added: preparestate! where needed in precompile file to avoid warnings

Author: franckgaga

src/precompile.jl

@@ -9,48 +9,56 @@ y = model()
 mpc_im = setconstraint!(LinMPC(InternalModel(model)), ymin=[45, -Inf])
 initstate!(mpc_im, model.uop, y)
 preparestate!(mpc_im, [55, 30])
+mpc_im.estim()
 u = mpc_im([55, 30])
 sim!(mpc_im, 3)
 
 mpc_kf = setconstraint!(LinMPC(KalmanFilter(model)), ymin=[45, -Inf])
 initstate!(mpc_kf, model.uop, model())
+preparestate!(mpc_kf, [55, 30])
 mpc_kf.estim()
 u = mpc_kf([55, 30])
 sim!(mpc_kf, 3, [55, 30])
 
 mpc_lo = setconstraint!(LinMPC(Luenberger(model)), ymin=[45, -Inf])
 initstate!(mpc_lo, model.uop, model())
+preparestate!(mpc_lo, [55, 30])
 mpc_lo.estim()
 u = mpc_lo([55, 30])
 sim!(mpc_lo, 3, [55, 30])
 
 mpc_ukf = setconstraint!(LinMPC(UnscentedKalmanFilter(model)), ymin=[45, -Inf])
 initstate!(mpc_ukf, model.uop, model())
+preparestate!(mpc_ukf, [55, 30])
 mpc_ukf.estim()
 u = mpc_ukf([55, 3])
 sim!(mpc_ukf, 3, [55, 30])
 
 mpc_ekf = setconstraint!(LinMPC(ExtendedKalmanFilter(model)), ymin=[45, -Inf])
 initstate!(mpc_ekf, model.uop, model())
+preparestate!(mpc_ekf, [55, 30])
 mpc_ekf.estim()
 u = mpc_ekf([55, 30])
 sim!(mpc_ekf, 3, [55, 30])
 
 mpc_skf = setconstraint!(LinMPC(SteadyKalmanFilter(model)), ymin=[45, -Inf])
 initstate!(mpc_skf, model.uop, model())
+preparestate!(mpc_skf, [55, 30])
 mpc_skf.estim()
 u = mpc_skf([55, 30])
 sim!(mpc_skf, 3, [55, 30])
 
 mpc_mhe = setconstraint!(LinMPC(MovingHorizonEstimator(model, He=2)), ymin=[45, -Inf])
 setconstraint!(mpc_mhe.estim, x̂min=[-50,-50,-50,-50], x̂max=[50,50,50,50])
 initstate!(mpc_mhe, model.uop, model())
+preparestate!(mpc_mhe, [55, 30])
 mpc_mhe.estim()
 u = mpc_mhe([55, 30])
 sim!(mpc_mhe, 3, [55, 30])
 
 nmpc_skf = setconstraint!(NonLinMPC(SteadyKalmanFilter(model), Cwt=Inf), ymin=[45, -Inf])
 initstate!(nmpc_skf, model.uop, model())
+preparestate!(nmpc_skf, [55, 30])
 nmpc_skf.estim()
 u = nmpc_skf([55, 30])
 sim!(nmpc_skf, 3, [55, 30])
@@ -61,6 +69,7 @@ res_man = SimResult(model, res.U_data, res.Y_data; X_data=res.X_data)
 
 exmpc = ExplicitMPC(model)
 initstate!(exmpc, model.uop, model())
+preparestate!(exmpc, [55, 30])
 exmpc.estim()
 u = exmpc([55, 30])
 sim!(exmpc, 3, [55, 30])
@@ -73,22 +82,26 @@ y = nlmodel()
 nmpc_im = setconstraint!(NonLinMPC(InternalModel(nlmodel), Hp=10, Cwt=Inf), ymin=[45, -Inf])
 initstate!(nmpc_im, nlmodel.uop, y)
 preparestate!(nmpc_im, [55, 30])
+nmpc_im.estim()
 u = nmpc_im([55, 30])
 sim!(nmpc_im, 3, [55, 30])
 
 nmpc_ukf = setconstraint!(NonLinMPC(UnscentedKalmanFilter(nlmodel), Hp=10, Cwt=1e3), ymin=[45, -Inf])
 initstate!(nmpc_ukf, nlmodel.uop, y)
+preparestate!(nmpc_ukf, [55, 30])
 u = nmpc_ukf([55, 30])
 sim!(nmpc_ukf, 3, [55, 30])
 
 nmpc_ekf = setconstraint!(NonLinMPC(ExtendedKalmanFilter(model), Cwt=Inf), ymin=[45, -Inf])
 initstate!(nmpc_ekf, model.uop, model())
+preparestate!(nmpc_ekf, [55, 30])
 u = nmpc_ekf([55, 30])
 sim!(nmpc_ekf, 3, [55, 30])
 
 nmpc_mhe = setconstraint!(NonLinMPC(MovingHorizonEstimator(nlmodel, He=2), Hp=10, Cwt=Inf), ymin=[45, -Inf])
 setconstraint!(nmpc_mhe.estim, x̂min=[-50,-50,-50,-50], x̂max=[50,50,50,50])
 initstate!(nmpc_mhe, nlmodel.uop, y)
+preparestate!(nmpc_mhe, [55, 30])
 u = nmpc_mhe([55, 30])
 sim!(nmpc_mhe, 3, [55, 30])
 
@@ -98,5 +111,6 @@ function JE( _ , ŶE, _ )
     return dot(Eŷ, I, Eŷ)
 end
 empc = setconstraint!(NonLinMPC(nlmodel, Mwt=[0, 0], Hp=10, Cwt=Inf, Ewt=1, JE=JE), ymin=[45, -Inf])
+preparestate!(empc, [55, 30])
 u = empc()
 sim!(empc, 3)