debug: x_noise argument in sim! now works

Author: franckgaga

src/plot_sim.jl

@@ -286,7 +286,8 @@ function sim_closedloop!(
         d = lastd + d_step + d_noise.*randn(plant.nd)
         y = evaloutput(plant, d) + y_step + y_noise.*randn(plant.ny)
         ym = y[estim.i_ym]
-        preparestate!(est_mpc, ym, d)
+        x  = preparestate!(plant)
+        x̂  = preparestate!(est_mpc, ym, d)
         u  = sim_getu!(est_mpc, u_ry, d, ru)
         ud = u + u_step + u_noise.*randn(plant.nu)
         Y_data[:, i]        .= y
@@ -296,10 +297,10 @@ function sim_closedloop!(
         Ud_data[:, i]       .= ud
         Ru_data[:, i]       .= ru
         D_data[:, i]        .= d
-        X_data[:, i]        .= plant.x0 .+ plant.xop
-        X̂_data[:, i]        .= estim.x̂0 .+ estim.x̂op
-        x = updatestate!(plant, ud, d); 
-        x[:] += x_noise.*randn(plant.nx)
+        X_data[:, i]        .= x
+        X̂_data[:, i]        .= x̂
+        updatestate!(plant, ud, d); 
+        plant.x0 .+= x_noise.*randn(plant.nx)
         updatestate!(est_mpc, u, ym, d)
     end
     res = SimResult(

src/sim_model.jl

@@ -218,10 +218,13 @@ function preparestate!(model::SimModel)
     return x 
 end
 
-@deprecate function preparestate!(model::SimModel, ::Any , ::Any=model.buffer.empty)
-    x  = model.buffer.x
-    x .= model.x0 .+ model.xop
-    return x 
+function preparestate!(model::SimModel, ::Any , ::Any=model.buffer.empty)
+    Base.depwarn(
+        "The method preparestate!(model::SimModel, u, d=[]) is deprecated. Use "*
+        " preparestate!(model::SimModel) instead.",
+        :preparestate!,
+    )
+    return preparestate!(model)
 end
 
 @doc raw"""

test/4_test_plot_sim.jl

@@ -65,6 +65,9 @@ end
     @test res_man.D_data ≈ res.D_data
     @test res_man.X_data ≈ res.X_data
     @test res_man.X̂_data ≈ res.X̂_data
+
+    res2 = sim!(estim, 15, x_noise=[0.1, 0.2, 0.3, 0.4])
+    @test !(res2.X_data ≈ res.X_data)
 end
 
 @testitem "StateEstimator Plots" setup=[SetupMPCtests] begin