multiple dispatch for ŷ calculation

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 = 200
+    N = 2000
     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/predictive_control.jl

@@ -845,10 +845,14 @@ function write_info!(mpc::LinMPC, ΔŨ, J, ŷs, Ŷs, lastu, F, ym, d)
     mpc.info.J = J
     mpc.info.U = mpc.S̃_Hp*ΔŨ + mpc.T_Hp*lastu
     mpc.info.u = mpc.info.U[1:mpc.estim.model.nu]
-    mpc.info.ŷ = isa(mpc.estim, InternalModel) ? mpc.estim(ym, d) : mpc.estim(d)
+    mpc.info.ŷ = eval_ŷ(mpc.estim, ym, d)
     mpc.info.Ŷ = mpc.Ẽ*ΔŨ + F
     mpc.info.ŷs, mpc.info.Ŷs = ŷs, Ŷs
 end
+"Evaluate current output of `InternalModel` estimator."
+eval_ŷ(estim::InternalModel, ym, d) = estim(ym, d)
+"Evaluate current output of the other `StateEstimator`s."
+eval_ŷ(estim::StateEstimator, _, d) = estim(d)
 
 "Repeat predictive controller constraints over prediction `Hp` and control `Hc` horizons."
 function repeat_constraints(Hp, Hc, umin, umax, Δumin, Δumax, ŷmin, ŷmax)