removed: oracle keyword in NonLinMPC and MovingHorizonEstimator#323
Merged
franckgaga merged 4 commits intomainfrom Mar 4, 2026
Merged
removed: oracle keyword in NonLinMPC and MovingHorizonEstimator#323franckgaga merged 4 commits intomainfrom
oracle keyword in NonLinMPC and MovingHorizonEstimator#323franckgaga merged 4 commits intomainfrom
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…stimator` The code now will always use `VectorNonlinearOracle` for the nonlinear constraints. This is a breaking change but the timing is good since it is now supported by most relevant nonlinear optimzers. I also completly deleted the old legacy code/tests for the inefficient splatting syntax.
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #323 +/- ##
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- Coverage 98.49% 98.48% -0.01%
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Files 29 27 -2
Lines 5507 5165 -342
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- Hits 5424 5087 -337
+ Misses 83 78 -5 ☔ View full report in Codecov by Sentry. 🚀 New features to boost your workflow:
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💀 BREAKING CHANGE 💀
The code now will always use
VectorNonlinearOraclefor the nonlinear constraints. This is a breaking change but the timing is good since it is now supported by most relevant nonlinear optimizers (Ipopt.jl,KNITRO.jl,MadNLP.jlandUnoSolver.jl). I also completely deleted the old legacy code/tests with the inefficient splatting syntax.This means that peoples relying on e.g.
NLopt.jlwill need to stick to an old version ofModelPredictiveControl.jl.