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Merged
merged 3 commits into from
Nov 5, 2025
Merged

debug: only fills non-zeros in ∇²f of @operator #279

merged 3 commits into from
Nov 5, 2025
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@franckgaga
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@franckgaga franckgaga commented Nov 5, 2025 •
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See discussion at #275.

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codecov-commenter commented Nov 5, 2025

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.50%. Comparing base (01bf244) to head (a3cfbd4).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #279   +/-   ##
=======================================
  Coverage   98.50%   98.50%           
=======================================
  Files          28       28           
  Lines        4828     4831    +3     
=======================================
+ Hits         4756     4759    +3     
  Misses         72       72

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github-actions bot commented Nov 5, 2025

Benchmark Results (Julia v1)

Time benchmarks
main a3cfbd4... main / a3cfbd4...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.14 ± 0.47 ms 5.29 ± 0.5 ms 0.972 ± 0.13
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.314 ± 0.0043 s 0.314 ± 0.0049 s 1 ± 0.021
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.228 ± 0.012 s 0.227 ± 0.0064 s 1.01 ± 0.059
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 8.91 ± 0.5 ms 9.08 ± 0.52 ms 0.982 ± 0.078
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.58 ± 0.072 ms 1.71 ± 0.07 ms 0.929 ± 0.057
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.13 ± 0.5 ms 5.25 ± 0.52 ms 0.977 ± 0.14
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.273 ± 0.0028 s 0.272 ± 0.0024 s 1 ± 0.013
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.231 ± 0.00072 s 0.23 ± 0.0011 s 1 ± 0.0059
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.16 ± 0.35 ms 6.18 ± 0.37 ms 0.996 ± 0.082
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.72 ± 0.058 ms 1.8 ± 0.064 ms 0.955 ± 0.047
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 9.26 ± 1.5 ms 9.48 ± 1.5 ms 0.977 ± 0.22
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.313 ± 0.042 s 0.313 ± 0.05 s 1 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.156 ± 0.0015 s 0.155 ± 0.0011 s 1 ± 0.012
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.11 ± 0.016 s 0.107 ± 0.0088 s 1.03 ± 0.17
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.9 ± 1.6 ms 11.9 ± 1.8 ms 1 ± 0.2
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.7 ± 0.038 s 0.693 ± 0.04 s 1.01 ± 0.079
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.73 ± 0.12 s 1.73 ± 0.14 s 0.999 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.699 ± 0.03 s 0.705 ± 0.04 s 0.991 ± 0.071
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.353 ± 0.011 s 0.361 ± 0.012 s 0.979 ± 0.046
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.488 ± 0.013 s 0.492 ± 0.011 s 0.991 ± 0.034
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.328 ± 0.01 s 0.332 ± 0.012 s 0.987 ± 0.047
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.144 ± 0.0028 s 0.147 ± 0.0053 s 0.979 ± 0.04
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.341 ± 0.005 s 0.338 ± 0.0072 s 1.01 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.467 ± 0.024 s 0.444 ± 0.0049 s 1.05 ± 0.055
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.362 ± 0.015 s 0.361 ± 0.014 s 1 ± 0.057
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.485 ± 0.012 s 0.485 ± 0.012 s 0.999 ± 0.035
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.175 ± 0.01 s 0.168 ± 0.0085 s 1.04 ± 0.081
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.322 ± 0.01 s 0.324 ± 0.01 s 0.992 ± 0.044
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.348 ± 0.028 s 0.361 ± 0.028 s 0.962 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.123 ± 0.001 s 0.12 ± 0.0014 s 1.02 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.196 ± 0.018 s 0.207 ± 0.018 s 0.948 ± 0.12
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0387 ± 0.001 s 0.0407 ± 0.0041 s 0.951 ± 0.099
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0335 ± 0.0086 s 0.0347 ± 0.011 s 0.964 ± 0.38
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.191 ± 0.035 s 0.193 ± 0.041 s 0.99 ± 0.28
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.163 ± 0.023 s 0.162 ± 0.025 s 1.01 ± 0.21
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0353 ± 0.0047 s 0.0357 ± 0.0056 s 0.988 ± 0.2
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 28.2 ± 6.6 ms 29 ± 3.6 ms 0.971 ± 0.26
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0826 ± 0.0031 s 0.0869 ± 0.0015 s 0.95 ± 0.039
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.079 ± 0.00049 s 0.0876 ± 0.002 s 0.902 ± 0.022
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0641 ± 0.0022 s 0.0662 ± 0.004 s 0.969 ± 0.067
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.084 ± 0.0036 s 0.0892 ± 0.005 s 0.942 ± 0.066
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.51 ± 0.12 s 2.62 ± 0.029 s 0.957 ± 0.049
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.51 ± 0.036 s 1.54 ± 0.027 s 0.981 ± 0.029
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.82 ± 0.03 μs 4.16 ± 0.039 μs 0.918 ± 0.011
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.107 ± 0.0072 ms 0.11 ± 0.0068 ms 0.97 ± 0.089
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 14.6 ± 0.29 μs 15.2 ± 0.34 μs 0.964 ± 0.029
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.59 ± 0.15 ms 2.61 ± 0.17 ms 0.994 ± 0.086
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.88 ± 0.2 ms 1.89 ± 0.21 ms 0.998 ± 0.16
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.09 ± 0.19 ms 3.11 ± 0.19 ms 0.995 ± 0.088
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.11 ± 0.21 ms 3.14 ± 0.21 ms 0.988 ± 0.094
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.78 ± 0.075 ms 1.78 ± 0.099 ms 1 ± 0.07
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.76 ± 0.06 ms 1.76 ± 0.044 ms 1 ± 0.042
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.2 ± 0.13 ms 2.2 ± 0.12 ms 0.999 ± 0.08
UNIT TESTS/SimModel/LinModel/evaloutput 0.15 ± 0.01 μs 0.15 ± 0.01 μs 1 ± 0.094
UNIT TESTS/SimModel/LinModel/updatestate! 0.201 ± 0.01 μs 0.21 ± 0.011 μs 0.957 ± 0.069
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.421 ± 0 μs 0.421 ± 0.01 μs 1 ± 0.024
UNIT TESTS/SimModel/NonLinModel/linearize! 2 ± 0.02 μs 2.01 ± 0.02 μs 0.995 ± 0.014
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.491 ± 0.011 μs 0.491 ± 0.01 μs 1 ± 0.03
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.561 ± 0 μs 0.541 ± 0.01 μs 1.04 ± 0.019
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.79 ± 0.02 μs 1.84 ± 0.011 μs 0.973 ± 0.012
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.261 ± 0.01 μs 0.27 ± 0.01 μs 0.967 ± 0.052
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 4.07 ± 0.051 μs 4.07 ± 0.061 μs 1 ± 0.02
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 9.05 ± 0.1 μs 9.06 ± 0.16 μs 0.999 ± 0.021
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.24 ± 0.01 μs 0.24 ± 0.001 μs 1 ± 0.042
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.571 ± 0.01 μs 0.571 ± 0.001 μs 1 ± 0.018
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.29 ± 0.01 μs 0.281 ± 0.001 μs 1.03 ± 0.036
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.732 ± 0.01 μs 0.741 ± 0.01 μs 0.988 ± 0.019
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.401 ± 0.01 μs 0.411 ± 0.01 μs 0.976 ± 0.034
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.922 ± 0.01 μs 0.942 ± 0.01 μs 0.979 ± 0.015
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.261 ± 0.01 μs 0.27 ± 0.01 μs 0.967 ± 0.052
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.131 ± 0.01 μs 0.13 ± 0.001 μs 1.01 ± 0.077
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.58 ± 0.031 μs 2.58 ± 0.04 μs 1 ± 0.02
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.241 ± 0.001 μs 0.241 ± 0.011 μs 1 ± 0.046
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.251 ± 0.01 μs 0.26 ± 0.01 μs 0.965 ± 0.053
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.341 ± 0.01 μs 0.351 ± 0.01 μs 0.972 ± 0.04
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.57 ± 0.15 ms 3.67 ± 0.23 ms 0.973 ± 0.073
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.481 ± 0 μs 0.481 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.337 ± 0.019 ms 0.343 ± 0.02 ms 0.982 ± 0.078
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.31 ± 0.011 μs 1.32 ± 0.01 μs 0.993 ± 0.011
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 8.58 ± 3.6 μs 9.64 ± 4.6 μs 0.89 ± 0.56
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.27 ± 0.19 ms 3.26 ± 0.22 ms 1 ± 0.09
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 17 ± 0.38 μs 17.1 ± 0.66 μs 0.995 ± 0.045
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.333 ± 0.019 ms 0.341 ± 0.019 ms 0.976 ± 0.078
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.27 ± 0.01 μs 0.27 ± 0.001 μs 1 ± 0.037
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.29 ± 0.01 μs 0.29 ± 0.01 μs 1 ± 0.049
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.371 ± 0.01 μs 0.381 ± 0.01 μs 0.974 ± 0.037
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.301 ± 0.01 μs 0.311 ± 0.001 μs 0.968 ± 0.032
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.902 ± 0.001 μs 0.922 ± 0.02 μs 0.978 ± 0.021
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.87 ± 0.061 μs 4.1 ± 0.06 μs 0.944 ± 0.02
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 4.9 ± 0.04 μs 5.01 ± 0.03 μs 0.978 ± 0.0099
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.55 ± 0.031 μs 3.69 ± 0.04 μs 0.962 ± 0.013
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.14 ± 0.041 μs 6.28 ± 0.05 μs 0.978 ± 0.01
time_to_load 3.51 ± 0.019 s 3.57 ± 0.068 s 0.984 ± 0.02
Memory benchmarks
main a3cfbd4... main / a3cfbd4...
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 0.354 M allocs: 20.7 MB 0.354 M allocs: 20.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.357 M allocs: 17.2 MB 0.357 M allocs: 17.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.537 M allocs: 29.2 MB 0.537 M allocs: 29.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.271 M allocs: 15.6 MB 0.271 M allocs: 15.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0988 M allocs: 4.16 MB 0.0988 M allocs: 4.16 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.38 M allocs: 20.6 MB 0.38 M allocs: 20.6 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 0.23 M allocs: 13.2 MB 0.23 M allocs: 13.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 1.75 M allocs: 0.116 GB 1.75 M allocs: 0.116 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.248 M allocs: 21 MB 0.248 M allocs: 21 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0778 M allocs: 3.26 MB 0.0778 M allocs: 3.26 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.0846 M allocs: 5.32 MB 0.0846 M allocs: 5.34 MB 0.996
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.321 M allocs: 17.3 MB 0.321 M allocs: 17.3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.339 M allocs: 25.3 MB 0.339 M allocs: 25.3 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/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 1.36 M allocs: 0.0836 GB 1.36 M allocs: 0.0836 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.762 M allocs: 0.0802 GB 0.762 M allocs: 0.0802 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.682 M allocs: 0.0585 GB 0.682 M allocs: 0.0585 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.647 M allocs: 0.0785 GB 0.647 M allocs: 0.0785 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.601 M allocs: 0.0562 GB 0.601 M allocs: 0.0562 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.63 M allocs: 0.0764 GB 0.63 M allocs: 0.0764 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.585 M allocs: 0.0553 GB 0.585 M allocs: 0.0553 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.065 M allocs: 11.4 MB 0.065 M allocs: 11.4 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0639 M allocs: 11.2 MB 0.0639 M allocs: 11.2 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0485 M allocs: 8.01 MB 0.0485 M allocs: 8.01 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0642 M allocs: 11.3 MB 0.0642 M allocs: 11.3 MB 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 2.92 k allocs: 0.149 MB 2.92 k allocs: 0.149 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.519 k allocs: 19.6 kB 0.519 k allocs: 19.6 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.16 k allocs: 0.168 MB 3.16 k allocs: 0.168 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.26 k allocs: 0.186 MB 3.26 k allocs: 0.186 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.553 k allocs: 21.2 kB 0.553 k allocs: 21.2 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 0.553 k allocs: 21.2 kB 0.553 k allocs: 21.2 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.27 k allocs: 0.102 MB 2.27 k allocs: 0.102 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 0.997
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 7.05 k allocs: 0.443 MB 7.05 k allocs: 0.443 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 fd15f6a into main Nov 5, 2025
5 checks passed
@franckgaga franckgaga changed the title debug: only fills non-zero in ∇²f of @operator debug: only fills non-zerod in ∇²f of @operator Nov 5, 2025
@franckgaga franckgaga changed the title debug: only fills non-zerod in ∇²f of @operator debug: only fills non-zeros in ∇²f of @operator Nov 5, 2025
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