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Merged
merged 6 commits into from
Sep 6, 2025
Merged

added: piecewise linear manipulated inputs with TrapezoidalCollocation(1) #243

merged 6 commits into from
Sep 6, 2025

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@franckgaga franckgaga commented Sep 6, 2025 •
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The default is still h=0, that is zero-order hold, like all the other DiffSolver in the package.

Added a comments in TrapezoidalCollocation docstring that there will be an assumption mismatch between TrapezoidalCollocation(1) and a plant model simulated with the various DiffSolver in the package.

Also added some moveinput! simple tests using TrapezoidalCollocation(1)

@franckgaga franckgaga changed the title added: piecewise linear inputs with TrapezoidalCollocation (argument h=1) added: piecewise linear manipulated inputs $\mathbf{u}$ with TrapezoidalCollocation(1) Sep 6, 2025
@franckgaga franckgaga changed the title added: piecewise linear manipulated inputs $\mathbf{u}$ with TrapezoidalCollocation(1) added: piecewise linear manipulated inputs with TrapezoidalCollocation(1) Sep 6, 2025
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codecov-commenter commented Sep 6, 2025

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.56%. Comparing base (035fe98) to head (02bcdb5).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #243   +/-   ##
=======================================
  Coverage   98.55%   98.56%           
=======================================
  Files          26       26           
  Lines        4374     4403   +29     
=======================================
+ Hits         4311     4340   +29     
  Misses         63       63

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github-actions bot commented Sep 6, 2025

Benchmark Results (Julia v1)

Time benchmarks
main 02bcdb5... main / 02bcdb5...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 6.86 ± 0.54 ms 6.87 ± 0.53 ms 0.998 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.312 ± 0.0063 s 0.313 ± 0.0045 s 0.997 ± 0.025
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.226 ± 0.014 s 0.226 ± 0.014 s 0.999 ± 0.089
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.01 ± 0.56 ms 8.97 ± 0.61 ms 1 ± 0.092
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.54 ± 0.094 ms 1.46 ± 0.095 ms 1.06 ± 0.094
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 6.86 ± 0.53 ms 6.86 ± 0.51 ms 1 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.272 ± 0.0017 s 0.278 ± 0.0037 s 0.98 ± 0.015
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.229 ± 0.0028 s 0.241 ± 0.00071 s 0.95 ± 0.012
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.15 ± 0.42 ms 6.1 ± 0.42 ms 1.01 ± 0.098
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.61 ± 0.06 ms 1.61 ± 0.056 ms 1 ± 0.051
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.05 ± 1.4 ms 8.07 ± 1.4 ms 0.997 ± 0.24
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.33 ± 0.036 s 0.336 ± 0.038 s 0.985 ± 0.15
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.155 ± 0.0014 s 0.156 ± 0.0013 s 0.994 ± 0.012
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.11 ± 0.012 s 0.11 ± 0.012 s 0.999 ± 0.15
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.6 ± 1.7 ms 11.6 ± 1.7 ms 0.995 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 1.88 ± 0.0049 s 1.87 ± 0.0095 s 1.01 ± 0.0057
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.05 ± 0.038 s 2.05 ± 0.021 s 1 ± 0.021
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.91 ± 0.028 s 1.88 ± 0.018 s 1.02 ± 0.018
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.88 ± 0.012 s 0.875 ± 0.0025 s 1.01 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.508 ± 0.036 s 0.509 ± 0.037 s 1 ± 0.1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.841 ± 0.0078 s 0.838 ± 0.0041 s 1 ± 0.01
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.142 ± 0.0046 s 0.139 ± 0.0031 s 1.02 ± 0.04
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.767 ± 0.0032 s 0.783 ± 0.013 s 0.98 ± 0.017
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.497 ± 0.042 s 0.494 ± 0.033 s 1.01 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.743 ± 0.01 s 0.752 ± 0.0091 s 0.988 ± 0.018
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.119 ± 0.0039 s 0.119 ± 0.0044 s 0.999 ± 0.049
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0385 ± 0.0049 s 0.0379 ± 0.0048 s 1.02 ± 0.18
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0326 ± 0.0026 s 0.0329 ± 0.0023 s 0.991 ± 0.11
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.194 ± 0.021 s 0.186 ± 0.034 s 1.05 ± 0.22
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.162 ± 0.04 s 0.169 ± 0.039 s 0.96 ± 0.33
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0339 ± 0.0036 s 0.0316 ± 0.0039 s 1.07 ± 0.18
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 26 ± 2.6 ms 26.6 ± 1.8 ms 0.977 ± 0.12
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 13 ± 0.21 s 13.7 ± 0.057 s 0.945 ± 0.016
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 3.93 ± 0.069 s 4.05 ± 0.0092 s 0.969 ± 0.017
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 1.96 ± 0.016 s 1.97 ± 0.0088 s 0.994 ± 0.0091
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.14 ± 0.011 s 1.16 ± 0.0099 s 0.983 ± 0.012
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 2.54 ± 0.02 μs 2.56 ± 0.02 μs 0.992 ± 0.011
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.111 ± 0.0041 ms 0.112 ± 0.0038 ms 0.993 ± 0.049
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 12.8 ± 0.27 μs 12.9 ± 0.28 μs 0.99 ± 0.03
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.87 ± 0.24 ms 2.82 ± 0.21 ms 1.02 ± 0.11
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.93 ± 0.083 ms 1.92 ± 0.1 ms 1.01 ± 0.069
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 8.87 ± 0.3 ms 8.76 ± 0.32 ms 1.01 ± 0.051
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.92 ± 0.089 ms 1.88 ± 0.084 ms 1.02 ± 0.065
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 3.55 ± 0.15 ms 3.49 ± 0.17 ms 1.02 ± 0.065
UNIT TESTS/SimModel/LinModel/evaloutput 0.14 ± 0.01 μs 0.13 ± 0.01 μs 1.08 ± 0.11
UNIT TESTS/SimModel/LinModel/updatestate! 0.211 ± 0.01 μs 0.22 ± 0.001 μs 0.959 ± 0.046
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.131 ± 0.01 μs 0.13 ± 0.01 μs 1.01 ± 0.11
UNIT TESTS/SimModel/NonLinModel/linearize! 1.1 ± 0.02 μs 1.11 ± 0.011 μs 0.991 ± 0.02
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.22 ± 0.01 μs 0.211 ± 0.01 μs 1.04 ± 0.068
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.131 ± 0.01 μs 0.14 ± 0.01 μs 0.936 ± 0.098
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0.19 ± 0.01 μs 0.18 ± 0.001 μs 1.06 ± 0.056
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 μs 1 ± 0
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 2.81 ± 0.029 μs 2.77 ± 0.03 μs 1.01 ± 0.015
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 3.46 ± 0.04 μs 3.46 ± 0.041 μs 1 ± 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 ± 0.001 μs 0.12 ± 0 μs 1 ± 0.0083
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.181 ± 0.01 μs 0.181 ± 0.01 μs 1 ± 0.078
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.19 ± 0.01 μs 0.181 ± 0.01 μs 1.05 ± 0.08
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.31 ± 0.01 μs 0.321 ± 0.001 μs 0.966 ± 0.031
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.31 ± 0.001 μs 0.31 ± 0.01 μs 1 ± 0.032
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.14 ± 0.01 μs 0.14 ± 0.001 μs 1 ± 0.072
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.09 ± 0.02 μs 2.04 ± 0.02 μs 1.02 ± 0.014
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.14 ± 0.001 μs 0.15 ± 0.01 μs 0.933 ± 0.063
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.201 ± 0.01 μs 0.2 ± 0.001 μs 1 ± 0.05
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.281 ± 0.01 μs 0.291 ± 0.001 μs 0.966 ± 0.035
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.34 ± 4 ms 3.31 ± 4 ms 1.01 ± 1.7
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.04 ± 0 μs 0.04 ± 0.009 μs 1 ± 0.23
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.32 ± 0.019 ms 0.324 ± 0.02 ms 0.988 ± 0.085
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0.05 ± 0 μs 0.04 ± 0.01 μs 1.25 ± 0.31
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 6.02 ± 1.9 μs 5.68 ± 2 μs 1.06 ± 0.49
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.12 ± 0.25 ms 3.04 ± 0.53 ms 1.03 ± 0.2
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 13.3 ± 0.24 μs 13 ± 0.22 μs 1.02 ± 0.025
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.332 ± 0.018 ms 0.339 ± 0.02 ms 0.98 ± 0.079
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.14 ± 0.001 μs 0.15 ± 0.009 μs 0.933 ± 0.056
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.21 ± 0.001 μs 0.201 ± 0.01 μs 1.04 ± 0.052
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.271 ± 0.011 μs 0.31 ± 0.01 μs 0.874 ± 0.045
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.15 ± 0.01 μs 0.15 ± 0.01 μs 1 ± 0.094
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.191 ± 0.01 μs 0.2 ± 0.01 μs 0.955 ± 0.069
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.42 ± 0.031 μs 3.42 ± 0.049 μs 1 ± 0.017
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.86 ± 0.04 μs 3.94 ± 0.05 μs 0.98 ± 0.016
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.43 ± 0.059 μs 3.44 ± 0.07 μs 0.997 ± 0.027
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 4.83 ± 0.08 μs 4.74 ± 0.08 μs 1.02 ± 0.024
time_to_load 3.91 ± 0.02 s 3.83 ± 0.0051 s 1.02 ± 0.0054
Memory benchmarks
main 02bcdb5... main / 02bcdb5...
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: 0.955 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 0.595 M allocs: 0.0821 GB 0.595 M allocs: 0.0821 GB 1
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 merged commit f2f5b2e into main Sep 6, 2025
5 checks passed
@franckgaga franckgaga deleted the tc_foh branch September 16, 2025 22:06
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@franckgaga @codecov-commenter