added: precompile OrthogonalCollocation

franckgaga · franckgaga · commit 78e5f5f36742 · 2026-03-04T13:06:52.000-05:00
I expect it to be more popular than `TrapezoidalCollocation`, so let's replace this precompile workload.
diff --git a/src/precompile.jl b/src/precompile.jl
@@ -101,7 +101,7 @@ R̂y = repeat([55; 30], 10)
     preparestate!(nmpc_ekf, [55, 30])
     nmpc_ekf([55, 30])
 
-    transcription = TrapezoidalCollocation()
+    transcription = OrthogonalCollocation()
     nmpc_mhe = setconstraint!(NonLinMPC(
         MovingHorizonEstimator(nlmodel, He=2); transcription, Hp=10, Cwt=Inf), ymin=[45, -Inf]
     )

Original file line number	Diff line number	Diff line change
`@@ -101,7 +101,7 @@ R̂y = repeat([55; 30], 10)`
`101`	`101`	`preparestate!(nmpc_ekf, [55, 30])`
`102`	`102`	`nmpc_ekf([55, 30])`
`103`	`103`
`104`		`- transcription = TrapezoidalCollocation()`
	`104`	`+ transcription = OrthogonalCollocation()`
`105`	`105`	`nmpc_mhe = setconstraint!(NonLinMPC(`
`106`	`106`	`MovingHorizonEstimator(nlmodel, He=2); transcription, Hp=10, Cwt=Inf), ymin=[45, -Inf]`
`107`	`107`	`)`