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debug: also warm-start k̄ for OrthogonalCollocation #446

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Merged
franckgaga merged 1 commit into from
Sep 15, 2026
+14 −4
Merged

debug: also warm-start k̄ for OrthogonalCollocation #446

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2 changes: 1 addition & 1 deletion src/model/nonlinmodeldae.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -420,7 +420,7 @@ function reset_warmstart!(model::NonLinModelDAE, transcription::OrthogonalColloc
model.a0 .= a0s
model.Z[1:nx] .= x0s
model.Z[(nx+1):(nx+na)] .= a0s
model.Z[(nx+na+1):(nx+na+nk̄)] .= 0 # state derivative ki warm-started at 0
model.Z[(nx+na+1):(nx+na+nk̄)] .= x0s
ā_Z = @views model.Z[(nx+na+nk̄+1):end]
repeat!(ā_Z, a0s, no)
return nothing
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16 changes: 13 additions & 3 deletions test/1_test_sim_model.jl
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Expand Up @@ -554,8 +554,9 @@ end
p = [1.0]

transcription = OrthogonalCollocation(0, 4, roots=:gausslegendre)
xs_0 = [-0.5]
as_0 = [-1]
dae = NonLinModelDAE(fq!, h!, Ts, nu, nx, na, ny; p, transcription, as_0)
dae = NonLinModelDAE(fq!, h!, Ts, nu, nx, na, ny; p, transcription, xs_0, as_0)
u = [0.0]
d = Float64[]

Expand All @@ -565,17 +566,26 @@ end
@test evaloutput(dae) ≈ zeros(1) atol=1e-6

transcription = TrapezoidalCollocation()
dae2 = NonLinModelDAE(fq!, h!, Ts, nu, nx, na, ny; p, transcription)
dae2 = NonLinModelDAE(fq!, h!, Ts, nu, nx, na, ny; p, transcription, as_0, xs_0)
@test updatestate!(dae2, u) ≈ zeros(1) atol=1e-6
@test updatestate!(dae2, u, d) ≈ zeros(1) atol=1e-6
@test dae2.x0 ≈ zeros(1) atol=1e-6
@test dae2() ≈ zeros(1) atol=1e-6

x = initstate!(dae, [10])
@test dae.a0 ≈ as_0 atol=1e-6
@test dae.Z[2:2] ≈ as_0 atol=1e-6
@test dae.Z[1:1] ≈ xs_0 atol=1e-6
@test dae.Z[2:2] ≈ as_0 atol=1e-6
@test dae.Z[3:6] ≈ repeat(xs_0, 4) atol=1e-6
@test dae.Z[7:10] ≈ repeat(as_0, 4) atol=1e-6
@test evaloutput(dae) ≈ [0] atol=1e-6

x = initstate!(dae2, [10])
@test dae2.Z[1:1] ≈ xs_0 atol=1e-6
@test dae2.Z[2:2] ≈ as_0 atol=1e-6
@test dae2.Z[3:3] ≈ as_0 atol=1e-6
@test evaloutput(dae2) ≈ [0] atol=1e-6

@test_throws DimensionMismatch updatestate!(dae, zeros(2))
@test_throws DimensionMismatch updatestate!(dae, zeros(1), zeros(1))
@test_throws DimensionMismatch evaloutput(dae, zeros(1))
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