added: `NonLinModelDAE` and `OrthogonalCollocation` support in `MovingHorizonEstimator` - #453

Merged

franckgaga merged 54 commits into

mainfrom

Sep 23, 2026

Commits on Sep 20, 2026

added: error if `ShootingMethods` with DAEs
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d7f0dc1
bump
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cb853a5
Merge branch 'debug_d0_colloc' into mhe_dae_oc
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c48346e
added: pretty-print `na` in `MovingHorizonEstimator`
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b7b79d8
changed: new notation for `TrapezoidalCollocation` in MHE+DAE
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1bb4a62
doc: details on why `A0` is needed in `Z` for `OC`
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30ba429
debug: explicitly compute final `q0` for MHE and TC
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2716b2a
test: tighter tolerances in MHE+DAE+TC tests
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d59c0eb
doc: update `jldoctest`
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8b69587
doc: update `jldoctest`
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Merge branch 'main' into mhe_dae_oc
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b64334f
added: default to `model.transcription` for MHE + DAE
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e36716c

Commits on Sep 21, 2026

changed: `a1` notation in `NonLinModelDAE` and `TrapezoidalCollocation`
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da2af1f
doc: under construction admonition
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aa88bf5
doc: DAE models in README
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534d202
changed: clean-up in various state-space functions
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176e063
debug: MHE+TC+DAE with `h=1` now works
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f537735
debug: skip `a0arr` for `A0` in `predict_mhe!`
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2fe9567
changed: simpler `geq` filling when `Nk < He`
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6e9f332
test: cover TC with `h=1` bugfix with smarter tests
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e7b8bfd
doc: residuals in `init_orthocolloc` docstring
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17993df
test: minor correction
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029bbb9
debug: weird race condition seems to be solved now
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f95f23a
debug: comment for posterity
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0335df2
test: remove useless `@show`
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d7f3c35

Commits on Sep 22, 2026

added: do not call `fq!` if `h>0` for final residual `q0end`
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e46280a
added: MHE + MHE + OC now work! 🍾
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386619f
added: precompute `τendIsNotOne` at construction
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3b8c92e
added: reduce allocation in `MovingHorizonEstimator`
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b2f68c8
added: precompute `nx̃=nε+nx̂` at MHE construction
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cb8d223
changed: support algebraic variables in `fill0unused!`
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202d335
added: remove one allocation in `getinfo(mhe)`
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09e9727
changed: renamed `a0` -> `â0` and `A0` -> `Â0`
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c7636ba
debug: correctly dispatch `ĥ!` + rename everything
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d7cb731
doc: minor details
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3e2b37b
debug: correctly dispatch in `ĥ!`
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03e38e8
test: new estim. and `getinfo` tests with MHE+DAE+OC
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de63cec
test: looser tolerances for MHE+DAE+OC tests
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8ac0761
debug: `reset_warmstart!` for MHE and OC now works.
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9af079f
debug: correct warm-starting for MHE+DAE+TC
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f1b85cd
doc: detail nonlinear equality constraints for MHE+DAEs+OC
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2fafb60
doc: minor detail
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7644575
added: MHE+DAE to precompilation workflow
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e2615fd
debug: precompile workload
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debug: idem
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c17de8b
debug: compute `nA` in TC warm-starting
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2d1180c
debug: similar bugfilx
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be5c998
added: algebraic variables over `Nk` in `getinfo(mhe)`
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f4ce8b8
debug: warm-starting with MHE and TC
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ee821ce
debug: `getinfo(mhe)`
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62d5ba6
changed : rename `nA` -> `nÂ`
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4c8e9a8
debug: correct filed in `getinfo(mhe)`
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1bb1377
doc: minor correction
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63b4f86
doc: minor correction
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