added: linearize! now uses DifferentiationInterface.jl
#179
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It is no longer necessary with `DI.Constant` context.
This is "safer" like that. And it allows the user to verify what are the DI backends in a given MPC/MHE object. Also useful for the tests.
debug: temporarily fake a "filled" window for MHE gradient preparation (needed for some backend like FiniteDiff)
The code is wayyyyy simpler, custom linearization buffer `struct` is no longer needed.
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## main #179 +/- ##
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+ Coverage 98.85% 98.87% +0.01%
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Files 25 25
Lines 4180 4162 -18
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By using a closure on `mpc::NonLinMPC` and `estim::MovingHorizonEstimator`
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Following #174, this PR integrate
DifferentiationInterface.jltolinearizeandlinearze!functions. The constructor ofNonLinModelnow accepts ajacobianargument to switch the backend at linearization. Its default value isAutoForwardDiff. I will add some tests of linearization withAutoFiniteDiff.