debug MHE tests

Author: franckgaga

src/estimator/mhe/construct.jl

@@ -890,8 +890,7 @@ function init_optimization!(
 )
     nZ̃ = length(estim.Z̃)
     set_silent(optim)
-    #TODO: RE-ENABLE THIS
-    #limit_solve_time(estim.optim, estim.model.Ts)
+    limit_solve_time(estim.optim, estim.model.Ts)
     @variable(optim, Z̃var[1:nZ̃])
     A = estim.con.A[estim.con.i_b, :]
     b = estim.con.b[estim.con.i_b]
@@ -913,8 +912,7 @@ function init_optimization!(
     # --- variables and linear constraints ---
     nZ̃ = length(estim.Z̃)
     set_silent(optim)
-    #TODO: RE-ENABLE THIS
-    #limit_solve_time(estim.optim, estim.model.Ts)
+    limit_solve_time(estim.optim, estim.model.Ts)
     @variable(optim, Z̃var[1:nZ̃])
     A = estim.con.A[con.i_b, :]
     b = estim.con.b[con.i_b]

test/test_state_estim.jl

@@ -1,7 +1,7 @@
 Ts = 4.0
 sys = [ tf(1.90,[18.0,1])   tf(1.90,[18.0,1])   tf(1.90,[18.0,1]);
         tf(-0.74,[8.0,1])   tf(0.74,[8.0,1])    tf(-0.74,[8.0,1])   ] 
-
+#=
 @testset "SteadyKalmanFilter construction" begin
     linmodel1 = LinModel(sys,Ts,i_u=[1,2])
     skalmanfilter1 = SteadyKalmanFilter(linmodel1)
@@ -549,7 +549,7 @@ end
     @test x̂ ≈ [0, 0]
     @test isa(x̂, Vector{Float32})
 end
-
+=#
 @testset "MovingHorizonEstimator construction" begin
     linmodel1 = LinModel(sys,Ts,i_d=[3])
     f(x,u,d) = linmodel1.A*x + linmodel1.Bu*u + linmodel1.Bd*d
@@ -680,7 +680,7 @@ end
     mhe1 = MovingHorizonEstimator(linmodel1, He=1, nint_ym=0)
     setconstraint!(mhe1, x̂min=[-51,-52], x̂max=[53,54])
     @test all((mhe1.con.X̂min, mhe1.con.X̂max) .≈ ([-51,-52], [53,54]))
-    @test all((mhe1.con.x̂min, mhe1.con.x̂max) .≈ ([-51,-52], [53,54]))
+    @test all((mhe1.con.x̃min, mhe1.con.x̃max) .≈ ([-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])
@@ -689,7 +689,7 @@ end
     mhe2 = MovingHorizonEstimator(linmodel1, He=4, nint_ym=0)
     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.x̂min, mhe2.con.x̂max) .≈ (-1(1:2),  1(1:2)))
+    @test all((mhe2.con.x̃min, mhe2.con.x̃max) .≈ (-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))