added: handle NaN values in measured outputs ym for MovingHorizonEstimator

[franckgaga]

The data windows of the MovingHorizonEstimator did not handle the NaN values explicitly before this PR. The results was different from an optimizer to another e.g.: error thrown, NaN propagation, etc. This PR introduces explicit handling of NaN values.

Measured outputs ym

If a NaN value appears in the $\mathbf{y^m}$ vectors it will be ignored in the objective function. More precisely, the associated estimated sensor noise $\mathbf{\hat{v}}$ will be $\mathbf{0}$ when evaluating the objective function and a @warn will be printed. This is the natural and logical behavior, that is, treat it like a missing measurement hence no impact in the costs.

Measured disturbances d and manipulated Inputs u

However, an ArgumentError error will be thrown with an explicit throw call if a NaN value appears in the manipulated inputs $\mathbf{u}$ or measured disturbances $\mathbf{d}$ vectors, since they are arguments of the dynamic. The behavior is not as well-defined. It's better to throw an explicit error. The user can catch it and replace the values in $\mathbf{u}$ or $\mathbf{d}$ if he really want to continue the execution.

[codecov-commenter]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.71%. Comparing base (d2c359c) to head (e8d73f9).
⚠️ Report is 12 commits behind head on main.

Additional details and impacted files

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##             main     #402   +/-   ##
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  Coverage   98.71%   98.71%           
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  Files          27       27           
  Lines        5691     5703   +12     
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+ Hits         5618     5630   +12     
  Misses         73       73           

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