views for d in predict! for MPC

Author: franckgaga

src/predictive_control.jl

@@ -645,15 +645,15 @@ Compute both vectors if `model` is not a [`LinModel`](@ref).
 """
 function predict!(Ŷ, x̂, mpc::PredictiveController, model::SimModel, ΔŨ::Vector{NT}) where {NT<:Real}
     nu, ny, nd, Hp, Hc = model.nu, model.ny, model.nd, mpc.Hp, mpc.Hc
-    u0::Vector{NT} = copy(mpc.estim.lastu0)
-    d0::Vector{NT} = copy(mpc.d0)
     x̂[:] = mpc.estim.x̂
+    u0::Vector{NT} = copy(mpc.estim.lastu0)
+    d0 = @views mpc.d0[1:end]
     for j=1:Hp
         if j ≤ Hc
             u0[:] = u0 + ΔŨ[(1 + nu*(j-1)):(nu*j)]
         end
         x̂[:]  = f̂(mpc.estim, model, x̂, u0, d0)
-        d0[:] = mpc.D̂0[(1 + nd*(j-1)):(nd*j)]
+        d0    = @views mpc.D̂0[(1 + nd*(j-1)):(nd*j)]
         Ŷ[(1 + ny*(j-1)):(ny*j)] = ĥ(mpc.estim, model, x̂, d0)
     end
     Ŷ[:] = Ŷ + mpc.Ŷop # Ŷop = Ŷs + Yop, and Ŷs=0 if mpc.estim is not an InternalModel