added: validate model and transcription combo

Author: franckgaga

src/controller/explicitmpc.jl

@@ -50,6 +50,7 @@ struct ExplicitMPC{
         R̂y, R̂u, Tu_lastu0 = zeros(NT, ny*Hp), zeros(NT, nu*Hp), zeros(NT, nu*Hp)
         lastu0 = zeros(NT, nu)
         transcription = SingleShooting() # explicit MPC only supports SingleShooting
+        validate_transcription(model, transcription)
         PΔu = init_ZtoΔU(estim, transcription, Hp, Hc)
         Pu, Tu = init_ZtoU(estim, transcription, Hp, Hc, nb)
         E, G, J, K, V, B = init_predmat(model, estim, transcription, Hp, Hc)

src/controller/linmpc.jl

@@ -63,6 +63,7 @@ struct LinMPC{
         # dummy vals (updated just before optimization):
         R̂y, R̂u, Tu_lastu0 = zeros(NT, ny*Hp), zeros(NT, nu*Hp), zeros(NT, nu*Hp)
         lastu0 = zeros(NT, nu)
+        validate_transcription(model, transcription)
         PΔu = init_ZtoΔU(estim, transcription, Hp, Hc)
         Pu, Tu = init_ZtoU(estim, transcription, Hp, Hc, nb)
         E, G, J, K, V, B, ex̂, gx̂, jx̂, kx̂, vx̂, bx̂ = init_predmat(

src/controller/nonlinmpc.jl

@@ -86,6 +86,7 @@ struct NonLinMPC{
         # dummy vals (updated just before optimization):
         R̂y, R̂u, Tu_lastu0 = zeros(NT, ny*Hp), zeros(NT, nu*Hp), zeros(NT, nu*Hp)
         lastu0 = zeros(NT, nu)
+        validate_transcription(model, transcription)
         PΔu = init_ZtoΔU(estim, transcription, Hp, Hc)
         Pu, Tu = init_ZtoU(estim, transcription, Hp, Hc, nb)
         E, G, J, K, V, B, ex̂, gx̂, jx̂, kx̂, vx̂, bx̂ = init_predmat(

src/controller/transcription.jl

@@ -100,6 +100,16 @@ a similar algorithm complexity.
 struct TrapezoidalCollocation <: CollocationMethod end
 
 
+function validate_transcription(::LinModel, ::CollocationMethod)
+    throw(ArgumentError("Collocation methods are not supported for LinModel."))
+    return nothing
+end
+function validate_transcription(::NonLinModel{<:Real, <:EmptySolver}, ::CollocationMethod)
+    throw(ArgumentError("Collocation methods require continuous-time NonLinModel."))
+    return nothing
+end
+validate_transcription(::SimModel, ::TranscriptionMethod) = nothing
+
 @doc raw"""
     init_ZtoΔU(estim::StateEstimator, transcription::TranscriptionMethod, Hp, Hc) -> PΔu
 
@@ -206,7 +216,9 @@ function init_ZtoU(
     return Pu, Tu
 end
 
-init_PUmat( _ , ::SingleShooting, _ , _ , PuDagger) = PuDagger
+function init_PUmat(_,::SingleShooting,_,_,PuDagger::AbstractMatrix{NT}) where NT<:Real
+    return PuDagger
+end
 function init_PUmat(
     estim, ::TranscriptionMethod, Hp, _ , PuDagger::AbstractMatrix{NT}
 ) where NT<:Real