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Commits on Feb 4, 2026
- doc: debug signature
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- changed: renamed exponantiated sum function W->S
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- changed: renaming custom linear constraint G->W
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- changed: renamming some forgotten symbols
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- doc: details on custom linear const. softness weights.
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- changed: renamed EW->Ew and FW->Fw
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- added: `setmodel! ` support for custom linear constraints
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- added: error for conversion to `LinearMPC.MPC`
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- debug: also store `C_wmin` and `C_wmax`
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- test: `LinMPC` construction with custom linear constraints
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- doc: minor comment in `ExplicitMPC`
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- doc: using small case `w` in equations
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- test: debug new test with custom linear constraints
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- test: avoiding `all` in `approx` tests
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- test: idem (with copilot)
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- doc: adding custom linear and nonlinear constraints in README
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- doc: `LinearMPC` in homepage.
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- debug: correctly modify custom linear constraint softness
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- changed: `DimensionMistmatch` instead of `ArgumentError` in `setconstraint!`
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- changed: `DimensionMismatch` except. for all kalman Filters
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Commits on Feb 5, 2026
- test: `LinMPC` and custom constraint violation
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- test: silence false positive linter in VS code
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- test: seperating MHE construction
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- test: seperating MHE estimate and `getinfo`
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- test: seperating NMPC construction
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- test: seperating NMPC moves and `getinfo`
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- test: seperating NMPC constrain violation
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- test: `NonLinMPC` custom linear constraints violation
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- test: remove useless print
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- test: `LinMPC` custom linear constraints with lower bound
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- Merge branch 'main' into custom_linconstraint
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- test: improve coverage
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Commits

Commits on Jan 28, 2026

Commits on Jan 29, 2026

Commits on Jan 30, 2026

Commits on Feb 3, 2026

Commits on Feb 4, 2026

Commits on Feb 5, 2026