The source code in src/ is over 2000 lines long and needed to be refactored. I added two subdirectories, nonlinear and lq. nonlinear contains an empty Julia file that just has a TODO comment. lq now contains four files: lq.jl, sparse.jl, dense.jl, and tools.jl. lq.jl contains most of the data structures for the linear quadratic MPC problem. sparse.jl contains all the code for building the sparse models. dense.jl contains the code for building the dense and the dense-implicit models. tools.jl contains various extended functions and API functions, such as the get_u or get_Q functions, as well as the mul! extensions and add_jtsj functions.
I also updated the test folder so that testing the mul! extension and add_jtsj! function are done within @testset and which calls both Arrays and CuArrays the same.
The source code in
src/is over 2000 lines long and needed to be refactored. I added two subdirectories,nonlinearandlq.nonlinearcontains an empty Julia file that just has a TODO comment.lqnow contains four files:lq.jl,sparse.jl,dense.jl, andtools.jl.lq.jlcontains most of the data structures for the linear quadratic MPC problem.sparse.jlcontains all the code for building the sparse models.dense.jlcontains the code for building the dense and the dense-implicit models.tools.jlcontains various extended functions and API functions, such as theget_uorget_Qfunctions, as well as themul!extensions andadd_jtsjfunctions.I also updated the test folder so that testing the
mul!extension andadd_jtsj!function are done within@testsetand which calls bothArraysandCuArraysthe same.