added : ArgumentError if updatestate! is called without ym for estimators and MPCs

Author: franckgaga

example/juMPC.jl

@@ -59,7 +59,7 @@ mpcluen = LinMPC(luenberger)
 
 
 
-#=
+
 kalmanFilter1 = KalmanFilter(linModel1)
 kalmanFilter2 = KalmanFilter(linModel1,nint_ym=0)
 
@@ -211,4 +211,3 @@ display(pu)
 display(py)
 
 =#
-=#

src/predictive_control.jl

@@ -345,6 +345,7 @@ end
 Call [`updatestate!`](@ref) on `mpc.estim` [`StateEstimator`](@ref).
 """
 updatestate!(mpc::PredictiveController, u, ym, d=Float64[]) = updatestate!(mpc.estim,u,ym,d)
+updatestate!(::PredictiveController, _ ) = throw(ArgumentError("missing measured outputs ym"))
 
 function validate_setpointdist(mpc::PredictiveController, ry, d, R̂y, D̂)
     ny, nd, Hp = mpc.estim.model.ny, mpc.estim.model.nd, mpc.Hp

src/state_estim.jl

@@ -333,6 +333,7 @@ function updatestate!(estim::StateEstimator, u, ym, d=Float64[])
     update_estimate!(estim, u0, ym0, d0)
     return estim.x̂
 end
+updatestate!(::StateEstimator, _ ) = throw(ArgumentError("missing measured outputs ym"))
 
 include("estimator/kalman.jl")
 include("estimator/luenberger.jl")

test/test_predictive_control.jl

@@ -80,6 +80,10 @@ end
     @test initstate!(mpc1, [10, 50], [50, 30+1]) ≈ [zeros(3); [1]]
     setstate!(mpc1, [1,2,3,4])
     @test mpc1.estim.x̂ ≈ [1,2,3,4]
+    setstate!(mpc1, [0,0,0,0])
+    updatestate!(mpc1, mpc1.estim.model.uop, mpc1.estim())
+    @test mpc1.estim.x̂ ≈ [0,0,0,0]
+    @test_throws ArgumentError updatestate!(mpc1, [0,0])
 end
 
 @testset "NonLinMPC construction" begin
@@ -192,4 +196,7 @@ end
     @test initstate!(nmpc1, [10, 50], [20, 25]) ≈ [zeros(2); [20, 25]]
     setstate!(nmpc1, [1,2,3,4])
     @test nmpc1.estim.x̂ ≈ [1,2,3,4]
+    setstate!(nmpc1, [0,0,0,0])
+    updatestate!(nmpc1, nmpc1.estim.model.uop, nmpc1.estim())
+    @test nmpc1.estim.x̂ ≈ [0,0,0,0]
 end

test/test_state_estim.jl

@@ -58,6 +58,7 @@ end
     @test initstate!(skalmanfilter1, [10, 50], [50, 30+1]) ≈ [zeros(3); [1]]
     setstate!(skalmanfilter1, [1,2,3,4])
     @test skalmanfilter1.x̂ ≈ [1,2,3,4]
+    @test_throws ArgumentError updatestate!(skalmanfilter1, [10, 50])
 end   
 
 @testset "KalmanFilter construction" begin