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debug: do not increment mhe.Nk if updatestate! was not called and direct=true #417

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debug: do not increment mhe.Nk if updatestate! was not called and direct=true #417

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c34fa0c
debug: do not increment `mhe.Nk` if `updatestate!` was not called
franckgaga Aug 3, 2026
fd55086
test: new window length tests for the MHE
franckgaga Aug 3, 2026
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4 changes: 3 additions & 1 deletion src/estimator/mhe/execute.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -506,7 +506,9 @@ function add_data_windows!(estim::MovingHorizonEstimator, y0m, d0, u0=estim.last
Nk = estim.Nk[]
p = estim.direct ? 0 : 1 # u0 argument is u0(k-1) if estim.direct, else u0(k)
x̂0_old = estim.x̂0 # x̂0_old is x̂0(k-1|k-1) if estim.direct, else x̂0(k|k-1)
estim.Nk .+= 1
if !estim.direct || !estim.prepared[]
estim.Nk .+= 1 # direct=true: only increments if updatestate! was called
end
Nk = estim.Nk[]
ismoving = (Nk > estim.He)
# see MovingHorzionEstimator extended help for the exact time steps in each data window
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7 changes: 7 additions & 0 deletions test/2_test_state_estim.jl
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Expand Up @@ -1038,10 +1038,15 @@ end

mhe2 = MovingHorizonEstimator(linmodel, He=2)
preparestate!(mhe2, [50, 30], [5])
@test mhe2.Nk[] == 1
preparestate!(mhe2, [50, 30], [5])
@test mhe2.Nk[] == 1
x̂ = updatestate!(mhe2, [10, 50], [50, 30], [5])
@test mhe2.Nk[] == 1
@test x̂ ≈ zeros(6) atol=1e-9
@test mhe2.x̂0 ≈ zeros(6) atol=1e-9
preparestate!(mhe2, [50, 30], [5])
@test mhe2.Nk[] == 2
info = getinfo(mhe2)
@test info[:x̂] ≈ x̂ atol=1e-9
@test info[:Ŷ][end-1:end] ≈ [50, 30] atol=1e-9
Expand All @@ -1060,7 +1065,9 @@ end

mhe2 = MovingHorizonEstimator(linmodel, He=2, nint_u=[1, 1], nint_ym=[0, 0], direct=false)
preparestate!(mhe2, [50, 30], [5])
@test mhe2.Nk[] == 0
x̂ = updatestate!(mhe2, [10, 50], [50, 30], [5])
@test mhe2.Nk[] == 1
@test x̂ ≈ zeros(6) atol=1e-9
@test mhe2.x̂0 ≈ zeros(6) atol=1e-9
info = getinfo(mhe2)
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