Fix erros in cupy Q_bar and Q_bar_N construction

Author: shaoanlu

pimpc/solver.py

@@ -292,16 +292,19 @@ def _solve_gpu(model, x0, u0, yref, uref, w, *, warm_vars=None, verbose=False):
         E_inv = cp.ones(nx_bar, dtype=dtype)
 
     C_part = C_bar[:, :nx]
-    Q_bar = cp.block(
+    Q11 = C_part.T @ cp.asarray(model.Wy, dtype=dtype) @ C_part
+    Q22 = cp.asarray(model.Wu, dtype=dtype)
+    Q_bar = cp.vstack(
         [
-            [C_part.T @ cp.asarray(model.Wy, dtype=dtype) @ C_part, cp.zeros((nx, nu), dtype=dtype)],
-            [cp.zeros((nu, nx), dtype=dtype), cp.asarray(model.Wu, dtype=dtype)],
+            cp.hstack([Q11, cp.zeros((nx, nu), dtype=dtype)]),
+            cp.hstack([cp.zeros((nu, nx), dtype=dtype), Q22]),
         ]
     )
-    Q_bar_N = cp.block(
+    Q11_N = C_part.T @ cp.asarray(model.Wf, dtype=dtype) @ C_part
+    Q_bar_N = cp.vstack(
         [
-            [C_part.T @ cp.asarray(model.Wf, dtype=dtype) @ C_part, cp.zeros((nx, nu), dtype=dtype)],
-            [cp.zeros((nu, nx), dtype=dtype), cp.asarray(model.Wu, dtype=dtype)],
+            cp.hstack([Q11_N, cp.zeros((nx, nu), dtype=dtype)]),
+            cp.hstack([cp.zeros((nu, nx), dtype=dtype), Q22]),
         ]
     )
     q_bar = cp.concatenate(