add tests constraints plot

Author: franckgaga

test/test_plot_sim.jl

@@ -85,6 +85,8 @@ end
 
 @testset "PredictiveController Plots" begin
     mpc = LinMPC(LinModel(sys, Ts, i_d=[3]), Lwt=[0.01, 0.01])
+    mpc = setconstraint!(mpc, umin=[-50, -51], umax=[52, 53], ŷmin=[-54,-55], ŷmax=[56,57])
+    # TODO: ajouter des tests pour umin umax ŷmin ŷmax
     res = sim!(mpc, 15)
     p1 = plot(res, plotŷ=true)
     @test p1[1][1][:x] ≈ res.T_data
@@ -118,4 +120,20 @@ end
     @test p4[end-2][2][:y] ≈ res.X̂_data[4,:]
     @test p4[end-1][1][:y] ≈ res.X̂_data[5,:]
     @test p4[end-0][1][:y] ≈ res.X̂_data[6,:]
+    p5 = plot(res, plotumin=true, plotumax=false, plotŷmin=false, plotŷmax=false)
+    @test p5[1][1][:x] ≈ res.T_data
+    @test all(p5[end-2][3][:y] .≈ -50.0)
+    @test all(p5[end-1][3][:y] .≈ -51.0)
+    p6 = plot(res, plotumin=false, plotumax=true, plotŷmin=false, plotŷmax=false)
+    @test p6[1][1][:x] ≈ res.T_data
+    @test all(p6[end-2][3][:y] .≈ 52.0)
+    @test all(p6[end-1][3][:y] .≈ 53.0)
+    p7 = plot(res, plotumin=false, plotumax=false, plotŷmin=true, plotŷmax=false)
+    @test p7[1][1][:x] ≈ res.T_data
+    @test all(p7[end-4][3][:y] .≈ -54.0)
+    @test all(p7[end-3][3][:y] .≈ -55.0)
+    p8 = plot(res, plotumin=false, plotumax=false, plotŷmin=false, plotŷmax=true)
+    @test p8[1][1][:x] ≈ res.T_data
+    @test all(p8[end-4][3][:y] .≈ 56.0)
+    @test all(p8[end-3][3][:y] .≈ 57.0)
 end

test/test_sim_model.jl

@@ -38,6 +38,7 @@ Gss2 = c2d(sys_ss[:,1:2], 0.5Ts, :zoh)
     @test linmodel4.x ≈ [1;-1]
 
     linmodel5 = LinModel(sys,Ts,i_d=[3])
+    setop!(linmodel5, uop=[10,50], yop=[50,30], dop=[20])
     @test linmodel5.nx == 4
     @test linmodel5.nu == 2
     @test linmodel5.nd == 1
@@ -50,6 +51,9 @@ Gss2 = c2d(sys_ss[:,1:2], 0.5Ts, :zoh)
     @test linmodel5.Bd  ≈ sys_ss.B[:,3]
     @test linmodel5.C   ≈ sys_ss.C
     @test linmodel5.Dd  ≈ sys_ss.D[:,3]
+    @test linmodel5.uop ≈ [10,50]
+    @test linmodel5.yop ≈ [50,30]
+    @test linmodel5.dop ≈ [20]
 
     linmodel6 = LinModel([delay(4) delay(4)]*sys,Ts,i_d=[3])
     @test linmodel6.nx == 6