debug: setconstraint! for MHE and softness parameters now work#387
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franckgaga wants to merge 3 commits into
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debug: setconstraint! for MHE and softness parameters now work#387franckgaga wants to merge 3 commits into
setconstraint! for MHE and softness parameters now work#387franckgaga wants to merge 3 commits into
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It was not working at all in the case of linear inequality constraints. I will add constraint violation test to verify this more rigorously.
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Setting the softness parameters$\mathbf{c_{(\bullet)}}$ was not working at all for the $\varepsilon$ is a the beginning of the decision vector for the MHE, so the weights is the first column of the $\mathbf{A}$ matrices for the inequality constraints.
MovingHorizonEstimatorin the case of linear inequality constraints. The slack variableI will add new constraint violation tests to verify this more rigorously.