multiple dispatch on SimModels for initstate!

Author: franckgaga

src/estimator/internal_model.jl

@@ -167,7 +167,7 @@ The deterministic state `estim.x̂d` initialization method is identical to
 """
 function initstate!(estim::InternalModel, u, ym, d=Float64[])
     model = estim.model
-    x̂d = isa(model, LinModel) ? steadystate(model, u, d) : estim.x̂[1:model.nx]
+    x̂d = init_deterstate(model, estim, u, d)
     estim.x̂d[:] = x̂d
     # TODO: best method to initialize internal model stochastic states ? not sure...
     estim.x̂s[:] = zeros(estim.nxs)

src/predictive_control.jl

@@ -849,6 +849,7 @@ function write_info!(mpc::LinMPC, ΔŨ, J, ŷs, Ŷs, lastu, F, ym, d)
     mpc.info.Ŷ = mpc.Ẽ*ΔŨ + F
     mpc.info.ŷs, mpc.info.Ŷs = ŷs, Ŷs
 end
+
 "Evaluate current output of `InternalModel` estimator."
 eval_ŷ(estim::InternalModel, ym, d) = estim(ym, d)
 "Evaluate current output of the other `StateEstimator`s."

src/state_estim.jl

@@ -207,7 +207,7 @@ f̂
 function initstate!(estim::StateEstimator, u, ym, d=Float64[])
     model = estim.model
     # --- deterministic model states ---
-    x̂d = isa(model, LinModel) ? steadystate(model, u, d) : estim.x̂[1:model.nx]
+    x̂d = init_deterstate(model, estim, u, d)
     # --- stochastic model states (integrators) ---
     ŷd = model.h(x̂d, d - model.dop) + model.yop
     ŷsm = ym - ŷd[estim.i_ym]
@@ -221,6 +221,11 @@ function initstate!(estim::StateEstimator, u, ym, d=Float64[])
     return estim.x̂
 end
 
+"Init deterministic state `x̂d` with steady-state value for `LinModel`."
+init_deterstate(model::LinModel, _    , u, d) = steadystate(model, u, d)
+"Keep current deterministic state unchanged for `NonLinModel`."
+init_deterstate(model::SimModel, estim, _, _) = estim.x̂[1:model.nx]
+
 @doc raw"""
     evaloutput(estim::StateEstimator, d=Float64[])