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debug: init windows w/o NaNs at k=-1 if direct=true in MovingHorizonEstimator - #465
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De without a NaN if direct==true in MovingHorizonEstimatorDe without a NaN if direct=true in MovingHorizonEstimator
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De without a NaN if direct=true in MovingHorizonEstimatorNaNs if direct=true in MovingHorizonEstimator
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NaNs if direct=true in MovingHorizonEstimatorNaNs at start if direct=true in MovingHorizonEstimator
franckgaga
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NaNs at start if direct=true in MovingHorizonEstimatorNaNs at k=-1 if direct=true in MovingHorizonEstimator
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The$\mathbf{Y_0^m}$ , $\mathbf{U_0}$ , $\mathbf{U_e}$ and $\mathbf{D_e}$ data windows was not correctly initialized if $p=0$ ) just after $k=-1$ according to the table in the extended help of
direct==true(orMovingHorizonEstimatorconstruction. The first element is the time stepMovingHorizonEstimator, which is equal to the operating point by default (can be customized withinitstate!):How to read the table: at$k=0$ we have $N_k=1$ data, thus the first sample is $k-N_k+p = (0) - (1) + (0) = -1$ .
Before this PR it was a
NaNvalue instead of the operating point. Note that this is a minor bugfix since the incorrectNaNvalues vanish once the data windows are filled. Also the bug was not present ifinitstate!was called before the estimations.