increase flexibility in disturbance-argument codegen

[baggepinnen]

Allows to use both known and unknown disturbance inputs at the same time. Should be backwards compatible

[github-actions]

[JuliaFormatter] _{reported by reviewdog 🐶}

Suggested change

- **Unknown disturbances** (`disturbance_inputs`): Variables that are part of ``w`` but NOT added as function arguments to ``f``. MTK assumes these variables are zero, but any dynamics associated with them (such as disturbance models) are included in the generated function. This allows a state estimator to estimate the state of the disturbance model, provided that this state is [observable](https://en.wikipedia.org/wiki/Observability) from measured outputs.

- **Unknown disturbances** (`disturbance_inputs`): Variables that are part of ``w`` but NOT added as function arguments to ``f``. MTK assumes these variables are zero, but any dynamics associated with them (such as disturbance models) are included in the generated function. This allows a state estimator to estimate the state of the disturbance model, provided that this state is [observable](https://en.wikipedia.org/wiki/Observability) from measured outputs.

[github-actions]

[JuliaFormatter] _{reported by reviewdog 🐶}

Suggested change

	- **Known disturbances** (`known_disturbance_inputs`): Variables that are part of ``w`` AND added as function arguments to ``f``, resulting in ``f(x, u, p, t, w)``. Use this when disturbances can be measured or are otherwise known.
	- **Known disturbances** (`known_disturbance_inputs`): Variables that are part of ``w`` AND added as function arguments to ``f``, resulting in ``f(x, u, p, t, w)``. Use this when disturbances can be measured or are otherwise known.

[github-actions]

[JuliaFormatter] _{reported by reviewdog 🐶}

Suggested change

	Base.depwarn("The `disturbance_argument` keyword argument is deprecated. Use `known_disturbance_inputs` instead. " *
	"For `disturbance_argument=true`, pass `known_disturbance_inputs=disturbance_inputs, disturbance_inputs=nothing`. " *
	"For `disturbance_argument=false`, use `disturbance_inputs` as before.",
	:generate_control_function)
	Base.depwarn(
	"The `disturbance_argument` keyword argument is deprecated. Use `known_disturbance_inputs` instead. " *
	"For `disturbance_argument=true`, pass `known_disturbance_inputs=disturbance_inputs, disturbance_inputs=nothing`. " *
	"For `disturbance_argument=false`, use `disturbance_inputs` as before.",
	:generate_control_function)

[github-actions]

[JuliaFormatter] _{reported by reviewdog 🐶}

Suggested change

	sys = mtkcompile(sys; inputs, disturbance_inputs=all_disturbances, split)
	sys = mtkcompile(sys; inputs, disturbance_inputs = all_disturbances, split)

[github-actions]

[JuliaFormatter] _{reported by reviewdog 🐶}

Suggested change

	known_disturbances = known_disturbance_inputs === nothing ? [] : unwrap.(known_disturbance_inputs)
	known_disturbances = known_disturbance_inputs === nothing ? [] :
	unwrap.(known_disturbance_inputs)

[github-actions]

[JuliaFormatter] _{reported by reviewdog 🐶}

Suggested change

	Base.depwarn("The `disturbance_argument` keyword argument is deprecated. Use `known_disturbance_inputs` instead. " *
	"For `disturbance_argument=true`, pass `known_disturbance_inputs=disturbance_inputs, disturbance_inputs=nothing`. " *
	"For `disturbance_argument=false`, use `disturbance_inputs` as before.",
	:build_explicit_observed_function)
	Base.depwarn(
	"The `disturbance_argument` keyword argument is deprecated. Use `known_disturbance_inputs` instead. " *
	"For `disturbance_argument=true`, pass `known_disturbance_inputs=disturbance_inputs, disturbance_inputs=nothing`. " *
	"For `disturbance_argument=false`, use `disturbance_inputs` as before.",
	:build_explicit_observed_function)

[github-actions]

Benchmark Results (Julia vlts)

Time benchmarks

	master	111ec0e...	master / 111ec0e...
ODEProblem	0.0969 ± 0.0054 s	0.094 ± 0.006 s	1.03 ± 0.087
init	0.0591 ± 0.0017 ms	0.058 ± 0.0015 ms	1.02 ± 0.039
large_parameter_init/ODEProblem	0.994 ± 0.0044 s	1.01 ± 0.016 s	0.986 ± 0.016
large_parameter_init/init	0.108 ± 0.0025 ms	0.109 ± 0.0023 ms	0.992 ± 0.031
mtkcompile	0.035 ± 0.0018 s	0.034 ± 0.0022 s	1.03 ± 0.083
time_to_load	5.14 ± 0.07 s	5.05 ± 0.022 s	1.02 ± 0.015

Memory benchmarks

	master	111ec0e...	master / 111ec0e...
ODEProblem	0.659 M allocs: 22.1 MB	0.659 M allocs: 22.1 MB	1
init	0.892 k allocs: 0.046 MB	0.892 k allocs: 0.046 MB	1
large_parameter_init/ODEProblem	4.21 M allocs: 0.163 GB	4.22 M allocs: 0.163 GB	1
large_parameter_init/init	1.74 k allocs: 0.0856 MB	1.74 k allocs: 0.0856 MB	1
mtkcompile	0.229 M allocs: 8.46 MB	0.229 M allocs: 8.46 MB	1
time_to_load	0.153 k allocs: 14.5 kB	0.153 k allocs: 14.5 kB	1

[github-actions]

Benchmark Results (Julia v1)

Time benchmarks

	master	111ec0e...	master / 111ec0e...
ODEProblem	0.113 ± 0.0062 s	0.0957 ± 0.0058 s	1.18 ± 0.097
init	0.0478 ± 0.012 ms	0.0442 ± 0.011 ms	1.08 ± 0.39
large_parameter_init/ODEProblem	1.27 ± 0.031 s	1.15 ± 0.031 s	1.1 ± 0.04
large_parameter_init/init	0.0892 ± 0.019 ms	0.0795 ± 0.017 ms	1.12 ± 0.33
mtkcompile	0.0411 ± 0.0035 s	0.0366 ± 0.0015 s	1.12 ± 0.11
time_to_load	5.45 ± 0.15 s	4.79 ± 0.039 s	1.14 ± 0.033

Memory benchmarks

	master	111ec0e...	master / 111ec0e...
ODEProblem	0.672 M allocs: 22.1 MB	0.673 M allocs: 22.2 MB	0.997
init	0.797 k allocs: 30.5 kB	0.797 k allocs: 30.5 kB	1
large_parameter_init/ODEProblem	4.49 M allocs: 0.166 GB	4.46 M allocs: 0.164 GB	1.01
large_parameter_init/init	1.64 k allocs: 0.0594 MB	1.64 k allocs: 0.0594 MB	1
mtkcompile	0.234 M allocs: 8 MB	0.234 M allocs: 8 MB	0.999
time_to_load	0.149 k allocs: 11.1 kB	0.149 k allocs: 11.1 kB	1