test: verify that setmodel! is allowed with defaults on SteadyKalmanFilter and Luenberger

Author: franckgaga

test/test_predictive_control.jl

@@ -601,7 +601,7 @@ end
     nonlinmodel = NonLinModel(f, h, 3000.0, 1, 2, 1, 1, solver=nothing)
     nmpc2 = NonLinMPC(nonlinmodel, Nwt=[0], Hp=1000, Hc=1)
     d = [0.1]
-    preparestate!(nmpc2, [0], [0])
+    preparestate!(nmpc2, [0], d)
     u = moveinput!(nmpc2, 7d, d)
     @test u ≈ [0] atol=5e-2
     u = nmpc2(7d, d)

test/test_state_estim.jl

@@ -119,7 +119,10 @@ end
     linmodel = LinModel(ss(0.5, 0.3, 1.0, 0, 10.0))
     linmodel = setop!(linmodel, uop=[2.0], yop=[50.0], xop=[3.0], fop=[3.0])
     skalmanfilter = SteadyKalmanFilter(linmodel, nint_ym=0)
-    @test_throws ErrorException setmodel!(skalmanfilter, linmodel)
+    @test_nowarn setmodel!(skalmanfilter, linmodel)
+    @test_throws ErrorException setmodel!(skalmanfilter, deepcopy(linmodel))
+    @test_throws ErrorException setmodel!(skalmanfilter, linmodel, Q̂=[0.01])
+    @test_throws ErrorException setmodel!(skalmanfilter, linmodel, R̂=[0.01])
 end
 
 @testset "SteadyKalmanFilter real-time simulations" begin
@@ -349,7 +352,8 @@ end
     linmodel = LinModel(ss(0.5, 0.3, 1.0, 0, 10.0))
     linmodel = setop!(linmodel, uop=[2.0], yop=[50.0], xop=[3.0], fop=[3.0])
     lo = Luenberger(linmodel, nint_ym=0)
-    @test_throws ErrorException setmodel!(lo, linmodel)
+    @test_nowarn setmodel!(lo, linmodel)
+    @test_throws ErrorException setmodel!(lo, deepcopy(linmodel))
 end
 
 @testset "InternalModel construction" begin