added: reduce memory allocations in setconstraint!

Project.toml

@@ -1,6 +1,6 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
-version = "2.4.4"
+version = "2.5.0"
 authors = ["Francis Gagnon"]
 
 [deps]

src/controller/construct.jl

@@ -454,58 +454,58 @@ function setconstraint!(
         if !isnothing(C_umin)
             size(C_umin) == (nu*Hp,) || throw(DimensionMismatch("C_umin size must be $((nu*Hp,))"))
             any(<(0), C_umin) && error("C_umin weights should be non-negative")
-            con.A_Umin[:, end] .= -C_umin
+            con.A_Umin[:, end] .= @. -C_umin
         end
         if !isnothing(C_umax)
             size(C_umax) == (nu*Hp,) || throw(DimensionMismatch("C_umax size must be $((nu*Hp,))"))
             any(<(0), C_umax) && error("C_umax weights should be non-negative")
-            con.A_Umax[:, end] .= -C_umax
+            con.A_Umax[:, end] .= @. -C_umax
         end
         if !isnothing(C_Δumin)
             size(C_Δumin) == (nu*Hc,) || throw(DimensionMismatch("C_Δumin size must be $((nu*Hc,))"))
             any(<(0), C_Δumin) && error("C_Δumin weights should be non-negative")
-            con.A_ΔUmin[:, end] .= -C_Δumin 
+            con.A_ΔUmin[:, end] .= @. -C_Δumin 
         end
         if !isnothing(C_Δumax)
             size(C_Δumax) == (nu*Hc,) || throw(DimensionMismatch("C_Δumax size must be $((nu*Hc,))"))
             any(<(0), C_Δumax) && error("C_Δumax weights should be non-negative")
-            con.A_ΔUmax[:, end] .= -C_Δumax
+            con.A_ΔUmax[:, end] .= @. -C_Δumax
         end
         if !isnothing(C_ymin)
             size(C_ymin) == (ny*Hp,) || throw(DimensionMismatch("C_ymin size must be $((ny*Hp,))"))
             any(<(0), C_ymin) && error("C_ymin weights should be non-negative")
             con.C_ymin .= C_ymin
-            size(con.A_Ymin, 1) ≠ 0 && (con.A_Ymin[:, end] .= -con.C_ymin) # for LinModel
+            size(con.A_Ymin, 1) ≠ 0 && (con.A_Ymin[:, end] .= @. -con.C_ymin) # for LinModel
         end
         if !isnothing(C_ymax)
             size(C_ymax) == (ny*Hp,) || throw(DimensionMismatch("C_ymax size must be $((ny*Hp,))"))
             any(<(0), C_ymax) && error("C_ymax weights should be non-negative")
             con.C_ymax .= C_ymax
-            size(con.A_Ymax, 1) ≠ 0 && (con.A_Ymax[:, end] .= -con.C_ymax) # for LinModel
+            size(con.A_Ymax, 1) ≠ 0 && (con.A_Ymax[:, end] .= @. -con.C_ymax) # for LinModel
         end
         if !isnothing(C_wmin)
             size(C_wmin) == (nw*(Hp+1),) || throw(DimensionMismatch("C_wmin size must be $((nw*(Hp+1),))"))
             any(<(0), C_wmin) && error("C_wmin weights should be non-negative")
             con.C_wmin .= C_wmin
-            con.A_Wmin[:, end] .= -C_wmin
+            con.A_Wmin[:, end] .= @. -C_wmin
         end
         if !isnothing(C_wmax)
             size(C_wmax) == (nw*(Hp+1),) || throw(DimensionMismatch("C_wmax size must be $((nw*(Hp+1),))"))
             any(<(0), C_wmax) && error("C_wmax weights should be non-negative")
             con.C_wmax .= C_wmax
-            con.A_Wmax[:, end] .= -C_wmax
+            con.A_Wmax[:, end] .= @. -C_wmax
         end
         if !isnothing(c_x̂min)
             size(c_x̂min) == (nx̂,) || throw(DimensionMismatch("c_x̂min size must be $((nx̂,))"))
             any(<(0), c_x̂min) && error("c_x̂min weights should be non-negative")
             con.c_x̂min .= c_x̂min
-            size(con.A_x̂min, 1) ≠ 0 && (con.A_x̂min[:, end] .= -con.c_x̂min) # for LinModel
+            size(con.A_x̂min, 1) ≠ 0 && (con.A_x̂min[:, end] .= @. -con.c_x̂min) # for LinModel
         end
         if !isnothing(c_x̂max)
             size(c_x̂max) == (nx̂,) || throw(DimensionMismatch("c_x̂max size must be $((nx̂,))"))
             any(<(0), c_x̂max) && error("c_x̂max weights should be non-negative")
             con.c_x̂max .= c_x̂max
-            size(con.A_x̂max, 1) ≠ 0 && (con.A_x̂max[:, end] .= -con.c_x̂max) # for LinModel
+            size(con.A_x̂max, 1) ≠ 0 && (con.A_x̂max[:, end] .= @. -con.c_x̂max) # for LinModel
         end
     end
     Z̃min, Z̃max = init_boxconstraint_mpc(

src/estimator/mhe/construct.jl

@@ -922,15 +922,15 @@ function setconstraint!(
         if !isnothing(C_x̂min)
             size(C_x̂min) == (nX̂con,) || throw(DimensionMismatch("C_x̂min size must be $((nX̂con,))"))
             any(C_x̂min .< 0) && error("C_x̂min weights should be non-negative")
-            con.A_x̂min[:, begin] .= @views -C_x̂min[1:nx̂] 
-            con.C_x̂min .= @views C_x̂min[nx̂+1:end]
+            con.A_x̂min[:, begin] .= @. @views -C_x̂min[1:nx̂] 
+            con.C_x̂min .= @. @views C_x̂min[nx̂+1:end]
             size(con.A_X̂min, 1) ≠ 0 && (con.A_X̂min[:, begin] = -con.C_x̂min) # for LinModel
         end
         if !isnothing(C_x̂max)
             size(C_x̂max) == (nX̂con,) || throw(DimensionMismatch("C_x̂max size must be $((nX̂con,))"))
             any(C_x̂max .< 0) && error("C_x̂max weights should be non-negative")
-            con.A_x̂max[:, begin] .= @views -C_x̂max[1:nx̂]
-            con.C_x̂max .= @views C_x̂max[nx̂+1:end]
+            con.A_x̂max[:, begin] .= @. @views -C_x̂max[1:nx̂]
+            con.C_x̂max .= @. @views C_x̂max[nx̂+1:end]
             size(con.A_X̂max, 1) ≠ 0 && (con.A_X̂max[:, begin] = -con.C_x̂max) # for LinModel
         end
         if !isnothing(C_ŵmin)