bench: KalmanFilter no-allocation bench

Author: franckgaga

benchmark/benchmarks.jl

@@ -7,7 +7,9 @@ sys = [ tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1]);
 
 const SUITE = BenchmarkGroup()
 
-## ================== SimModel benchmarks =========================================
+## ==================================================================================
+## ================== SimModel benchmarks ===========================================
+## ==================================================================================
 linmodel = setop!(LinModel(sys, Ts, i_d=[3]), uop=[10, 50], yop=[50, 30], dop=[5])
 function f!(ẋ, x, u, d, p)
     mul!(ẋ, p.A, x)
@@ -47,7 +49,9 @@ SUITE["SimModel"]["allocation"]["NonLinModel_linearize!"] = @benchmarkable(
     samples=1
 )
 
-## ================== StateEstimator benchmarks ================================
+## ==================================================================================
+## ================== StateEstimator benchmarks =====================================
+## ==================================================================================
 skf = SteadyKalmanFilter(linmodel)
 
 SUITE["StateEstimator"]["allocation"] = BenchmarkGroup(["allocation"])
@@ -64,4 +68,21 @@ SUITE["StateEstimator"]["allocation"]["SteadyKalmanFilter_evaloutput"] = @benchm
     evaloutput($skf, $d),
     setup=preparestate!($skf, $y, $d),
     samples=1
+)
+
+kf = KalmanFilter(linmodel, nint_u=[1, 1], direct=false)
+
+SUITE["StateEstimator"]["allocation"]["KalmanFilter_preparestate!"] = @benchmarkable(
+    preparestate!($kf, $y, $d),
+    samples=1
+)
+SUITE["StateEstimator"]["allocation"]["KalmanFilter_updatestate!"] = @benchmarkable(
+    updatestate!($kf, $u, $y, $d),
+    setup=preparestate!($kf, $y, $d),
+    samples=1
+)
+SUITE["StateEstimator"]["allocation"]["KalmanFilter_evaloutput"] = @benchmarkable(
+    evaloutput($kf, $d),
+    setup=preparestate!($kf, $y, $d),
+    samples=1
 )