From 4e68925c911d9c12b5fadfd2bcaee82ed0243f2a Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <baggepinnen@gmail.com>
Date: Tue, 17 Dec 2024 13:04:01 +0100
Subject: [PATCH] switch from `has_ip` to `!has_oop`

---
 examples/example_quadtank.jl | 2 +-
 src/ekf.jl                   | 4 ++--
 src/ukf.jl                   | 5 +++--
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/examples/example_quadtank.jl b/examples/example_quadtank.jl
index 16311f4f..cfd106b5 100644
--- a/examples/example_quadtank.jl
+++ b/examples/example_quadtank.jl
@@ -61,7 +61,7 @@ function quadtank_params(h,u,p,t)
 
     ssqrt(x) = √(max(x, zero(x)) + 1e-3) # For numerical robustness at x = 0
     
-    xd = SA[
+    SA[
         -a1/A1 * ssqrt(2g*h[1]) + a3/A1*ssqrt(2g*h[3]) +     γ1*k1/A1 * u[1]
         -a2/A2 * ssqrt(2g*h[2]) + a4/A2*ssqrt(2g*h[4]) +     γ2*k2/A2 * u[2]
         -a3/A3*ssqrt(2g*h[3])                          + (1-γ2)*k2/A3 * u[2]
diff --git a/src/ekf.jl b/src/ekf.jl
index f375071f..cc681ce6 100644
--- a/src/ekf.jl
+++ b/src/ekf.jl
@@ -49,7 +49,7 @@ function ExtendedKalmanFilter(dynamics, measurement_model::AbstractMeasurementMo
 end
 
 function ExtendedKalmanFilter(dynamics, measurement, R1,R2,d0=SimpleMvNormal(Matrix(R1)); nu::Int, ny=size(R2,1), Cjac = nothing, kwargs...)
-    IPM = has_ip(measurement)
+    IPM = !has_oop(measurement)
     T = promote_type(eltype(R1), eltype(R2), eltype(d0))
     nx = size(R1,1)
     measurement_model = EKFMeasurementModel{T, IPM}(measurement, R2; nx, ny, Cjac)
@@ -58,7 +58,7 @@ end
 
 
 function ExtendedKalmanFilter(kf, dynamics, measurement; Ajac = nothing, Cjac = nothing)
-    IPD = has_ip(dynamics)
+    IPD = !has_oop(dynamics)
     if measurement isa AbstractMeasurementModel
         measurement_model = measurement
         IPM = isinplace(measurement_model)
diff --git a/src/ukf.jl b/src/ukf.jl
index 2f898ee9..094e8ae4 100644
--- a/src/ukf.jl
+++ b/src/ukf.jl
@@ -176,8 +176,8 @@ end
 
 
 function UnscentedKalmanFilter(dynamics,measurement,args...; kwargs...)
-    IPD = has_ip(dynamics)
-    IPM = has_ip(measurement)
+    IPD = !has_oop(dynamics)
+    IPM = !has_oop(measurement)
     AUGD = false
     AUGM = false
     UnscentedKalmanFilter{IPD,IPM,AUGD,AUGM}(dynamics,measurement,args...;kwargs...)
@@ -191,6 +191,7 @@ dynamics(kf::AbstractUnscentedKalmanFilter) = kf.dynamics
 
 #                                        x(k+1)          x            u             p           t
 @inline has_ip(fun) = hasmethod(fun, Tuple{AbstractArray,AbstractArray,AbstractArray,AbstractArray,Real})
+@inline has_oop(fun) = hasmethod(fun, Tuple{       AbstractArray,AbstractArray,AbstractArray,Real})
 
 
 """