test: replicate tests but with oracle=false

Author: franckgaga

test/2_test_state_estim.jl

@@ -1190,6 +1190,13 @@ end
     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)))
 
+    # 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 all((mhe3.con.C_v̂min, mhe3.con.C_v̂max) .≈ (0.03(11:18), 0.04(11:18)))
+
     @test_throws ArgumentError setconstraint!(mhe2, x̂min=[-1])
     @test_throws ArgumentError setconstraint!(mhe2, x̂max=[+1])
     @test_throws ArgumentError setconstraint!(mhe2, ŵmin=[-1])
@@ -1325,6 +1332,54 @@ end
     x̂ = updatestate!(mhe2, [10, 50], [50, 30])
     info = getinfo(mhe2)
     @test info[:V̂] ≈ [-1,-1] atol=5e-2
+
+    # TODO: delete these tests when the deprecated legacy splatting syntax will be.
+    mhe3 = MovingHorizonEstimator(nonlinmodel, He=1, nint_ym=0, oracle=false)
+
+    setconstraint!(mhe3, x̂min=[-100,-100], x̂max=[100,100])
+    setconstraint!(mhe3, ŵmin=[-100,-100], ŵmax=[100,100])
+    setconstraint!(mhe3, v̂min=[-100,-100], v̂max=[100,100])
+
+    setconstraint!(mhe3, x̂min=[1,1], x̂max=[100,100])
+    preparestate!(mhe3, [50, 30])
+    x̂ = updatestate!(mhe3, [10, 50], [50, 30])
+    @test x̂ ≈ [1, 1] atol=5e-2
+
+    setconstraint!(mhe3, x̂min=[-100,-100], x̂max=[-1,-1])
+    preparestate!(mhe3, [50, 30])
+    x̂ = updatestate!(mhe3, [10, 50], [50, 30])
+    @test x̂ ≈ [-1, -1] atol=5e-2
+
+    setconstraint!(mhe3, x̂min=[-100,-100], x̂max=[100,100])
+    setconstraint!(mhe3, ŵmin=[-100,-100], ŵmax=[100,100])
+    setconstraint!(mhe3, v̂min=[-100,-100], v̂max=[100,100])
+
+    setconstraint!(mhe3, ŵmin=[1,1], ŵmax=[100,100])
+    preparestate!(mhe3, [50, 30])
+    x̂ = updatestate!(mhe3, [10, 50], [50, 30])
+    @test mhe3.Ŵ ≈ [1,1] atol=5e-2
+
+    setconstraint!(mhe3, ŵmin=[-100,-100], ŵmax=[-1,-1])
+    preparestate!(mhe3, [50, 30])
+    x̂ = updatestate!(mhe3, [10, 50], [50, 30])
+    @test mhe3.Ŵ ≈ [-1,-1] atol=5e-2
+
+    setconstraint!(mhe3, x̂min=[-100,-100], x̂max=[100,100])
+    setconstraint!(mhe3, ŵmin=[-100,-100], ŵmax=[100,100])
+    setconstraint!(mhe3, v̂min=[-100,-100], v̂max=[100,100])
+
+    setconstraint!(mhe3, v̂min=[1,1], v̂max=[100,100])
+    preparestate!(mhe3, [50, 30])
+    x̂ = updatestate!(mhe3, [10, 50], [50, 30])
+    info = getinfo(mhe3)
+    @test info[:V̂] ≈ [1,1] atol=5e-2
+
+    setconstraint!(mhe3, v̂min=[-100,-100], v̂max=[-1,-1])
+    preparestate!(mhe3, [50, 30])
+    x̂ = updatestate!(mhe3, [10, 50], [50, 30])
+    info = getinfo(mhe3)
+    @test info[:V̂] ≈ [-1,-1] atol=5e-2
+    
 end
 
 @testitem "MovingHorizonEstimator set model" setup=[SetupMPCtests] begin

test/3_test_predictive_control.jl

@@ -1033,6 +1033,35 @@ end
     )
     @test all((nmpc.con.c_x̂min, nmpc.con.c_x̂max) .≈ 
             ([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.
+    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]))
+    setconstraint!(nmpc_leg, Δumin=[-5,-10], Δumax=[6,11])
+    @test all((nmpc_leg.con.ΔŨmin, nmpc_leg.con.ΔŨmax) .≈ ([-5,-10,0], [6,11,Inf]))
+    setconstraint!(nmpc_leg, ymin=[-6, -11],ymax=[55, 35])
+    @test all((nmpc_leg.con.Y0min, nmpc_leg.con.Y0max) .≈ ([-6,-11], [55,35]))
+    setconstraint!(nmpc_leg, x̂min=[-21,-22,-23,-24,-25,-26], x̂max=[21,22,23,24,25,26])
+    @test all((nmpc_leg.con.x̂0min, nmpc_leg.con.x̂0max) .≈ 
+            ([-21,-22,-23,-24,-25,-26], [21,22,23,24,25,26]))
+
+    setconstraint!(nmpc_leg, c_umin=[0.01,0.02], c_umax=[0.03,0.04])
+    @test all((-nmpc_leg.con.A_Umin[:, end], -nmpc_leg.con.A_Umax[:, end]) .≈ 
+            ([0.01,0.02], [0.03,0.04]))
+    setconstraint!(nmpc_leg, c_Δumin=[0.05,0.06], c_Δumax=[0.07,0.08])
+    @test all((-nmpc_leg.con.A_ΔŨmin[1:end-1, end], -nmpc_leg.con.A_ΔŨmax[1:end-1, end]) .≈ 
+            ([0.05,0.06], [0.07,0.08]))
+    setconstraint!(nmpc_leg, c_ymin=[1.00,1.01], c_ymax=[1.02,1.03])
+    @test all((-nmpc_leg.con.A_Ymin, -nmpc_leg.con.A_Ymax) .≈ (zeros(0,3), zeros(0,3)))
+    @test all((nmpc_leg.con.C_ymin, nmpc_leg.con.C_ymax) .≈ ([1.00,1.01], [1.02,1.03]))
+    setconstraint!(nmpc_leg, 
+        c_x̂min=[0.21,0.22,0.23,0.24,0.25,0.26], 
+        c_x̂max=[0.31,0.32,0.33,0.34,0.35,0.36]
+    )
+    @test all((nmpc_leg.con.c_x̂min, nmpc_leg.con.c_x̂max) .≈ 
+            ([0.21,0.22,0.23,0.24,0.25,0.26], [0.31,0.32,0.33,0.34,0.35,0.36]))
 
     nmpc_ms = NonLinMPC(nonlinmodel, Hp=1, Hc=1, transcription=MultipleShooting())
 
@@ -1201,6 +1230,76 @@ end
     @test all(isapprox.(info[:Ŷ], 3.14; atol=1e-1))
     @test all(isapprox.(info[:gc][Hp+1:end], 0.0; atol=1e-1))
 
+    # 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)
+
+    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])
+    
+    setconstraint!(nmpc_leg, umin=[-3], umax=[4])
+    moveinput!(nmpc_leg, [-100])
+    info = getinfo(nmpc_leg)
+    @test all(isapprox.(info[:U], -3; atol=1e-1))
+    moveinput!(nmpc_leg, [100])
+    info = getinfo(nmpc_leg)
+    @test all(isapprox.(info[:U], 4; atol=1e-1))
+    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 all(isapprox.(info[:ΔU], -1.5; atol=1e-1))
+    moveinput!(nmpc_leg, [100])
+    info = getinfo(nmpc_leg)
+    @test all(isapprox.(info[:ΔU], 1.25; atol=1e-1))
+    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 all(isapprox.(info[:Ŷ], -0.5; atol=1e-1))
+    moveinput!(nmpc_leg, [100])
+    info = getinfo(nmpc_leg)
+    @test all(isapprox.(info[:Ŷ], 0.9; atol=1e-1))
+    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 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 info[:Ŷ][end]   ≈ 100  atol=1e-1
+    @test info[:Ŷ][begin] ≈ 0.9 atol=1e-1
+    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 info[:x̂end][1] ≈ 0 atol=1e-1
+    moveinput!(nmpc_leg, [10])
+    info = getinfo(nmpc_leg)
+    @test info[:x̂end][1] ≈ 0 atol=1e-1
+    setconstraint!(nmpc_leg, x̂min=[-1e6,-Inf], x̂max=[1e6,+Inf])
+
+    nmpc_leg.p .= [1; 0]
+    moveinput!(nmpc_leg, [100])
+    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 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(
         nonlinmodel; Hp, Hc=5, transcription=MultipleShooting(), gc, nc=2Hp, p=[0; 0]
     )