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Merged
merged 1 commit into from
Sep 11, 2025
Merged

Bump version #249

merged 1 commit into from
Sep 11, 2025

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@franckgaga franckgaga merged commit 0dbe0b9 into main Sep 11, 2025
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Benchmark Results (Julia v1)

Time benchmarks
main 8f74b44... main / 8f74b44...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 6.97 ± 0.52 ms 7.2 ± 0.37 ms 0.968 ± 0.088
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.319 ± 0.0058 s 0.344 ± 0.013 s 0.927 ± 0.039
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.231 ± 0.014 s 0.235 ± 0.019 s 0.984 ± 0.097
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 8.91 ± 0.56 ms 9.38 ± 0.74 ms 0.95 ± 0.096
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.54 ± 0.096 ms 1.57 ± 0.095 ms 0.982 ± 0.085
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 6.95 ± 0.56 ms 7.17 ± 0.35 ms 0.969 ± 0.092
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.277 ± 0.002 s 0.304 ± 0.0089 s 0.911 ± 0.027
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.234 ± 0.0026 s 0.26 ± 0.0027 s 0.901 ± 0.014
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.1 ± 0.42 ms 6.41 ± 0.42 ms 0.951 ± 0.091
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.64 ± 0.083 ms 1.67 ± 0.086 ms 0.982 ± 0.071
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.14 ± 1.4 ms 8.6 ± 1.7 ms 0.947 ± 0.25
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.327 ± 0.037 s 0.448 ± 0.035 s 0.731 ± 0.1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.159 ± 0.0012 s 0.159 ± 0.0015 s 1 ± 0.012
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.114 ± 0.0071 s 0.116 ± 0.0087 s 0.977 ± 0.096
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.7 ± 1.9 ms 12.4 ± 1.9 ms 0.944 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 1.88 ± 0.012 s 1.9 ± 0.026 s 0.986 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.15 ± 0.094 s 2.1 ± 0.025 s 1.02 ± 0.046
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.9 ± 0.033 s 1.86 ± 0.017 s 1.02 ± 0.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.916 ± 0.041 s 0.904 ± 0.013 s 1.01 ± 0.047
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.531 ± 0.049 s 0.519 ± 0.048 s 1.02 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.889 ± 0.076 s 0.876 ± 0.019 s 1.01 ± 0.09
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.141 ± 0.0032 s 0.143 ± 0.0035 s 0.986 ± 0.032
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.815 ± 0.022 s 0.799 ± 0.01 s 1.02 ± 0.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.507 ± 0.047 s 0.521 ± 0.054 s 0.972 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.78 ± 0.006 s 0.773 ± 0.0079 s 1.01 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.123 ± 0.0049 s 0.13 ± 0.013 s 0.943 ± 0.099
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0452 ± 0.0074 s 0.041 ± 0.006 s 1.1 ± 0.24
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0385 ± 0.0078 s 0.0361 ± 0.0021 s 1.06 ± 0.22
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.206 ± 0.03 s 0.195 ± 0.043 s 1.06 ± 0.28
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.163 ± 0.043 s 0.167 ± 0.036 s 0.979 ± 0.33
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.04 ± 0.0059 s 0.034 ± 0.0045 s 1.17 ± 0.23
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 30.1 ± 1.5 ms 29 ± 1.8 ms 1.04 ± 0.083
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 15 ± 1.4 s 15.6 ± 1.6 s 0.962 ± 0.14
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 4.26 ± 0.032 s 4.24 ± 0.18 s 1 ± 0.043
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.05 ± 0.051 s 2.09 ± 0.095 s 0.983 ± 0.051
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.23 ± 0.084 s 1.22 ± 0.019 s 1 ± 0.071
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 2.54 ± 0.03 μs 2.58 ± 0.02 μs 0.988 ± 0.014
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.111 ± 0.0042 ms 0.116 ± 0.0043 ms 0.96 ± 0.051
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 13.2 ± 0.31 μs 13.8 ± 0.33 μs 0.958 ± 0.032
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.92 ± 0.22 ms 2.9 ± 0.21 ms 1.01 ± 0.11
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.97 ± 0.086 ms 1.95 ± 0.11 ms 1.01 ± 0.071
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 9.4 ± 0.83 ms 8.99 ± 0.28 ms 1.05 ± 0.098
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.96 ± 0.078 ms 1.93 ± 0.099 ms 1.02 ± 0.066
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 4.53 ± 0.62 ms 3.83 ± 0.17 ms 1.18 ± 0.17
UNIT TESTS/SimModel/LinModel/evaloutput 0.13 ± 0.01 μs 0.13 ± 0.001 μs 1 ± 0.077
UNIT TESTS/SimModel/LinModel/updatestate! 0.211 ± 0.01 μs 0.211 ± 0.01 μs 1 ± 0.067
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.14 ± 0.01 μs 0.131 ± 0.01 μs 1.07 ± 0.11
UNIT TESTS/SimModel/NonLinModel/linearize! 1.14 ± 0.01 μs 1.12 ± 0.011 μs 1.02 ± 0.013
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.22 ± 0.011 μs 0.22 ± 0.011 μs 1 ± 0.071
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.14 ± 0.01 μs 0.14 ± 0.01 μs 1 ± 0.1
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0.19 ± 0.01 μs 0.19 ± 0.001 μs 1 ± 0.053
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 0.04 ± 0 μs 0.04 ± 0.01 μs 1 ± 0.25
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 2.77 ± 0.041 μs 2.79 ± 0.04 μs 0.993 ± 0.02
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 3.4 ± 0.04 μs 3.44 ± 0.041 μs 0.988 ± 0.017
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.12 ± 0.001 μs 0.12 ± 0.009 μs 1 ± 0.075
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.12 ± 0.009 μs 0.12 ± 0.01 μs 1 ± 0.11
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.181 ± 0.01 μs 0.19 ± 0.01 μs 0.953 ± 0.073
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.2 ± 0.011 μs 0.191 ± 0.01 μs 1.05 ± 0.08
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.32 ± 0.01 μs 0.311 ± 0.02 μs 1.03 ± 0.074
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.31 ± 0.01 μs 0.311 ± 0.001 μs 0.997 ± 0.032
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.14 ± 0.009 μs 0.14 ± 0.01 μs 1 ± 0.096
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.09 ± 0.021 μs 2.06 ± 0.03 μs 1.01 ± 0.018
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.15 ± 0.011 μs 0.15 ± 0.01 μs 1 ± 0.099
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.21 ± 0.01 μs 0.21 ± 0.011 μs 1 ± 0.071
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.29 ± 0.001 μs 0.291 ± 0.001 μs 0.997 ± 0.0049
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.48 ± 4.1 ms 3.32 ± 3.9 ms 1.05 ± 1.7
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.04 ± 0.001 μs 0.04 ± 0.01 μs 1 ± 0.25
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.328 ± 0.018 ms 0.324 ± 0.02 ms 1.01 ± 0.083
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0.04 ± 0.001 μs 0.04 ± 0 μs 1 ± 0.025
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 7.05 ± 3.6 μs 5.89 ± 1.9 μs 1.2 ± 0.72
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.26 ± 0.6 ms 3.06 ± 0.29 ms 1.06 ± 0.22
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 13.1 ± 0.28 μs 13.2 ± 0.24 μs 0.992 ± 0.028
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.34 ± 0.018 ms 0.336 ± 0.018 ms 1.01 ± 0.076
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.141 ± 0.01 μs 0.15 ± 0.01 μs 0.94 ± 0.091
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.211 ± 0.01 μs 0.201 ± 0.011 μs 1.05 ± 0.076
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.29 ± 0.001 μs 0.291 ± 0.001 μs 0.997 ± 0.0049
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.15 ± 0.009 μs 0.14 ± 0.01 μs 1.07 ± 0.1
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.191 ± 0.01 μs 0.191 ± 0.01 μs 1 ± 0.074
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.43 ± 0.071 μs 3.42 ± 0.051 μs 1 ± 0.026
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.87 ± 0.031 μs 3.93 ± 0.069 μs 0.985 ± 0.019
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.37 ± 0.051 μs 3.34 ± 0.05 μs 1.01 ± 0.021
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 4.63 ± 0.05 μs 4.76 ± 0.091 μs 0.973 ± 0.021
time_to_load 4.32 ± 0.086 s 3.77 ± 0.029 s 1.14 ± 0.024
Memory benchmarks
main 8f74b44... main / 8f74b44...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0449 M allocs: 1.79 MB 0.0449 M allocs: 1.79 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.183 M allocs: 9.81 MB 0.183 M allocs: 9.81 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.0746 M allocs: 2.81 MB 0.0746 M allocs: 2.81 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 0.0758 M allocs: 1.88 MB 0.0758 M allocs: 1.88 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 7.85 k allocs: 0.243 MB 7.85 k allocs: 0.243 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 0.0448 M allocs: 1.79 MB 0.0448 M allocs: 1.79 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.148 M allocs: 8 MB 0.148 M allocs: 8 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0779 M allocs: 2.88 MB 0.0779 M allocs: 2.88 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 0.0532 M allocs: 1.33 MB 0.0532 M allocs: 1.33 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 7.7 k allocs: 0.237 MB 7.7 k allocs: 0.237 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 0.102 M allocs: 6.48 MB 0.102 M allocs: 6.48 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.64 M allocs: 0.251 GB 4.64 M allocs: 0.251 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.112 M allocs: 6.87 MB 0.112 M allocs: 6.87 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.66 M allocs: 0.255 GB 4.66 M allocs: 0.255 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.114 M allocs: 8.19 MB 0.114 M allocs: 8.19 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 16.9 M allocs: 0.955 GB 16.9 M allocs: 0.955 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.68 M allocs: 0.705 GB 2.68 M allocs: 0.705 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 17.7 M allocs: 0.998 GB 17.7 M allocs: 0.998 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 10 M allocs: 0.574 GB 10 M allocs: 0.574 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.111 M allocs: 18.2 MB 0.111 M allocs: 18.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 10.4 M allocs: 0.59 GB 10.4 M allocs: 0.59 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.293 M allocs: 0.0647 GB 0.293 M allocs: 0.0647 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 7.95 M allocs: 0.458 GB 7.95 M allocs: 0.458 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0889 M allocs: 13.8 MB 0.0889 M allocs: 13.8 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 8.09 M allocs: 0.465 GB 8.09 M allocs: 0.465 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.253 M allocs: 0.0559 GB 0.253 M allocs: 0.0559 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.727 M allocs: 0.086 GB 0.727 M allocs: 0.086 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.648 M allocs: 0.0621 GB 0.648 M allocs: 0.0621 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.622 M allocs: 0.0833 GB 0.622 M allocs: 0.0833 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.577 M allocs: 0.0601 GB 0.577 M allocs: 0.0601 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.596 M allocs: 0.0849 GB 0.595 M allocs: 0.0821 GB 1.03
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.55 M allocs: 0.0589 GB 0.55 M allocs: 0.0589 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0884 G allocs: 15.9 GB 0.0884 G allocs: 15.9 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 12.9 M allocs: 2.3 GB 12.9 M allocs: 2.3 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 15.1 M allocs: 2.8 GB 15.1 M allocs: 2.8 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 8.83 M allocs: 1.63 GB 8.83 M allocs: 1.63 GB 1
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.994 k allocs: 24.5 kB 0.994 k allocs: 24.5 kB 1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 0.088 k allocs: 2.16 kB 0.088 k allocs: 2.16 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 3 k allocs: 0.196 MB 3 k allocs: 0.196 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.599 k allocs: 0.0556 MB 0.599 k allocs: 0.0556 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 0.104 M allocs: 7.98 MB 0.104 M allocs: 7.98 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.633 k allocs: 0.116 MB 0.633 k allocs: 0.116 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 15.7 k allocs: 1.43 MB 15.7 k allocs: 1.43 MB 1
UNIT TESTS/SimModel/LinModel/evaloutput 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/SimModel/LinModel/updatestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/SimModel/NonLinModel/evaloutput 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/SimModel/NonLinModel/linearize! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/SimModel/NonLinModel/updatestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 0.0734 M allocs: 15.9 MB 0.0734 M allocs: 16 MB 0.999
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.996 k allocs: 24.7 kB 0.996 k allocs: 24.7 kB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 6.7 k allocs: 0.451 MB 6.7 k allocs: 0.451 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.996 k allocs: 24.7 kB 0.996 k allocs: 24.7 kB 1
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
time_to_load 0.159 k allocs: 11.2 kB 0.159 k allocs: 11.2 kB 1

@franckgaga franckgaga deleted the franckgaga-patch-1 branch September 16, 2025 22:06
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