From f65873c548083d2f95f6d87578bcbb4a8d1ccb5c Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 28 May 2026 09:17:15 -0400
Subject: [PATCH] debug: adequate padding for MHE dimensions printing

---
 src/estimator/mhe.jl      | 3 +++
 src/predictive_control.jl | 3 ++-
 src/state_estim.jl        | 6 +++++-
 3 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/src/estimator/mhe.jl b/src/estimator/mhe.jl
index 00585365d..5066f48d5 100644
--- a/src/estimator/mhe.jl
+++ b/src/estimator/mhe.jl
@@ -1,6 +1,9 @@
 include("mhe/construct.jl")
 include("mhe/execute.jl")
 
+"Return estimation horizon He and slack variables length nε for `MovingHorizonEstimator`."
+get_other_dims(estim::MovingHorizonEstimator) = (estim.He, estim.nε)
+
 "Print optimizer and other information for `MovingHorizonEstimator`."
 function print_details(io::IO, estim::MovingHorizonEstimator)
     println(io, "├ optimizer: $(JuMP.solver_name(estim.optim)) ")
diff --git a/src/predictive_control.jl b/src/predictive_control.jl
index 2cbeffa37..11691b1e5 100644
--- a/src/predictive_control.jl
+++ b/src/predictive_control.jl
@@ -31,7 +31,8 @@ function Base.show(io::IO, mpc::PredictiveController)
     Hp, Hc, nϵ = mpc.Hp, mpc.Hc, mpc.nϵ
     nu, nd = model.nu, model.nd
     nx̂, nym, nyu = estim.nx̂, estim.nym, estim.nyu
-    n = maximum(ndigits.((Hp, Hc, nu, nx̂, nym, nyu, nd))) + 1
+    other_dims = get_other_dims(estim)
+    n = maximum(ndigits.((Hp, Hc, nu, nx̂, nym, nyu, nd, other_dims...))) + 1
     println(io, "$(nameof(typeof(mpc))) controller with a sample time Ts = $(model.Ts) s:")
     println(io, "├ estimator: $(nameof(typeof(mpc.estim)))")
     println(io, "├ model: $(nameof(typeof(model)))")
diff --git a/src/state_estim.jl b/src/state_estim.jl
index 778c96406..7c8644fd1 100644
--- a/src/state_estim.jl
+++ b/src/state_estim.jl
@@ -32,7 +32,8 @@ function Base.show(io::IO, estim::StateEstimator)
     model = estim.model
     nu, nd = model.nu, model.nd
     nx̂, nym, nyu = estim.nx̂, estim.nym, estim.nyu
-    n = maximum(ndigits.((nu, nx̂, nym, nyu, nd))) + 1
+    other_dims = get_other_dims(estim)
+    n = maximum(ndigits.((nu, nx̂, nym, nyu, nd, other_dims...))) + 1
     println(io, "$(nameof(typeof(estim))) estimator with a sample time Ts = $(model.Ts) s:")
     println(io, "├ model: $(nameof(typeof(estim.model)))")
     print_details(io, estim)
@@ -40,6 +41,9 @@ function Base.show(io::IO, estim::StateEstimator)
     print_estim_dim(io, estim, n)
 end
 
+"Return additional dimensions on `estim` if any, for adequate padding with spaces."
+get_other_dims(::StateEstimator) = tuple()
+
 "Print additional details of `estim` if any (no details by default)."
 print_details(::IO, ::StateEstimator) = nothing