From 87dfe7829b66fc422659e1ec8a4dafcbb2e23469 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Wed, 24 Jun 2026 10:23:30 -0400
Subject: [PATCH] added: pretty-print box constraints

---
 src/controller/linmpc.jl    | 4 +++-
 src/controller/nonlinmpc.jl | 4 +++-
 src/estimator/mhe.jl        | 4 +++-
 3 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/controller/linmpc.jl b/src/controller/linmpc.jl
index 76dda923a..27730d919 100644
--- a/src/controller/linmpc.jl
+++ b/src/controller/linmpc.jl
@@ -344,8 +344,10 @@ function print_optim_dim(io::IO, mpc::LinMPC)
     nZ̃, nϵ = length(mpc.Z̃), mpc.nϵ
     nA, nW, nAeq = sum(mpc.con.i_b) , mpc.con.nw*(mpc.Hp + 1), size(mpc.con.Aeq, 1)
     m = maximum(ndigits.((nZ̃, nA, nAeq))) + 1
+    i_nZ̃min, i_nZ̃max = @. !isinf(mpc.con.Z̃min), !isinf(mpc.con.Z̃max)
+    nZ̃bounds = sum(i_nZ̃min) + sum(i_nZ̃max)
     println(io, "  └ optimization:")
-    println(io, "    ├$(lpad(nZ̃, m)) decision variables Z̃ ($nϵ slack variable)")
+    println(io, "    ├$(lpad(nZ̃, m)) decision variables Z̃ ($nϵ slack variable, $nZ̃bounds bounds)")
     println(io, "    ├$(lpad(nA, m)) linear inequality constraints A ($nW custom)")
     print(io,   "    └$(lpad(nAeq, m)) linear equality constraints Aeq")
 end
\ No newline at end of file
diff --git a/src/controller/nonlinmpc.jl b/src/controller/nonlinmpc.jl
index b6ed86e66..46517963a 100644
--- a/src/controller/nonlinmpc.jl
+++ b/src/controller/nonlinmpc.jl
@@ -1178,8 +1178,10 @@ function print_optim_dim(io::IO, mpc::NonLinMPC)
     nA, nW, nAeq = sum(mpc.con.i_b) , mpc.con.nw*(mpc.Hp + 1), size(mpc.con.Aeq, 1)
     ng, nc, neq = sum(mpc.con.i_g), mpc.con.nc, mpc.con.neq
     m = maximum(ndigits.((nZ̃, nA, nAeq, ng, neq))) + 1
+    i_nZ̃min, i_nZ̃max = @. !isinf(mpc.con.Z̃min), !isinf(mpc.con.Z̃max)
+    nZ̃bounds = sum(i_nZ̃min) + sum(i_nZ̃max)
     println(io, "  └ optimization:")
-    println(io, "    ├$(lpad(nZ̃, m)) decision variables Z̃ ($nϵ slack variable)")
+    println(io, "    ├$(lpad(nZ̃, m)) decision variables Z̃ ($nϵ slack variable, $nZ̃bounds bounds)")
     println(io, "    ├$(lpad(nA, m)) linear inequality constraints A ($nW custom)")
     println(io, "    ├$(lpad(nAeq, m)) linear equality constraints Aeq")
     println(io, "    ├$(lpad(ng, m)) nonlinear inequality constraints g ($nc custom)")
diff --git a/src/estimator/mhe.jl b/src/estimator/mhe.jl
index 9122148ec..3e1acfd7a 100644
--- a/src/estimator/mhe.jl
+++ b/src/estimator/mhe.jl
@@ -38,9 +38,11 @@ function print_estim_dim(io::IO, estim::MovingHorizonEstimator, n; firstchars=no
         nA = sum(estim.con.i_b)
         ng, nc = sum(estim.con.i_g), estim.con.nc 
         m = maximum(ndigits.((nZ̃, nA, ng))) + 1
+        i_nZ̃min, i_nZ̃max = @. !isinf(estim.con.Z̃min), !isinf(estim.con.Z̃max)
+        nZ̃bounds = sum(i_nZ̃min) + sum(i_nZ̃max)
         println(io)
         println(io, "  └ optimization:")
-        println(io, "    ├$(lpad(nZ̃, m)) decision variables Z̃ ($nε slack variable)")
+        println(io, "    ├$(lpad(nZ̃, m)) decision variables Z̃ ($nε slack variable, $nZ̃bounds bounds)")
         println(io, "    ├$(lpad(nA, m)) linear inequality constraints A")
         print(io,   "    └$(lpad(ng, m)) nonlinear inequality constraints g ($nc custom)")
     end