Skip to content

Conversation

@franckgaga
Copy link
Member

@franckgaga franckgaga commented Oct 20, 2025

Removing a test that does not run for now with Ipopt. It was only for coverage. These sections of the code will be entirely removed once I finish migration to MOI.VectorNonlinearOracle. So coverage decreases in this PR, but it will re-increase later when I will remove these sections.

I do not plan to release a new version before finishing the migration to MOI.VectorNonlinearOracle. From the github activity, it seems that I can expect a new release of MOI in the short term, am I right @odow ? Also can I expect that the set will also work with MadNLP.jl ? Thanks!

@codecov-commenter
Copy link

codecov-commenter commented Oct 20, 2025

Codecov Report

❌ Patch coverage is 75.55556% with 33 lines in your changes missing coverage. Please review.
✅ Project coverage is 92.43%. Comparing base (9333844) to head (334dbd8).

Files with missing lines Patch % Lines
src/estimator/mhe/construct.jl 70.53% 33 Missing ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main     #268      +/-   ##
==========================================
- Coverage   94.30%   92.43%   -1.88%     
==========================================
  Files          26       26              
  Lines        4551     4612      +61     
==========================================
- Hits         4292     4263      -29     
- Misses        259      349      +90     

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:
  • ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

@github-actions
Copy link

github-actions bot commented Oct 20, 2025

Benchmark Results (Julia v1)

Time benchmarks
main 334dbd8... main / 334dbd8...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.28 ± 0.51 ms 5.35 ± 0.55 ms 0.988 ± 0.14
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.309 ± 0.0094 s 0.31 ± 0.0078 s 0.998 ± 0.04
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.214 ± 0.017 s 0.218 ± 0.015 s 0.985 ± 0.1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.05 ± 0.55 ms 9.29 ± 0.54 ms 0.974 ± 0.082
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.56 ± 0.067 ms 1.67 ± 0.066 ms 0.935 ± 0.054
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.34 ± 0.52 ms 5.32 ± 0.54 ms 1 ± 0.14
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.27 ± 0.0018 s 0.274 ± 0.004 s 0.988 ± 0.016
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.228 ± 0.0049 s 0.229 ± 0.0025 s 0.997 ± 0.024
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.25 ± 0.43 ms 6.64 ± 0.41 ms 0.941 ± 0.087
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.75 ± 0.081 ms 1.82 ± 0.081 ms 0.962 ± 0.062
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.86 ± 1.4 ms 8.7 ± 1.5 ms 1.02 ± 0.24
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.305 ± 0.038 s 0.308 ± 0.044 s 0.991 ± 0.19
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.156 ± 0.00072 s 0.157 ± 0.001 s 0.991 ± 0.0079
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.0945 ± 0.0099 s 0.0944 ± 0.011 s 1 ± 0.16
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.5 ± 1.7 ms 11.6 ± 1.5 ms 0.988 ± 0.19
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.69 ± 0.032 s 0.692 ± 0.03 s 0.997 ± 0.064
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.81 ± 0.012 s 1.82 ± 0.012 s 0.993 ± 0.0093
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.695 ± 0.035 s 0.69 ± 0.033 s 1.01 ± 0.07
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.352 ± 0.019 s 0.354 ± 0.014 s 0.994 ± 0.068
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.5 ± 0.027 s 0.518 ± 0.034 s 0.965 ± 0.081
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.33 ± 0.027 s 0.332 ± 0.027 s 0.994 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.142 ± 0.0042 s 0.142 ± 0.0049 s 1 ± 0.046
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.333 ± 0.016 s 0.335 ± 0.015 s 0.996 ± 0.066
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.357 ± 0.023 s 0.357 ± 0.023 s 0.999 ± 0.092
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.497 ± 0.032 s 0.504 ± 0.037 s 0.987 ± 0.096
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.321 ± 0.011 s 0.323 ± 0.009 s 0.995 ± 0.044
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.358 ± 0.021 s 0.359 ± 0.022 s 0.998 ± 0.084
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.121 ± 0.0041 s 0.12 ± 0.0047 s 1.01 ± 0.053
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0367 ± 0.0018 s 0.0367 ± 0.0027 s 1 ± 0.087
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 30.7 ± 5.8 ms 30.5 ± 5.5 ms 1.01 ± 0.26
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.182 ± 0.03 s 0.181 ± 0.033 s 1.01 ± 0.25
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.16 ± 0.026 s 0.161 ± 0.025 s 0.997 ± 0.22
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0322 ± 0.0038 s 0.0318 ± 0.0039 s 1.01 ± 0.17
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 25.6 ± 0.54 ms 25.7 ± 4.3 ms 0.998 ± 0.17
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 15.6 ± 0.053 s 8.85 ± 0.012 s 1.76 ± 0.0064
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 4.58 ± 0.0086 s 3.14 ± 0.011 s 1.46 ± 0.0056
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.39 ± 0.023 s 2.31 ± 0.017 s 1.03 ± 0.012
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.4 ± 0.007 s 1.34 ± 0.0061 s 1.04 ± 0.007
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.65 ± 0.03 μs 3.81 ± 0.021 μs 0.958 ± 0.0095
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.112 ± 0.0072 ms 0.114 ± 0.0074 ms 0.981 ± 0.09
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 15.1 ± 0.33 μs 16.1 ± 0.33 μs 0.94 ± 0.028
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.59 ± 0.13 ms 2.58 ± 0.13 ms 1.01 ± 0.073
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.96 ± 0.24 ms 1.94 ± 0.23 ms 1.01 ± 0.17
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.09 ± 0.1 ms 3.05 ± 0.11 ms 1.01 ± 0.049
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.79 ± 0.048 ms 1.77 ± 0.049 ms 1.01 ± 0.039
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.21 ± 0.13 ms 2.18 ± 0.13 ms 1.01 ± 0.085
UNIT TESTS/SimModel/LinModel/evaloutput 0.15 ± 0.01 μs 0.141 ± 0.01 μs 1.06 ± 0.1
UNIT TESTS/SimModel/LinModel/updatestate! 0.211 ± 0.001 μs 0.201 ± 0.01 μs 1.05 ± 0.052
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.421 ± 0.001 μs 0.431 ± 0.01 μs 0.977 ± 0.023
UNIT TESTS/SimModel/NonLinModel/linearize! 2.06 ± 0.02 μs 2.08 ± 0.03 μs 0.99 ± 0.017
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.491 ± 0.01 μs 0.481 ± 0.009 μs 1.02 ± 0.028
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.571 ± 0.01 μs 0.561 ± 0 μs 1.02 ± 0.018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.79 ± 0.01 μs 1.84 ± 0.021 μs 0.973 ± 0.012
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.29 ± 0.001 μs 0.281 ± 0.01 μs 1.03 ± 0.037
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.42 ± 0.01 μs 1.42 ± 0.01 μs 1 ± 0.0099
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 3.96 ± 0.051 μs 4.01 ± 0.08 μs 0.988 ± 0.023
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 8.95 ± 0.09 μs 8.91 ± 0.09 μs 1 ± 0.014
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.24 ± 0.01 μs 0.24 ± 0.01 μs 1 ± 0.059
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.581 ± 0.01 μs 0.59 ± 0.01 μs 0.985 ± 0.024
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.291 ± 0.01 μs 0.29 ± 0.01 μs 1 ± 0.049
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.732 ± 0.01 μs 0.731 ± 0.001 μs 1 ± 0.014
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.411 ± 0.001 μs 0.411 ± 0.011 μs 1 ± 0.027
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.922 ± 0.001 μs 0.912 ± 0.001 μs 1.01 ± 0.0016
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.27 ± 0.01 μs 0.27 ± 0.001 μs 1 ± 0.037
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.14 ± 0.001 μs 0.14 ± 0.01 μs 1 ± 0.072
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.52 ± 0.03 μs 2.57 ± 0.04 μs 0.981 ± 0.019
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.24 ± 0.001 μs 0.26 ± 0.02 μs 0.923 ± 0.071
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.251 ± 0.01 μs 0.251 ± 0.01 μs 1 ± 0.056
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.37 ± 0.01 μs 0.371 ± 0.001 μs 0.997 ± 0.027
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.25 ± 0.18 ms 3.29 ± 0.14 ms 0.989 ± 0.07
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.481 ± 0.01 μs 0.481 ± 0.01 μs 1 ± 0.029
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.318 ± 0.018 ms 0.319 ± 0.018 ms 0.998 ± 0.081
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.32 ± 0.01 μs 1.33 ± 0.01 μs 0.992 ± 0.011
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 7.92 ± 2.3 μs 7.29 ± 2.2 μs 1.09 ± 0.45
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 2.85 ± 0.1 ms 2.87 ± 0.093 ms 0.995 ± 0.048
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 16.6 ± 0.25 μs 16.1 ± 0.26 μs 1.03 ± 0.023
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.323 ± 0.018 ms 0.318 ± 0.018 ms 1.02 ± 0.082
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.271 ± 0.001 μs 0.27 ± 0.01 μs 1 ± 0.037
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.281 ± 0.011 μs 0.291 ± 0.01 μs 0.966 ± 0.05
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.381 ± 0.001 μs 0.38 ± 0.01 μs 1 ± 0.027
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.301 ± 0.001 μs 0.291 ± 0.01 μs 1.03 ± 0.036
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.922 ± 0.01 μs 0.901 ± 0.01 μs 1.02 ± 0.016
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.61 ± 0.03 μs 3.68 ± 0.03 μs 0.981 ± 0.011
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 5.27 ± 0.049 μs 4.99 ± 0.04 μs 1.06 ± 0.013
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.83 ± 0.05 μs 3.55 ± 0.041 μs 1.08 ± 0.019
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.17 ± 0.06 μs 6.17 ± 0.041 μs 1 ± 0.012
time_to_load 3.42 ± 0.017 s 3.42 ± 0.01 s 1 ± 0.0058
Memory benchmarks
main 334dbd8... main / 334dbd8...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0451 M allocs: 1.78 MB 0.0451 M allocs: 1.78 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.162 M allocs: 9.02 MB 0.162 M allocs: 9.02 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.0538 M allocs: 2.4 MB 0.0538 M allocs: 2.4 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 0.0758 M allocs: 1.95 MB 0.0758 M allocs: 1.95 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 7.85 k allocs: 0.249 MB 7.85 k allocs: 0.249 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 0.0449 M allocs: 1.78 MB 0.0449 M allocs: 1.78 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.127 M allocs: 7.19 MB 0.127 M allocs: 7.19 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0555 M allocs: 2.44 MB 0.0555 M allocs: 2.44 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 0.0532 M allocs: 1.39 MB 0.0532 M allocs: 1.39 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 7.7 k allocs: 0.243 MB 7.7 k allocs: 0.243 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 0.109 M allocs: 5.95 MB 0.109 M allocs: 5.95 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.65 M allocs: 0.25 GB 4.65 M allocs: 0.25 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.108 M allocs: 6.34 MB 0.108 M allocs: 6.34 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.68 M allocs: 0.254 GB 4.68 M allocs: 0.254 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.12 M allocs: 7.5 MB 0.12 M allocs: 7.5 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.353 M allocs: 27.4 MB 0.353 M allocs: 27.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.351 M allocs: 0.0509 GB 0.351 M allocs: 0.0509 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.536 M allocs: 0.0354 GB 0.536 M allocs: 0.0354 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.27 M allocs: 20.9 MB 0.27 M allocs: 20.9 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0962 M allocs: 18 MB 0.0962 M allocs: 18 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.38 M allocs: 25.9 MB 0.38 M allocs: 25.9 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.297 M allocs: 0.0649 GB 0.297 M allocs: 0.0649 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.229 M allocs: 17.5 MB 0.229 M allocs: 17.5 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.247 M allocs: 25.4 MB 0.247 M allocs: 25.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0758 M allocs: 13.6 MB 0.0758 M allocs: 13.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.32 M allocs: 21.6 MB 0.32 M allocs: 21.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.338 M allocs: 29.6 MB 0.338 M allocs: 29.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.255 M allocs: 0.056 GB 0.255 M allocs: 0.056 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.762 M allocs: 0.0804 GB 0.762 M allocs: 0.0804 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.682 M allocs: 0.0587 GB 0.682 M allocs: 0.0587 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.648 M allocs: 0.0809 GB 0.647 M allocs: 0.0787 GB 1.03
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.601 M allocs: 0.0564 GB 0.601 M allocs: 0.0564 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.63 M allocs: 0.0766 GB 0.63 M allocs: 0.0766 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.585 M allocs: 0.0555 GB 0.585 M allocs: 0.0555 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0873 G allocs: 15.9 GB 14.4 M allocs: 2.56 GB 6.21
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 12.7 M allocs: 2.3 GB 2.16 M allocs: 0.371 GB 6.18
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 15.2 M allocs: 2.8 GB 15.2 M allocs: 2.8 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 8.88 M allocs: 1.63 GB 8.88 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: 25.5 kB 0.994 k allocs: 25.5 kB 1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 0.088 k allocs: 2.23 kB 0.088 k allocs: 2.23 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.91 k allocs: 0.192 MB 2.91 k allocs: 0.192 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.511 k allocs: 0.0542 MB 0.511 k allocs: 0.0542 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.15 k allocs: 0.27 MB 3.15 k allocs: 0.27 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.545 k allocs: 0.114 MB 0.545 k allocs: 0.114 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.27 k allocs: 0.16 MB 2.27 k allocs: 0.16 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 4 allocs: 0.0938 kB 4 allocs: 0.0938 kB 1
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 4 allocs: 0.0938 kB 4 allocs: 0.0938 kB 1
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! 4 allocs: 0.0938 kB 4 allocs: 0.0938 kB 1
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 0.0754 M allocs: 14.7 MB 0.0754 M allocs: 14.6 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 0.973 k allocs: 25.4 kB 0.973 k allocs: 25.4 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 7.04 k allocs: 0.445 MB 7.04 k allocs: 0.445 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 0.973 k allocs: 25.4 kB 0.973 k allocs: 25.4 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 0.149 k allocs: 11.2 kB 0.149 k allocs: 11.2 kB 1

@odow
Copy link
Contributor

odow commented Oct 20, 2025

Within a week

@franckgaga franckgaga merged commit d2f05ba into main Oct 20, 2025
5 checks passed
@franckgaga franckgaga deleted the mhe_oracle branch October 20, 2025 21:07
@odow
Copy link
Contributor

odow commented Oct 20, 2025

Or, like, today 😆

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Projects

None yet

Development

Successfully merging this pull request may close these issues.

4 participants