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test: bit wiser #272

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1414fd7
test: bit wiser
franckgaga Oct 24, 2025
7732410
Sped++
franckgaga Oct 24, 2025
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8 changes: 4 additions & 4 deletions test/2_test_state_estim.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -1191,10 +1191,10 @@ end
@test all((mhe3.con.C_v̂min, mhe3.con.C_v̂max) .≈ (0.03(11:18), 0.04(11:18)))

# TODO: delete these tests when the deprecated legacy splatting syntax will be.
mhe4 = MovingHorizonEstimator(nonlinmodel, He=4, nint_ym=0, Cwt=1e3, oracle=false)
setconstraint!(mhe3, C_x̂min=0.01(1:10), C_x̂max=0.02(1:10))
@test all((mhe3.con.C_x̂min, mhe3.con.C_x̂max) .≈ (0.01(3:10), 0.02(3:10)))
setconstraint!(mhe3, C_v̂min=0.03(11:18), C_v̂max=0.04(11:18))
@test_nowarn mhe4 = MovingHorizonEstimator(nonlinmodel, He=4, nint_ym=0, Cwt=1e3, oracle=false)
@test_nowarn setconstraint!(mhe3, C_x̂min=0.01(1:10), C_x̂max=0.02(1:10))
@test_nowarn @test all((mhe3.con.C_x̂min, mhe3.con.C_x̂max) .≈ (0.01(3:10), 0.02(3:10)))
@test_nowarn setconstraint!(mhe3, C_v̂min=0.03(11:18), C_v̂max=0.04(11:18))
@test all((mhe3.con.C_v̂min, mhe3.con.C_v̂max) .≈ (0.03(11:18), 0.04(11:18)))

@test_throws ArgumentError setconstraint!(mhe2, x̂min=[-1])
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118 changes: 59 additions & 59 deletions test/3_test_predictive_control.jl
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Expand Up @@ -1035,20 +1035,20 @@ end
([0.21,0.22,0.23,0.24,0.25,0.26], [0.31,0.32,0.33,0.34,0.35,0.36]))

# TODO: delete these tests when the deprecated legacy splatting syntax will be.
gc_leg! = (LHS,_,_,_,_,_) -> (LHS[begin] = -1)
nc_leg = 1
nmpc_lin_leg = setconstraint!(
@test_nowarn gc_leg! = (LHS,_,_,_,_,_) -> (LHS[begin] = -1)
@test_nowarn nc_leg = 1
@test_nowarn nmpc_lin_leg = setconstraint!(
NonLinMPC(linmodel1, Hp=1, Hc=1, gc=gc_leg!, nc=nc_leg, oracle=false),
ymin=[-1e3, -1e3], ymax=[1e3,1e3]
)
nmpc_ms_leg = setconstraint!(
@test_nowarn nmpc_ms_leg = setconstraint!(
NonLinMPC(
nonlinmodel, Hp=1, Hc=1, gc=gc_leg!, nc=nc_leg,
oracle=false, transcription=MultipleShooting()
),
ymin=[-1e3, -1e3], ymax=[1e3,1e3]
)
nmpc_leg = NonLinMPC(nonlinmodel, Hp=1, Hc=1, oracle=false)
@test_nowarn nmpc_leg = NonLinMPC(nonlinmodel, Hp=1, Hc=1, oracle=false)

setconstraint!(nmpc_leg, umin=[-5, -9.9], umax=[100,99])
@test all((nmpc_leg.con.U0min, nmpc_leg.con.U0max) .≈ ([-5, -9.9], [100,99]))
Expand Down Expand Up @@ -1245,91 +1245,91 @@ end

# TODO: delete these tests when the deprecated legacy splatting syntax will be.

nmpc_leg = NonLinMPC(nonlinmodel; Hp, Hc=5, gc, nc=2Hp, p=[0; 0], oracle=false)
JuMP.set_attribute(nmpc_leg.optim, "constr_viol_tol", 1e-3)
@test_nowarn nmpc_leg = NonLinMPC(nonlinmodel; Hp, Hc=5, gc, nc=2Hp, p=[0; 0], oracle=false)
@test_nowarn JuMP.set_attribute(nmpc_leg.optim, "constr_viol_tol", 1e-3)

setconstraint!(nmpc_leg, x̂min=[-1e6,-Inf], x̂max=[+1e6,+Inf])
setconstraint!(nmpc_leg, umin=[-1e6], umax=[+1e6])
setconstraint!(nmpc_leg, Δumin=[-15], Δumax=[15])
setconstraint!(nmpc_leg, ymin=[-100], ymax=[100])
preparestate!(nmpc_leg, [0])
@test_nowarn setconstraint!(nmpc_leg, x̂min=[-1e6,-Inf], x̂max=[+1e6,+Inf])
@test_nowarn setconstraint!(nmpc_leg, umin=[-1e6], umax=[+1e6])
@test_nowarn setconstraint!(nmpc_leg, Δumin=[-15], Δumax=[15])
@test_nowarn setconstraint!(nmpc_leg, ymin=[-100], ymax=[100])
@test_nowarn preparestate!(nmpc_leg, [0])

setconstraint!(nmpc_leg, umin=[-3], umax=[4])
moveinput!(nmpc_leg, [-100])
info = getinfo(nmpc_leg)
@test_nowarn setconstraint!(nmpc_leg, umin=[-3], umax=[4])
@test_nowarn moveinput!(nmpc_leg, [-100])
@test_nowarn info = getinfo(nmpc_leg)
@test all(isapprox.(info[:U], -3; atol=1e-1))
moveinput!(nmpc_leg, [100])
info = getinfo(nmpc_leg)
@test_nowarn moveinput!(nmpc_leg, [100])
@test_nowarn info = getinfo(nmpc_leg)
@test all(isapprox.(info[:U], 4; atol=1e-1))
setconstraint!(nmpc_leg, umin=[-1e6], umax=[+1e6])
@test_nowarn setconstraint!(nmpc_leg, umin=[-1e6], umax=[+1e6])

setconstraint!(nmpc_leg, Δumin=[-1.5], Δumax=[1.25])
moveinput!(nmpc_leg, [-100])
info = getinfo(nmpc_leg)
@test_nowarn setconstraint!(nmpc_leg, Δumin=[-1.5], Δumax=[1.25])
@test_nowarn moveinput!(nmpc_leg, [-100])
@test_nowarn info = getinfo(nmpc_leg)
@test all(isapprox.(info[:ΔU], -1.5; atol=1e-1))
moveinput!(nmpc_leg, [100])
info = getinfo(nmpc_leg)
@test_nowarn moveinput!(nmpc_leg, [100])
@test_nowarn info = getinfo(nmpc_leg)
@test all(isapprox.(info[:ΔU], 1.25; atol=1e-1))
setconstraint!(nmpc_leg, Δumin=[-1e6], Δumax=[+1e6])
@test_nowarn setconstraint!(nmpc_leg, Δumin=[-1e6], Δumax=[+1e6])

setconstraint!(nmpc_leg, ymin=[-0.5], ymax=[0.9])
moveinput!(nmpc_leg, [-100])
info = getinfo(nmpc_leg)
@test_nowarn setconstraint!(nmpc_leg, ymin=[-0.5], ymax=[0.9])
@test_nowarn moveinput!(nmpc_leg, [-100])
@test_nowarn info = getinfo(nmpc_leg)
@test all(isapprox.(info[:Ŷ], -0.5; atol=1e-1))
moveinput!(nmpc_leg, [100])
info = getinfo(nmpc_leg)
@test_nowarn moveinput!(nmpc_leg, [100])
@test_nowarn info = getinfo(nmpc_leg)
@test all(isapprox.(info[:Ŷ], 0.9; atol=1e-1))
setconstraint!(nmpc_leg, ymin=[-100], ymax=[100])
@test_nowarn setconstraint!(nmpc_leg, ymin=[-100], ymax=[100])

setconstraint!(nmpc_leg, Ymin=[-0.5; fill(-100, Hp-1)], Ymax=[0.9; fill(+100, Hp-1)])
moveinput!(nmpc_leg, [-200])
info = getinfo(nmpc_leg)
@test_nowarn setconstraint!(nmpc_leg, Ymin=[-0.5; fill(-100, Hp-1)], Ymax=[0.9; fill(+100, Hp-1)])
@test_nowarn moveinput!(nmpc_leg, [-200])
@test_nowarn info = getinfo(nmpc_leg)
@test info[:Ŷ][end] ≈ -100 atol=1e-1
@test info[:Ŷ][begin] ≈ -0.5 atol=1e-1
moveinput!(nmpc_leg, [200])
info = getinfo(nmpc_leg)
@test_nowarn moveinput!(nmpc_leg, [200])
@test_nowarn info = getinfo(nmpc_leg)
@test info[:Ŷ][end] ≈ 100 atol=1e-1
@test info[:Ŷ][begin] ≈ 0.9 atol=1e-1
setconstraint!(nmpc_leg, ymin=[-100], ymax=[100])
@test_nowarn setconstraint!(nmpc_leg, ymin=[-100], ymax=[100])

setconstraint!(nmpc_leg, x̂min=[-1e-6,-Inf], x̂max=[+1e-6,+Inf])
moveinput!(nmpc_leg, [-10])
info = getinfo(nmpc_leg)
@test_nowarn setconstraint!(nmpc_leg, x̂min=[-1e-6,-Inf], x̂max=[+1e-6,+Inf])
@test_nowarn moveinput!(nmpc_leg, [-10])
@test_nowarn info = getinfo(nmpc_leg)
@test info[:x̂end][1] ≈ 0 atol=1e-1
moveinput!(nmpc_leg, [10])
info = getinfo(nmpc_leg)
@test_nowarn moveinput!(nmpc_leg, [10])
@test_nowarn info = getinfo(nmpc_leg)
@test info[:x̂end][1] ≈ 0 atol=1e-1
setconstraint!(nmpc_leg, x̂min=[-1e6,-Inf], x̂max=[1e6,+Inf])
@test_nowarn setconstraint!(nmpc_leg, x̂min=[-1e6,-Inf], x̂max=[1e6,+Inf])

nmpc_leg.p .= [1; 0]
moveinput!(nmpc_leg, [100])
info = getinfo(nmpc_leg)
@test_nowarn nmpc_leg.p .= [1; 0]
@test_nowarn moveinput!(nmpc_leg, [100])
@test_nowarn info = getinfo(nmpc_leg)
@test all(isapprox.(info[:U], 4.2; atol=1e-1))
@test all(isapprox.(info[:gc][1:Hp], 0.0; atol=1e-1))

nmpc_leg.p .= [0; 1]
moveinput!(nmpc_leg, [100])
info = getinfo(nmpc_leg)
@test_nowarn nmpc_leg.p .= [0; 1]
@test_nowarn moveinput!(nmpc_leg, [100])
@test_nowarn info = getinfo(nmpc_leg)
@test all(isapprox.(info[:Ŷ], 3.14; atol=1e-1))
@test all(isapprox.(info[:gc][Hp+1:end], 0.0; atol=1e-1))

nmpc_ms = NonLinMPC(
@test_nowarn nmpc_ms = NonLinMPC(
nonlinmodel; Hp, Hc=5, transcription=MultipleShooting(), gc, nc=2Hp, p=[0; 0]
)
JuMP.set_attribute(nmpc_ms.optim, "constr_viol_tol", 1e-3)
@test_nowarn JuMP.set_attribute(nmpc_ms.optim, "constr_viol_tol", 1e-3)

setconstraint!(nmpc_ms, x̂min=[-1e6,-Inf], x̂max=[+1e6,+Inf])
setconstraint!(nmpc_ms, ymin=[-100], ymax=[100])
preparestate!(nmpc_ms, [0])
@test_nowarn setconstraint!(nmpc_ms, x̂min=[-1e6,-Inf], x̂max=[+1e6,+Inf])
@test_nowarn setconstraint!(nmpc_ms, ymin=[-100], ymax=[100])
@test_nowarn preparestate!(nmpc_ms, [0])

setconstraint!(nmpc_ms, ymin=[-0.5], ymax=[0.9])
moveinput!(nmpc_ms, [-100])
info = getinfo(nmpc_ms)
@test_nowarn setconstraint!(nmpc_ms, ymin=[-0.5], ymax=[0.9])
@test_nowarn moveinput!(nmpc_ms, [-100])
@test_nowarn info = getinfo(nmpc_ms)
@test all(isapprox.(info[:Ŷ], -0.5; atol=1e-1))
moveinput!(nmpc_ms, [100])
info = getinfo(nmpc_ms)
@test_nowarn moveinput!(nmpc_ms, [100])
@test_nowarn info = getinfo(nmpc_ms)
@test all(isapprox.(info[:Ŷ], 0.9; atol=1e-1))
setconstraint!(nmpc_ms, ymin=[-100], ymax=[100])
@test_nowarn setconstraint!(nmpc_ms, ymin=[-100], ymax=[100])

setconstraint!(nmpc_ms, x̂min=[-1e-6,-Inf], x̂max=[+1e-6,+Inf])
moveinput!(nmpc_ms, [-10])
Expand Down
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