debug: support Hermitian weights in PredictiveController

Added a generic dispatch to support `M_Hp`, `N_Hc` and `L_Hp` of any types, including `Hermitian`

Author: franckgaga

src/controller/construct.jl

@@ -88,9 +88,9 @@ struct ControllerWeights{
 end
 
 "Outer constructor to convert weight matrix number type to `NT` if necessary."
-function ControllerWeights{NT}(
-        model, Hp, Hc, M_Hp::MW, N_Hc::NW, L_Hp::LW, Cwt=Inf, Ewt=0
-    ) where {NT<:Real, MW<:AbstractMatrix, NW<:AbstractMatrix, LW<:AbstractMatrix}
+function ControllerWeights(
+        model::SimModel{NT}, Hp, Hc, M_Hp, N_Hc, L_Hp, Cwt=Inf, Ewt=0
+    ) where {NT<:Real}
     return ControllerWeights{NT}(model, Hp, Hc, NT.(M_Hp), NT.(N_Hc), NT.(L_Hp), Cwt, Ewt)
 end
 

src/controller/explicitmpc.jl

@@ -169,7 +169,7 @@ function ExplicitMPC(
     end
     nb = move_blocking(Hp, Hc)
     Hc = get_Hc(nb)
-    weights = ControllerWeights{NT}(estim.model, Hp, Hc, M_Hp, N_Hc, L_Hp)
+    weights = ControllerWeights(estim.model, Hp, Hc, M_Hp, N_Hc, L_Hp)
     return ExplicitMPC{NT}(estim, Hp, Hc, nb, weights)
 end
 

src/controller/linmpc.jl

@@ -270,7 +270,7 @@ function LinMPC(
     end
     nb = move_blocking(Hp, Hc)
     Hc = get_Hc(nb)
-    weights = ControllerWeights{NT}(estim.model, Hp, Hc, M_Hp, N_Hc, L_Hp, Cwt)
+    weights = ControllerWeights(estim.model, Hp, Hc, M_Hp, N_Hc, L_Hp, Cwt)
     return LinMPC{NT}(estim, Hp, Hc, nb, weights, transcription, optim)
 end
 

src/controller/nonlinmpc.jl

@@ -372,7 +372,7 @@ function NonLinMPC(
     Hc = get_Hc(nb)
     validate_JE(NT, JE)
     gc! = get_mutating_gc(NT, gc)
-    weights = ControllerWeights{NT}(estim.model, Hp, Hc, M_Hp, N_Hc, L_Hp, Cwt, Ewt)
+    weights = ControllerWeights(estim.model, Hp, Hc, M_Hp, N_Hc, L_Hp, Cwt, Ewt)
     return NonLinMPC{NT}(
         estim, Hp, Hc, nb, weights, JE, gc!, nc, p, transcription, optim, gradient, jacobian
     )