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debug: do not fill unused decision variables in MovingHorizonEstimator after solve #400

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Merged
franckgaga merged 1 commit into from
Jul 15, 2026
+3 −3
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debug: do not fill unused decision variables in MovingHorizonEstimator after solve #400

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6 changes: 3 additions & 3 deletions src/estimator/mhe/execute.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -606,9 +606,9 @@ function optim_objective!(estim::MovingHorizonEstimator{NT}) where NT<:Real
@debug info2debugstr(getinfo(estim))
end
if iserror(optim)
estim.Z̃ .= Z̃s
estim.Z̃[1:nx̃+nŵ*Nk] .= @views Z̃s[1:nx̃+nŵ*Nk]
else
estim.Z̃ .= JuMP.value.(Z̃var)
estim.Z̃[1:nx̃+nŵ*Nk] .= @views JuMP.value.(Z̃var[1:nx̃+nŵ*Nk])
end
# --------- update estimate -----------------------
x̂0arr, û0, ŷ0, k = buffer.x̂, buffer.û, buffer.ŷ, buffer.k
Expand Down Expand Up @@ -750,7 +750,7 @@ function update_cov!(estim::MovingHorizonEstimator)
end

"Invert the covariance estimate at arrival `P̄` and store it in `estim.cov.invP̄`."
function invert_cov!(estim::MovingHorizonEstimator, covestim::StateEstimator)
function invert_cov!(estim::MovingHorizonEstimator, ::StateEstimator)
P̄ = estim.P̂arr_old
estim.cov.invP̄ .= P̄
try
Expand Down