changed: moved lastu0 inside PredictiveController objects
#208
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`preparestate!` add the new data in the windows and solve the optimization problem in this case. Since the function do not receive `u0`, it needs to be stored at the last time step in `update_estimate!`
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## main #208 +/- ##
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- Coverage 98.81% 98.80% -0.02%
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Files 25 26 +1
Lines 4234 4254 +20
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The field, corresponding to$\mathbf{u_0}(k-1) = \mathbf{u}(k-1) - \mathbf{u_{op}}$ , is only used in the controller to convert input increments $\mathbf{\Delta U}$ to inputs $\mathbf{U}$ . It is never used in the state estimators so it don't really belong there (except in the MHE, in which I left it there). It's cleaner like this and it slightly simplifies the API for the upcoming
ManualEstimator.