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added: oracle option in NonLinMPC and MovingHorizonEstimator
#270
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Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #270 +/- ##
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- Coverage 98.44% 98.02% -0.43%
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Files 26 28 +2
Lines 4314 4657 +343
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+ Hits 4247 4565 +318
- Misses 67 92 +25 ☔ View full report in Codecov by Sentry. 🚀 New features to boost your workflow:
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I ran the benchmarks locally, comparing this commit to v1.11. The relevant results are:
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This PR follows discussions at #269.
This boolean keyword argument maintain compatibility with custom NL solvers that do not surport the
VectorNonlinearOracleset for now. The default is:That is, it will use the new efficient oracle set only with
Ipoptby default.The old splatting syntax for the nonlinear constraints is considered now legacy, and the related code is moved in
src/estimator/mhe/legacy.jlandsrc/controller/legacy.jl, to ease the removal when the timing will be good.