debug unit tests

Author: franckgaga

test/test_predictive_control.jl

@@ -415,8 +415,7 @@ end
     @test isa(nmpc15.optim, JuMP.GenericModel{Float64}) # Ipopt does not support Float32
 
     @test_throws ArgumentError NonLinMPC(nonlinmodel, Hp=15, Ewt=[1, 1])
-    # TODO: to uncomment when deprecated constructor is removed:
-    # @test_throws ArgumentError NonLinMPC(nonlinmodel, Hp=nothing)
+    @test_throws ArgumentError NonLinMPC(nonlinmodel)
 end
 
 @testset "NonLinMPC moves and getinfo" begin

test/test_state_estim.jl

@@ -610,8 +610,9 @@ end
     @test mhe9.Q̂ ≈ I(6)
     @test mhe9.R̂ ≈ I(2)
 
-    mhe10 = MovingHorizonEstimator(nonlinmodel, He=5, optim=Model(OSQP.Optimizer))
-    @test solver_name(mhe10.optim) == "OSQP"
+    optim = JuMP.Model(optimizer_with_attributes(Ipopt.Optimizer, "nlp_scaling_max_gradient"=>1.0))
+    mhe10 = MovingHorizonEstimator(nonlinmodel, He=5, optim=optim)
+    @test solver_name(mhe10.optim) == "Ipopt"
 
     mhe11 = MovingHorizonEstimator(nonlinmodel, He=5, Cwt=1e3)
     @test size(mhe11.Ẽ, 2) == 6*mhe11.nx̂ + 1
@@ -673,12 +674,14 @@ end
     x̂ = updatestate!(mhe3, [0], [0])
     @test x̂ ≈ [0, 0] atol=1e-3
     @test isa(x̂, Vector{Float32})
+    
+    mhe4 = setconstraint!(MovingHorizonEstimator(nonlinmodel, He=1, nint_ym=0), v̂max=[50,50])
 
-    mhe4 = setconstraint!(MovingHorizonEstimator(nonlinmodel, He=1, nint_ym=0), x̂max=[50,50,50,50])
-    g_X̂max_end = mhe4.optim.nlp_model.operators.registered_multivariate_operators[end].f
-    @test g_X̂max_end((1.0, 1.0, 1.0, 1.0)) ≤ 0.0 # test gfunc_i(i,::NTuple{N, Float64})
+    g_V̂max_end = mhe4.optim[:g_V̂max_2].func
+     # test gfunc_i(i,::NTuple{N, Float64})
+    @test g_V̂max_end(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) ≤ 0.0 
     # test gfunc_i(i,::NTuple{N, ForwardDiff.Dual}) : 
-    @test ForwardDiff.gradient(g_X̂max_end, [1.0, 1.0, 1.0, 1.0]) ≈ [0.0, 0.0, 0.0, 0.0]
+    @test ForwardDiff.gradient(vec->g_V̂max_end(vec...), zeros(8)) ≈ zeros(8)
 end
 
 @testset "MovingHorizonEstimator set constraints" begin