debug: force update of gradient/jacobian in MovingHorzionEstimator when window not filled
#207
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Codecov ReportAttention: Patch coverage is
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## main #207 +/- ##
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- Coverage 98.84% 98.81% -0.03%
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Files 25 25
Lines 4225 4234 +9
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+ Hits 4176 4184 +8
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In some corner cases (e.g. when$N_k \ne H_e$ ). I added a hack with a clever warm-starting to force the update of the gradient/jacobian when the window is not filled.
nint_u≠0, not sure why I did not see this bug whennint_ym≠0), the caching of the gradient and jacobianMovingHorizonEstimatorNLP problem was not working well at the beginning (when the measurement window is not filled, orNote that it's impossible to shrink the decision variable vector
Z̃inJuMP.jl, AFAIK. That would be the cleanest solution when the window is not filled (at the beginning). My workaround is to "ignore" some decision variable inZ̃in the cost and constraint functions at the beginning (for the NLP case, not QP). That is why this clever hack work.I will add a test for this bug.