doc precisions for fhat and hhat functions

Author: franckgaga

example/juMPC.jl

@@ -95,7 +95,7 @@ setconstraint!(mpc, ŷmin=[-Inf,-Inf], ŷmax=[55, 35])
 setconstraint!(mpc, Δumin=[-Inf,-Inf],Δumax=[+Inf,+Inf])
 
 function test_mpc(model, mpc)
-    N = 2000
+    N = 200
     u_data = zeros(2,N)
     y_data = zeros(2,N)
     r_data = zeros(2,N)
@@ -130,7 +130,7 @@ function test_mpc(model, mpc)
 end
 
 @time u_data, y_data, r_data, d_data = test_mpc(linModel4, mpc)
-@profview u_data, y_data, r_data, d_data = test_mpc(linModel4, mpc)
+#@profview u_data, y_data, r_data, d_data = test_mpc(linModel4, mpc)
 #=
 using PlotThemes, Plots
 #theme(:default)

src/state_estim.jl

@@ -153,25 +153,25 @@ end
 Update the augmented model state for estimation.
 
 By introducing an augmented state vector ``\mathbf{x}`` like in [`augment_model`](@ref) doc,
-this ``\mathbf{f̂}`` method updates it with the augmented model :
+the ``\mathbf{f̂}`` method updates it from the augmented model, defined as :
 ```math
 \begin{aligned}
     \mathbf{x}(k+1) &= \mathbf{f̂}\Big(\mathbf{x}(k), \mathbf{u}(k), \mathbf{d}(k)\Big) \\
     \mathbf{y}(k)   &= \mathbf{ĥ}\Big(\mathbf{x}(k), \mathbf{d}(k)\Big) 
 \end{aligned}
 ```
 """
-function f̂(estim::StateEstimator, x̂, u, d)
+function f̂(estim::E, x̂, u, d) where {E<:StateEstimator}
     # TODO: consider using views : https://docs.julialang.org/en/v1/manual/performance-tips/#man-performance-views
     return [estim.model.f(x̂[1:estim.model.nx], u, d); estim.As*x̂[estim.model.nx+1:end]]
 end
 
-"""
+@doc raw"""
     ĥ(estim::StateEstimator, x̂, d)
 
-Calc the augmented model output for estimation, see [`f̂`](@ref) for details.
+Output function ``\mathbf{ĥ}`` of the augmented model, see [`f̂`](@ref) for details.
 """
-function ĥ(estim::StateEstimator, x̂, d) 
+function ĥ(estim::E, x̂, d) where {E<:StateEstimator}
     return estim.model.h(x̂[1:estim.model.nx], d) + estim.Cs*x̂[estim.model.nx+1:end]
 end