Merge pull request #363 from JuliaControl/debug_print

debug: adequate padding for MHE dimensions printing

Author: franckgaga

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)) ")

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)))")

src/state_estim.jl

@@ -32,14 +32,18 @@ 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)
     println(io, "└ dimensions:")
     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