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added: support box constraints in MovingHorizonEstimator #389

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Merged
franckgaga merged 14 commits into from
Jun 24, 2026
Merged

added: support box constraints in MovingHorizonEstimator #389

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7924dab
wip: `box` constraint support for `MovingHorizonEstimator`
franckgaga Jun 18, 2026
5b2a9c6
wip: idem
franckgaga Jun 18, 2026
4c6eeff
wip: idem
franckgaga Jun 22, 2026
7c96d03
wip: idem
franckgaga Jun 23, 2026
a576682
added: `MovingHorizonEstimator` now support box constraints
franckgaga Jun 23, 2026
4ceac8a
debug: correct variable
franckgaga Jun 23, 2026
94514f8
debug: pass `model` argument
franckgaga Jun 23, 2026
81f0a42
debug: remove useless variable
franckgaga Jun 23, 2026
c51a0a5
debug: correct variable
franckgaga Jun 23, 2026
8bf67cc
test: debug MHE constraint tests
franckgaga Jun 23, 2026
4abde08
debug: define `nŵ`
franckgaga Jun 23, 2026
1710438
doc: update `jldoctest`s
franckgaga Jun 23, 2026
4987da1
Merge remote-tracking branch 'origin/main' into box_constraints_mhe
franckgaga Jun 23, 2026
8437541
debug: remove duplicate method
franckgaga Jun 24, 2026
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3 changes: 0 additions & 3 deletions src/controller/construct.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -558,9 +558,6 @@ function setconstraint!(
return mpc
end

"Verify that the `Inf` values in `Z̃new` are the same that in `Z̃old`."
diff_infs(Z̃new, Z̃old) = any(isinf(x) ≠ isinf(y) for (x,y) in zip(Z̃new, Z̃old))

"By default, no nonlinear constraints, return nothing."
reset_nonlincon!(::PredictiveController) = nothing

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