Custom constraints : add tests

[franckgaga]

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[codecov-commenter]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 98.99%. Comparing base (58191fd) to head (2240065).
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #128      +/-   ##
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+ Coverage   98.28%   98.99%   +0.71%     
==========================================
  Files          24       24              
  Lines        3664     3673       +9     
==========================================
+ Hits         3601     3636      +35     
+ Misses         63       37      -26     

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[franckgaga]

#118 continuing the conversation here @baggepinnen

You can see the last version of the doc here:

https://juliacontrol.github.io/ModelPredictiveControl.jl/previews/PR128

[baggepinnen]

Nice, this new feature is a nice addition!

Here

I find it a bit hard to understand what format the bold-face arguments come in, there are bold and non-bold face, capital and non capital letters. I assume these all mean something but I'm not sure what. They are somewhat defined at the top of the page in which the docstring appears, but it's still somewhat unclear since the entries in these arrays

are themselves arrays, making the layout of the outer array somewhat undefined. For example, is $U \in \mathbb{R}^{H_c n_u}$ or $U \in \mathbb{R}^{H_c \times n_u}$ or is $U$ a vector of vectors?

[franckgaga]

That's a good point. I use this notation for vertical concatenation. So the boldface capital letters here are all vectors of reals.

I added details on the nomenclature a the top Plant Models, State Esrimator and Predictive Controllers pages. Details on the $\mathbf{U_e}$, $\mathbf{\hat{Y}_e}$ and $\mathbf{\hat{D}_e}$ are provided in NonLinMPC docstring extended Help.

I now call the JE and gc functions in the constructor an emit a warning with the stack trace if it fails. This should help the user for troubleshooting simple bugs in these 2 functions.