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debug: correct d0 at k+1 for MovingHorizonEstimator with collocations #452

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Merged
franckgaga merged 1 commit into from
Sep 20, 2026
Merged

debug: correct d0 at k+1 for MovingHorizonEstimator with collocations #452

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13 changes: 7 additions & 6 deletions src/estimator/mhe/transcription.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -1747,10 +1747,10 @@ function con_nonlinprogeq_mhe!(
ā = @views Ā_Z̃[(1 + na*(j-1)):(na*(j-1) + na)]
ŝk = @views Ŝk̄[(1 + nx*(j-1)):(nx*j)]
k̇1, k̇2 = @views k̄[1:nx], k̄[nx+1:2nx]
if estim.direct || j ≥ Nk
d0next = d0 # special case: d0(k+1)≈d0(k), since d0(k+1) is not available
else
if estim.direct || j < Nk
d0next = @views estim.D0[(1 + nd*j + i_d0arr):(nd*(j+1) + i_d0arr)]
else
d0next = d0 # special case: d0(k+1)≈d0(k), since d0(k+1) is not available
end
if f_threads || h < 1 || j < 2
# we need to recompute k1 with multi-threading, even with h==1, since the
Expand Down Expand Up @@ -1822,6 +1822,7 @@ function con_nonlinprogeq_mhe!(
nk̄ = get_nk̄(model, transcription)
nx̃ = estim.nε + nx̂
p = estim.direct ? 0 : 1
i_d0arr = estim.direct ? 0 : nd # the first nd elements in D0 are useless if p=1
X̂0_Z̃, K_Z̃ = @views Z̃[(nx̃+1):(nx̃+nx̂*He)], Z̃[(nx̃+nx̂*He+1):(nx̃+nx̂*He+nk̄*He)]
Dtemp = estim.buffer.D
Û0 = disturbedinput!(Û0, estim, x̂0arr, X̂0_Z̃, estim.U0)
Expand All @@ -1836,10 +1837,10 @@ function con_nonlinprogeq_mhe!(
k̄ = @views K̄[(1 + nk̄*(j-1)):(nk̄*j)]
k̄_Z̃ = @views K_Z̃[(1 + nk̄*(j-1)):(nk̄*j)]
ŝk̄ = @views geq[(1 + nk̄*(j-1)):(nk̄*j)]
if estim.direct || j ≥ Nk
d0next = d0 # special case: d0(k+1)≈d0(k), since d0(k+1) is not available
if estim.direct || j < Nk
d0next = @views estim.D0[(1 + nd*j + i_d0arr):(nd*(j+1) + i_d0arr)]
else
d0next = @views estim.D0[(1 + nd*(j+p)):(nd*(j+p+1))]
d0next = d0 # special case: d0(k+1)≈d0(k), since d0(k+1) is not available
end
# ----------------- collocation constraint defects -----------------------------
Δk = k̄
Expand Down
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