clean up code

Author: franckgaga

src/estimator/execute.jl

@@ -33,10 +33,10 @@ function f̂!(x̂next, estim::StateEstimator, model::SimModel, x̂, u, d)
     # `@views` macro avoid copies with matrix slice operator e.g. [a:b]
     @views x̂d, x̂s = x̂[1:model.nx], x̂[model.nx+1:end]
     @views x̂d_next, x̂s_next = x̂next[1:model.nx], x̂next[model.nx+1:end]
-    T = promote_type(eltype(x̂), eltype(u))
-    u_us = Vector{T}(undef, model.nu) # TODO: avoid this allocation if possible
-    u_us .= u .+ mul!(u_us, estim.Cs_u, x̂s)
-    f!(x̂d_next, model, x̂d, u_us, d)
+    T  = promote_type(eltype(x̂), eltype(u))
+    û  = Vector{T}(undef, model.nu) # TODO: avoid this allocation if possible
+    û .= u .+ mul!(û, estim.Cs_u, x̂s)
+    f!(x̂d_next, model, x̂d, û, d)
     mul!(x̂s_next, estim.As, x̂s)
     return nothing
 end