test: debug

Author: franckgaga

src/estimator/construct.jl

@@ -105,12 +105,7 @@ function KalmanCovariances(
     ) where {NT<:Real}
     validate_kfcov(model, i_ym, nint_u, nint_ym, Q̂, R̂, P̂_0)
     Q̂, R̂ = NT.(Q̂), NT.(R̂)
-    if !isnothing(P̂_0) 
-        P̂_0 .= NT.(P̂_0)
-    end
-    println(Q̂)
-    println(R̂)
-    println(P̂_0)
+    !isnothing(P̂_0) && (P̂_0 = NT.(P̂_0))
     return KalmanCovariances{NT}(Q̂, R̂, P̂_0, He)
 end
 

test/2_test_state_estim.jl

@@ -1128,7 +1128,7 @@ end
         updatestate!(mhe, [10, 50], [50, 30], [5])   
     )
     @test mhe.P̂arr_old ≈ P̂arr_old_copy
-    @test mhe.invP̄ ≈ invP̄_copy
+    @test mhe.cov.invP̄ ≈ invP̄_copy
 end
 
 @testitem "MovingHorizonEstimator set constraints" setup=[SetupMPCtests] begin
@@ -1354,8 +1354,8 @@ end
     nonlinmodel = NonLinModel(f, h, 10.0, 1, 1, 1, p=linmodel, solver=nothing)
     mhe2 = MovingHorizonEstimator(nonlinmodel; He, nint_ym=0)
     setmodel!(mhe2, Q̂=[1e-3], R̂=[1e-6])
-    @test mhe2.Q̂ ≈ [1e-3]
-    @test mhe2.R̂ ≈ [1e-6]
+    @test mhe2.cov.Q̂ ≈ [1e-3]
+    @test mhe2.cov.R̂ ≈ [1e-6]
     @test_throws ErrorException setmodel!(mhe2, deepcopy(nonlinmodel))
 end