Skip to content

added: lastu keyword argument to moveinput! #274

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
merged 3 commits into from
Oct 26, 2025
Merged

added: lastu keyword argument to moveinput! #274

merged 3 commits into from
Oct 26, 2025

Conversation

@franckgaga
Copy link
Member

@franckgaga franckgaga commented Oct 26, 2025 •
edited
Loading

It's default value is to recuperate the value automatically stored at mpc.lastu0, or more precisely:

lastu = (mpc.buffer.u .= mpc.lastu0 .+ mpc.estim.model.uop)

to avoid wasteful allocations in handling the operating point. I think it's cleaner this way since:

  1. The $\mathbf{u}(k-1)$ value can be customized by the user. This value is used to compute $\mathbf{\Delta u}(k)$.
  2. The default behavior is explicitly documented in moveinput! docstring. It was a bit too much implicit before this PR.

This PR is inspired by LinearMPC.jl API, see darnstrom/LinearMPC.jl#27.

@franckgaga
added: lastu argument to moveinput!
4bd074d 
It's default is to recuperate the value automatically stored in `mpc.lastu0`.
@franckgaga
doc: new signature for initpred!
10c43d5
@franckgaga franckgaga changed the title added: lastu argument to moveinput! added: lastu keyword argument to moveinput! Oct 26, 2025
@codecov-commenter
Copy link

codecov-commenter commented Oct 26, 2025

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.45%. Comparing base (a93a568) to head (ed07620).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #274   +/-   ##
=======================================
  Coverage   98.45%   98.45%           
=======================================
  Files          28       28           
  Lines        4657     4659    +2     
=======================================
+ Hits         4585     4587    +2     
  Misses         72       72

☔ 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 26, 2025

Benchmark Results (Julia v1)

Time benchmarks
main ed07620... main / ed07620...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.29 ± 0.55 ms 5.35 ± 0.56 ms 0.988 ± 0.15
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.311 ± 0.0043 s 0.318 ± 0.0037 s 0.977 ± 0.018
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.224 ± 0.014 s 0.231 ± 0.017 s 0.971 ± 0.093
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.22 ± 0.55 ms 8.8 ± 0.58 ms 1.05 ± 0.093
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.63 ± 0.063 ms 1.6 ± 0.093 ms 1.02 ± 0.071
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.28 ± 0.51 ms 5.28 ± 0.53 ms 1 ± 0.14
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.277 ± 0.0066 s 0.284 ± 0.0034 s 0.973 ± 0.026
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.238 ± 0.0061 s 0.246 ± 0.0014 s 0.969 ± 0.026
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.38 ± 0.43 ms 6.21 ± 0.44 ms 1.03 ± 0.1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.75 ± 0.076 ms 1.74 ± 0.078 ms 1.01 ± 0.063
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.74 ± 1.5 ms 9.33 ± 1.4 ms 0.937 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.312 ± 0.032 s 0.322 ± 0.033 s 0.968 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.157 ± 0.0017 s 0.162 ± 0.002 s 0.97 ± 0.016
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.0973 ± 0.011 s 0.106 ± 0.0059 s 0.914 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.6 ± 1.6 ms 12 ± 1.5 ms 0.966 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.697 ± 0.039 s 0.719 ± 0.04 s 0.969 ± 0.077
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.83 ± 0.025 s 1.88 ± 0.014 s 0.973 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.704 ± 0.043 s 0.717 ± 0.042 s 0.981 ± 0.084
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.358 ± 0.016 s 0.364 ± 0.016 s 0.985 ± 0.061
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.522 ± 0.034 s 0.54 ± 0.034 s 0.967 ± 0.088
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.331 ± 0.016 s 0.341 ± 0.015 s 0.971 ± 0.063
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.152 ± 0.0058 s 0.15 ± 0.0059 s 1.01 ± 0.055
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.348 ± 0.015 s 0.345 ± 0.015 s 1.01 ± 0.061
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.369 ± 0.032 s 0.368 ± 0.03 s 1 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.518 ± 0.039 s 0.525 ± 0.047 s 0.987 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.329 ± 0.012 s 0.333 ± 0.0092 s 0.99 ± 0.046
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.36 ± 0.028 s 0.362 ± 0.026 s 0.994 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.13 ± 0.0069 s 0.128 ± 0.0064 s 1.02 ± 0.075
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.039 ± 0.0037 s 0.0407 ± 0.00097 s 0.958 ± 0.093
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0325 ± 0.0074 s 0.034 ± 0.0088 s 0.957 ± 0.33
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.179 ± 0.027 s 0.189 ± 0.036 s 0.947 ± 0.23
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.159 ± 0.024 s 0.164 ± 0.023 s 0.966 ± 0.2
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0328 ± 0.0042 s 0.0347 ± 0.0046 s 0.944 ± 0.17
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 26.7 ± 5.1 ms 27.8 ± 6 ms 0.958 ± 0.28
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 9.13 ± 0.48 s 9.92 ± 0.05 s 0.92 ± 0.049
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 3.57 ± 0.01 s 3.65 ± 0.014 s 0.979 ± 0.0046
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.41 ± 0.014 s 2.58 ± 0.014 s 0.932 ± 0.0076
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.47 ± 0.029 s 1.52 ± 0.012 s 0.965 ± 0.021
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.64 ± 0.03 μs 3.77 ± 0.03 μs 0.965 ± 0.011
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.114 ± 0.0079 ms 0.11 ± 0.0078 ms 1.03 ± 0.1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 15.6 ± 0.39 μs 15.1 ± 0.45 μs 1.03 ± 0.04
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.63 ± 0.24 ms 2.68 ± 0.24 ms 0.981 ± 0.13
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.96 ± 0.25 ms 2 ± 0.25 ms 0.982 ± 0.18
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.1 ± 0.13 ms 3.15 ± 0.13 ms 0.986 ± 0.059
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.8 ± 0.097 ms 1.84 ± 0.1 ms 0.977 ± 0.075
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.23 ± 0.14 ms 2.27 ± 0.15 ms 0.982 ± 0.089
UNIT TESTS/SimModel/LinModel/evaloutput 0.14 ± 0.001 μs 0.15 ± 0.01 μs 0.933 ± 0.063
UNIT TESTS/SimModel/LinModel/updatestate! 0.201 ± 0.01 μs 0.22 ± 0.01 μs 0.914 ± 0.062
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.421 ± 0.01 μs 0.421 ± 0.01 μs 1 ± 0.034
UNIT TESTS/SimModel/NonLinModel/linearize! 2.05 ± 0.02 μs 2.06 ± 0.02 μs 0.995 ± 0.014
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.491 ± 0.01 μs 0.491 ± 0.01 μs 1 ± 0.029
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.551 ± 0.001 μs 0.561 ± 0 μs 0.982 ± 0.0018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.82 ± 0.011 μs 1.82 ± 0.02 μs 1 ± 0.013
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.29 ± 0.01 μs 0.29 ± 0.01 μs 1 ± 0.049
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.42 ± 0.001 μs 1.41 ± 0.001 μs 1.01 ± 0.001
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 4.14 ± 0.1 μs 4.02 ± 0.091 μs 1.03 ± 0.034
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 8.89 ± 0.14 μs 9.23 ± 0.13 μs 0.963 ± 0.02
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.241 ± 0.001 μs 0.24 ± 0.001 μs 1 ± 0.0059
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.601 ± 0 μs 0.581 ± 0.01 μs 1.03 ± 0.018
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.281 ± 0.01 μs 0.291 ± 0.011 μs 0.966 ± 0.05
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.751 ± 0.01 μs 0.741 ± 0.01 μs 1.01 ± 0.019
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.411 ± 0.001 μs 0.411 ± 0.009 μs 1 ± 0.022
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.932 ± 0.001 μs 0.941 ± 0.01 μs 0.99 ± 0.011
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.261 ± 0.01 μs 0.28 ± 0.01 μs 0.932 ± 0.049
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.14 ± 0.001 μs 0.14 ± 0.001 μs 1 ± 0.01
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.54 ± 0.03 μs 2.58 ± 0.04 μs 0.988 ± 0.019
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.25 ± 0.01 μs 0.25 ± 0.001 μs 1 ± 0.04
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.26 ± 0.001 μs 0.26 ± 0.011 μs 1 ± 0.042
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.361 ± 0.01 μs 0.361 ± 0.001 μs 1 ± 0.028
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.54 ± 0.22 ms 3.47 ± 0.24 ms 1.02 ± 0.094
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.481 ± 0 μs 0.491 ± 0 μs 0.98 ± 0
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.332 ± 0.019 ms 0.32 ± 0.021 ms 1.04 ± 0.092
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.31 ± 0.01 μs 1.32 ± 0.01 μs 0.992 ± 0.011
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 9.16 ± 3.6 μs 8.32 ± 3.4 μs 1.1 ± 0.62
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.06 ± 0.23 ms 3.05 ± 0.16 ms 1 ± 0.092
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 17.2 ± 1 μs 16.8 ± 0.52 μs 1.02 ± 0.068
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.341 ± 0.02 ms 0.324 ± 0.021 ms 1.05 ± 0.091
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.27 ± 0.001 μs 0.27 ± 0.001 μs 1 ± 0.0052
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.29 ± 0.01 μs 0.29 ± 0.01 μs 1 ± 0.049
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.38 ± 0.01 μs 0.401 ± 0.001 μs 0.948 ± 0.025
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.301 ± 0.001 μs 0.3 ± 0.01 μs 1 ± 0.034
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.912 ± 0.01 μs 0.912 ± 0.02 μs 1 ± 0.025
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.64 ± 0.04 μs 3.68 ± 0.04 μs 0.989 ± 0.015
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 5.02 ± 0.06 μs 5.19 ± 0.05 μs 0.967 ± 0.015
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.5 ± 0.039 μs 3.64 ± 0.079 μs 0.961 ± 0.023
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.23 ± 0.041 μs 6.36 ± 0.08 μs 0.979 ± 0.014
time_to_load 3.56 ± 0.042 s 3.65 ± 0.11 s 0.976 ± 0.031
Memory benchmarks
main ed07620... main / ed07620...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0424 M allocs: 1.7 MB 0.0424 M allocs: 1.7 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 0.0422 M allocs: 1.7 MB 0.0422 M allocs: 1.7 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 0.107 M allocs: 5.91 MB 0.107 M allocs: 5.91 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 0.119 M allocs: 7.46 MB 0.119 M allocs: 7.46 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 0.647 M allocs: 0.0787 GB 0.647 M allocs: 0.0787 GB 1
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 14.4 M allocs: 2.56 GB 14.4 M allocs: 2.56 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 2.16 M allocs: 0.371 GB 2.16 M allocs: 0.371 GB 1
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: 14.6 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

@franckgaga franckgaga merged commit b9f325f into main Oct 26, 2025
5 checks passed
@franckgaga franckgaga deleted the lastu_arg branch October 26, 2025 21:22
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

benchmark

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

3 participants

@franckgaga @codecov-commenter