added: 📐 `OrthogonalCollocation` 📐 for `MovingHorizonEstimator` - #427

Merged

franckgaga merged 41 commits into

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orthocolloc_mhe

Aug 13, 2026

Commits on Aug 10, 2026

doc : moving `disturbedinput!` to state estimator internals
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d98c209
doc: new "Miscellaneous Internal Methods" section
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ccf3d55
doc: making `OrthogonalCollocation` more generic
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0e3288c
doc: idem
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22e9c76
doc: minor corrections
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ce92212
doc: minor correction
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13a84b0
doc: minor correction
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b7eaf5f
doc: more details in `OrthogonalCollocation` docstring
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6582370
doc: removing `finite element` in `OrthogonalCollocation`
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9403be6

Commits on Aug 11, 2026

doc: new internal section on homepage
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1944dae
doc: idem
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f0903ab
doc: changing title for consistency
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d9f7380
doc: correct mistake
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0d5d333
doc: adding hat on state defect equations
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2c9d4a3
doc: clarification
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2067809
doc: handling of estimated process noises for `OrthogonalCollocation`
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f105d7c
doc: clarification on stochastic states
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d8af8b0
changed: argument order in `init_predmat_mhe` and `init_defectmat_mhe`
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474139a
changed: idem
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ecf12bd
added: `get_nZ_mhe` method for `OrthogonalCollocation`
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99dd0e3
doc: minor correction in `init_orthocolloc`
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a17e977

Commits on Aug 12, 2026

added: `OrthogonalCollocation` for `MovingHorizonEstimator`
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74fc29e
debug: correct signature
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8f12886
doc: moving optimization method at end of state estim internals
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4fd58fd
doc: comment in `OrthogonalCollocation` internals on `ŵ` handling
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4cd917f
doc: clearer sentence
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1d3aa9e
doc: minor addition
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c2c9f53
debug: `Hp` -> `Nk` for the MHE
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6d938a0
debug: correct `get_nZ_mhe` signature
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ce05fba
added: pretty-print the number of collocation points
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2546441
debug: correct warm-starting for `OrthogonalCollocation` in MHE
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21b1c27
removed: useless indexing
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f9ab2ef
removed: useless assigns in warm-starting
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8d5cf9d
Merge branch 'debug_mhe_tc' into orthocolloc_mhe
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df3a52a
debug: correct `rethrow` signature
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08d45da
debug: pretty-print transcription for MPCs
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e0fb900
doc: debug method name
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f4f9719
added: new `fill0unused!` method for `OrthogonalCollocation`
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cdc2c27
doc: debug method name
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772adad
test: MHE estimation tests with `OrthogonalColloction`
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4245ce3

Commits on Aug 13, 2026

debug: correct signatures
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5c13983