debug: MHE getinfo now works

Author: franckgaga

src/estimator/mhe/execute.jl

@@ -132,9 +132,9 @@ function getinfo(estim::MovingHorizonEstimator{NT}) where NT<:Real
     nx̃ = !isinf(estim.C) + nx̂
     MyTypes = Union{JuMP._SolutionSummary, Hermitian{NT, Matrix{NT}}, Vector{NT}, NT}
     info = Dict{Symbol, MyTypes}()
-    V̂, X̂0  = similar(estim.Y0m[1:nym*Nk]), similar(estim.X̂0[1:nx̂*Nk])
+    V̂,  X̂0 = similar(estim.Y0m[1:nym*Nk]), similar(estim.X̂0[1:nx̂*Nk])
     û0, ŷ0 = similar(model.uop), similar(model.yop)
-    V̂, X̂0  = predict!(V̂, X̂0, û0, ŷ0, estim, model, estim.Z̃)
+    V̂,  X̂0 = predict!(V̂, X̂0, û0, ŷ0, estim, model, estim.Z̃)
     x̂0arr  = @views estim.Z̃[nx̃-nx̂+1:nx̃]
     x̄ = estim.x̂0arr_old - x̂0arr
     X̂0 = [x̂0arr; X̂0]
@@ -158,8 +158,8 @@ function getinfo(estim::MovingHorizonEstimator{NT}) where NT<:Real
     info[:x̂arr] = x̂0arr + estim.x̂op
     info[:ϵ]  = isinf(estim.C) ? NaN : estim.Z̃[begin]
     info[:J]  = obj_nonlinprog!(x̄, estim, estim.model, V̂, estim.Z̃)
-    info[:X̂]  = X̂0       + [estim.x̂op; estim.X̂op]
-    info[:x̂]  = estim.x̂0 +  estim.x̂op
+    info[:X̂]  = X̂0       .+ @views [estim.x̂op; estim.X̂op[1:nx̂*Nk]]
+    info[:x̂]  = estim.x̂0 .+ estim.x̂op
     info[:V̂]  = V̂
     info[:P̄]  = estim.P̂arr_old
     info[:x̄]  = x̄

test/test_state_estim.jl

@@ -646,10 +646,10 @@ end
 
     mhe7 = MovingHorizonEstimator(nonlinmodel, He=10)
     @test mhe7.He == 10
-    @test length(mhe7.X̂)  == 10*6
-    @test length(mhe7.Ym) == 10*2
-    @test length(mhe7.U)  == 10*2
-    @test length(mhe7.D)  == 10*1
+    @test length(mhe7.X̂0)  == 10*6
+    @test length(mhe7.Y0m) == 10*2
+    @test length(mhe7.U0)  == 10*2
+    @test length(mhe7.D0)  == 10*1
     @test length(mhe7.Ŵ)  == 10*6
 
     mhe8 = MovingHorizonEstimator(nonlinmodel, He=5, nint_u=[1, 1], nint_ym=[0, 0])
@@ -762,8 +762,8 @@ end
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2]), uop=[10,50], yop=[50,30])
     mhe1 = MovingHorizonEstimator(linmodel1, He=1, nint_ym=0, Cwt=1e3)
     setconstraint!(mhe1, x̂min=[-51,-52], x̂max=[53,54])
-    @test all((mhe1.con.X̂min, mhe1.con.X̂max) .≈ ([-51,-52], [53,54]))
-    @test all((mhe1.con.x̃min[2:end], mhe1.con.x̃max[2:end]) .≈ ([-51,-52], [53,54]))
+    @test all((mhe1.con.X̂0min, mhe1.con.X̂0max) .≈ ([-51,-52], [53,54]))
+    @test all((mhe1.con.x̃0min[2:end], mhe1.con.x̃0max[2:end]) .≈ ([-51,-52], [53,54]))
     setconstraint!(mhe1, ŵmin=[-55,-56], ŵmax=[57,58])
     @test all((mhe1.con.Ŵmin, mhe1.con.Ŵmax) .≈ ([-55,-56], [57,58]))
     setconstraint!(mhe1, v̂min=[-59,-60], v̂max=[61,62])
@@ -778,8 +778,8 @@ end
 
     mhe2 = MovingHorizonEstimator(linmodel1, He=4, nint_ym=0, Cwt=1e3)
     setconstraint!(mhe2, X̂min=-1(1:10), X̂max=1(1:10))
-    @test all((mhe2.con.X̂min, mhe2.con.X̂max) .≈ (-1(3:10), 1(3:10)))
-    @test all((mhe2.con.x̃min[2:end], mhe2.con.x̃max[2:end]) .≈ (-1(1:2),  1(1:2)))
+    @test all((mhe2.con.X̂0min, mhe2.con.X̂0max) .≈ (-1(3:10), 1(3:10)))
+    @test all((mhe2.con.x̃0min[2:end], mhe2.con.x̃0max[2:end]) .≈ (-1(1:2),  1(1:2)))
     setconstraint!(mhe2, Ŵmin=-1(11:18), Ŵmax=1(11:18))
     @test all((mhe2.con.Ŵmin, mhe2.con.Ŵmax) .≈ (-1(11:18), 1(11:18)))
     setconstraint!(mhe2, V̂min=-1(31:38), V̂max=1(31:38))