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Merged
merged 2 commits into from
Aug 23, 2025
Merged

changed: keep f! and h! functions available #233

merged 2 commits into from
Aug 23, 2025

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@franckgaga
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@franckgaga franckgaga commented Aug 23, 2025

The fields in NonLinModel are now the f! and h! functions instead of solver_f! and solver_h!, as it was the case before. This is needed for the colocation methods.

@franckgaga
changed: keep f! and h! functions available
9888fe2 
The fields in `NonLinModel` are now the `f!` and `h!` functions instead of `solver_f!` and `solver_h!`, as it was the case before. This is needed for the colocation methods.
@franckgaga
debug: printing of the DiffSolver name
0cd7d18
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codecov-commenter commented Aug 23, 2025

Codecov Report

❌ Patch coverage is 96.49123% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 98.68%. Comparing base (42d29e5) to head (0cd7d18).

Files with missing lines Patch % Lines
src/model/nonlinmodel.jl 83.33% 2 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #233      +/-   ##
==========================================
- Coverage   98.68%   98.68%   -0.01%     
==========================================
  Files          26       26              
  Lines        4333     4324       -9     
==========================================
- Hits         4276     4267       -9     
  Misses         57       57

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github-actions bot commented Aug 23, 2025 •
edited
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Benchmark Results (Julia v1)

Time benchmarks
main 0cd7d18... main / 0cd7d18...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 6.67 ± 0.51 ms 6.8 ± 0.54 ms 0.981 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.323 ± 0.0068 s 0.323 ± 0.0074 s 1 ± 0.031
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.235 ± 0.016 s 0.234 ± 0.016 s 1 ± 0.096
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.01 ± 0.55 ms 8.98 ± 0.53 ms 1 ± 0.085
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.49 ± 0.073 ms 1.53 ± 0.069 ms 0.976 ± 0.065
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 6.84 ± 0.54 ms 6.83 ± 0.54 ms 1 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.287 ± 0.002 s 0.278 ± 0.0021 s 1.03 ± 0.011
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.251 ± 0.0013 s 0.234 ± 0.0024 s 1.07 ± 0.012
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.2 ± 0.4 ms 6.17 ± 0.42 ms 1 ± 0.094
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.63 ± 0.064 ms 1.63 ± 0.065 ms 0.998 ± 0.056
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.17 ± 0.79 ms 8.03 ± 0.7 ms 1.02 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.34 ± 0.01 s 0.341 ± 0.017 s 0.999 ± 0.058
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.16 ± 0.0014 s 0.159 ± 0.0011 s 1.01 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.112 ± 0.0029 s 0.114 ± 0.0021 s 0.982 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.7 ± 0.9 ms 11.6 ± 0.76 ms 1 ± 0.1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 1.92 ± 0.01 s 1.93 ± 0.009 s 0.994 ± 0.007
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.04 ± 0.019 s 2.04 ± 0.022 s 1 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.892 ± 0.0065 s 0.893 ± 0.0051 s 0.999 ± 0.0092
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.524 ± 0.034 s 0.512 ± 0.034 s 1.02 ± 0.096
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.143 ± 0.0024 s 0.138 ± 0.0016 s 1.03 ± 0.021
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.802 ± 0.0094 s 0.792 ± 0.0061 s 1.01 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.518 ± 0.04 s 0.506 ± 0.038 s 1.02 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.122 ± 0.0026 s 0.119 ± 0.0042 s 1.03 ± 0.042
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0428 ± 0.0053 s 0.0434 ± 0.0048 s 0.988 ± 0.16
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0336 ± 0.0017 s 0.0337 ± 0.0034 s 0.996 ± 0.11
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.2 ± 0.034 s 0.199 ± 0.025 s 1 ± 0.21
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.174 ± 0.042 s 0.166 ± 0.043 s 1.05 ± 0.37
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0352 ± 0.0031 s 0.0367 ± 0.0032 s 0.96 ± 0.12
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 26.8 ± 1.8 ms 26.6 ± 2.6 ms 1.01 ± 0.12
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 13.7 ± 0.084 s 14 ± 0.12 s 0.979 ± 0.01
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 4.18 ± 0.062 s 4.26 ± 0.027 s 0.982 ± 0.016
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.05 ± 0.031 s 2.03 ± 0.032 s 1.01 ± 0.022
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.21 ± 0.017 s 1.19 ± 0.016 s 1.02 ± 0.02
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 2.69 ± 0.04 μs 2.56 ± 0.03 μs 1.05 ± 0.02
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.111 ± 0.004 ms 0.113 ± 0.0036 ms 0.981 ± 0.047
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 13.2 ± 0.3 μs 13.2 ± 0.31 μs 0.996 ± 0.033
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.99 ± 0.28 ms 2.95 ± 0.2 ms 1.01 ± 0.12
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.97 ± 0.18 ms 1.94 ± 0.16 ms 1.02 ± 0.13
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 9.01 ± 0.31 ms 9.1 ± 0.38 ms 0.99 ± 0.054
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 2.02 ± 0.089 ms 1.98 ± 0.088 ms 1.02 ± 0.064
UNIT TESTS/SimModel/LinModel/evaloutput 0.13 ± 0.001 μs 0.13 ± 0.001 μs 1 ± 0.011
UNIT TESTS/SimModel/LinModel/updatestate! 0.21 ± 0.001 μs 0.211 ± 0.01 μs 0.995 ± 0.047
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.13 ± 0.001 μs 0.13 ± 0.001 μs 1 ± 0.011
UNIT TESTS/SimModel/NonLinModel/linearize! 1.16 ± 0.02 μs 1.12 ± 0.011 μs 1.04 ± 0.021
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.21 ± 0.001 μs 0.211 ± 0.001 μs 0.995 ± 0.0067
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.13 ± 0.01 μs 0.131 ± 0.01 μs 0.992 ± 0.11
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0.181 ± 0.01 μs 0.18 ± 0.001 μs 1.01 ± 0.056
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.04 ± 0 μs 0.04 ± 0.009 μs 1 ± 0.23
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 0.04 ± 0 μs 0.05 ± 0.002 μs 0.8 ± 0.032
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 2.73 ± 0.03 μs 2.77 ± 0.04 μs 0.986 ± 0.018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 3.33 ± 0.05 μs 3.37 ± 0.04 μs 0.988 ± 0.019
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.111 ± 0.01 μs 0.12 ± 0.01 μs 0.925 ± 0.11
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.111 ± 0.01 μs 0.111 ± 0.01 μs 1 ± 0.13
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.18 ± 0.01 μs 0.181 ± 0.01 μs 0.994 ± 0.078
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.18 ± 0.01 μs 0.181 ± 0.01 μs 0.994 ± 0.078
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.31 ± 0.001 μs 0.311 ± 0.001 μs 0.997 ± 0.0045
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.3 ± 0.01 μs 0.301 ± 0.01 μs 0.997 ± 0.047
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.131 ± 0.01 μs 0.13 ± 0.001 μs 1.01 ± 0.077
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.04 ± 0 μs 0.04 ± 0.009 μs 1 ± 0.23
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.05 ± 0.029 μs 2.04 ± 0.02 μs 1 ± 0.017
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.14 ± 0 μs 0.131 ± 0.01 μs 1.07 ± 0.082
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.2 ± 0.01 μs 0.201 ± 0.01 μs 0.995 ± 0.07
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.281 ± 0.01 μs 0.281 ± 0.001 μs 1 ± 0.036
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.6 ± 4 ms 3.43 ± 3.9 ms 1.05 ± 1.7
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.339 ± 0.019 ms 0.333 ± 0.019 ms 1.02 ± 0.081
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0.04 ± 0 μs 0.04 ± 0.01 μs 1 ± 0.25
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 5.96 ± 2.1 μs 6.01 ± 2.1 μs 0.992 ± 0.48
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.35 ± 1.1 ms 3.16 ± 0.56 ms 1.06 ± 0.38
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 13.2 ± 0.3 μs 13.4 ± 0.24 μs 0.99 ± 0.029
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.352 ± 0.02 ms 0.346 ± 0.019 ms 1.02 ± 0.081
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.14 ± 0.001 μs 0.14 ± 0.01 μs 1 ± 0.072
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.2 ± 0.01 μs 0.2 ± 0.001 μs 1 ± 0.05
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.28 ± 0.01 μs 0.28 ± 0.01 μs 1 ± 0.051
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.141 ± 0.01 μs 0.14 ± 0.001 μs 1.01 ± 0.072
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.191 ± 0.01 μs 0.19 ± 0.001 μs 1.01 ± 0.053
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.42 ± 0.03 μs 3.42 ± 0.039 μs 1 ± 0.014
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.93 ± 0.04 μs 3.92 ± 0.079 μs 1 ± 0.023
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.39 ± 0.1 μs 3.34 ± 0.05 μs 1.01 ± 0.034
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 4.64 ± 0.07 μs 4.77 ± 0.1 μs 0.973 ± 0.025
time_to_load 3.84 ± 0.021 s 3.81 ± 0.015 s 1.01 ± 0.0067
Memory benchmarks
main 0cd7d18... main / 0cd7d18...
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: 6.47 MB 0.102 M allocs: 6.47 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.64 M allocs: 0.248 GB 4.64 M allocs: 0.248 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.112 M allocs: 6.86 MB 0.112 M allocs: 6.86 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.66 M allocs: 0.252 GB 4.66 M allocs: 0.252 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.113 M allocs: 8.17 MB 0.113 M allocs: 8.17 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 16.9 M allocs: 0.975 GB 16.9 M allocs: 0.955 GB 1.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.68 M allocs: 0.724 GB 2.68 M allocs: 0.705 GB 1.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 10 M allocs: 0.586 GB 10 M allocs: 0.574 GB 1.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.111 M allocs: 19.2 MB 0.111 M allocs: 18.2 MB 1.05
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.293 M allocs: 0.0659 GB 0.293 M allocs: 0.0647 GB 1.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 7.95 M allocs: 0.468 GB 7.95 M allocs: 0.458 GB 1.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0889 M allocs: 14.5 MB 0.0889 M allocs: 13.8 MB 1.05
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.253 M allocs: 0.0569 GB 0.253 M allocs: 0.0559 GB 1.02
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.728 M allocs: 0.0884 GB 0.728 M allocs: 0.0882 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 0.595 M allocs: 0.0821 GB 0.596 M allocs: 0.0843 GB 0.974
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: 16.7 GB 0.0884 G allocs: 15.9 GB 1.05
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 12.9 M allocs: 2.41 GB 12.9 M allocs: 2.3 GB 1.05
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 15.1 M allocs: 2.92 GB 15.1 M allocs: 2.8 GB 1.04
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 8.83 M allocs: 1.7 GB 8.83 M allocs: 1.63 GB 1.04
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: 7.93 MB 0.104 M allocs: 7.98 MB 0.993
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.633 k allocs: 0.115 MB 0.633 k allocs: 0.116 MB 0.992
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: 16 MB 0.0734 M allocs: 15.9 MB 1
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 merged commit 9b87de8 into main Aug 23, 2025
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@franckgaga franckgaga deleted the continuous_ss_field branch August 23, 2025 02:49
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