debug: update state constraints in MovingHorizonEstimator based on NonLinModel and MultipleShooting - #424
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MovingHorizonEstimator based on a NonLinModel and MultipleShootingMovingHorizonEstimator based on NonLinModel and MultipleShooting
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It seems there is an issue with github action workers: |
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All the test passes locally. |
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This is a bugfix. The case with
NonLinModel,MultipleShootingtranscription and non-zero values in the softness parametersc_x̂minandc_x̂minwas not correctly updated at each time step.I need a new method for$\mathbf{A \tilde{Z} \le b}$ . A special method exist at MHE construction, but I forgot to create one at MHE execution.
linconstraint!for this case, since the state estimate constraints are linear constraints, thus included in theAmatrix of the linear inequality constraints