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Merged
merged 5 commits into from
Aug 27, 2025
Merged

doc: clarifying model augmentation for NonLinMPC in f̂! docstring #235

merged 5 commits into from
Aug 27, 2025

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@franckgaga franckgaga commented Aug 27, 2025

It needs to be clarified, since the upcoming collocation methods will separate the deterministic and stochastic states in the equality constraints.

@franckgaga franckgaga changed the title doc: clarifying model augmentation for NonLinMPC in f! docstring doc: clarifying model augmentation for NonLinMPC in f̂! docstring Aug 27, 2025
@franckgaga franckgaga merged commit 9e50689 into main Aug 27, 2025
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Benchmark Results (Julia v1)

Time benchmarks
main 2d2c77d... main / 2d2c77d...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 6.92 ± 0.51 ms 6.94 ± 0.56 ms 0.997 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.317 ± 0.0072 s 0.317 ± 0.0075 s 1 ± 0.033
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.229 ± 0.013 s 0.229 ± 0.016 s 1 ± 0.09
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 8.92 ± 0.54 ms 8.78 ± 0.55 ms 1.02 ± 0.088
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.46 ± 0.072 ms 1.48 ± 0.076 ms 0.991 ± 0.071
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 6.95 ± 0.46 ms 7 ± 0.44 ms 0.993 ± 0.091
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.28 ± 0.0034 s 0.28 ± 0.0044 s 0.997 ± 0.02
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.243 ± 0.0017 s 0.242 ± 0.00078 s 1 ± 0.0076
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6 ± 0.43 ms 6.01 ± 0.42 ms 0.998 ± 0.1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.59 ± 0.06 ms 1.66 ± 0.07 ms 0.956 ± 0.054
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.14 ± 0.96 ms 8.17 ± 0.91 ms 0.996 ± 0.16
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.352 ± 0.017 s 0.356 ± 0.015 s 0.99 ± 0.065
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.159 ± 0.0014 s 0.159 ± 0.0022 s 1 ± 0.016
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.121 ± 0.0044 s 0.12 ± 0.0044 s 1 ± 0.052
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 12 ± 0.99 ms 11.9 ± 1.2 ms 1.01 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 2 ± 0.04 s 2.07 ± 0.034 s 0.965 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.12 ± 0.043 s 2.15 ± 0.022 s 0.984 ± 0.023
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.913 ± 0.02 s 0.935 ± 0.013 s 0.976 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.524 ± 0.043 s 0.527 ± 0.045 s 0.994 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.144 ± 0.0021 s 0.143 ± 0.0018 s 1.01 ± 0.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.811 ± 0.01 s 0.813 ± 0.0068 s 0.998 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.514 ± 0.047 s 0.515 ± 0.046 s 0.998 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.125 ± 0.005 s 0.125 ± 0.0048 s 1 ± 0.056
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0459 ± 0.0069 s 0.0422 ± 0.006 s 1.09 ± 0.23
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0385 ± 0.0035 s 0.0362 ± 0.0029 s 1.06 ± 0.13
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.206 ± 0.049 s 0.199 ± 0.046 s 1.03 ± 0.34
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.173 ± 0.05 s 0.172 ± 0.042 s 1.01 ± 0.38
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0388 ± 0.0053 s 0.0368 ± 0.0044 s 1.06 ± 0.19
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 29.8 ± 2.6 ms 28.4 ± 2.7 ms 1.05 ± 0.14
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 14.5 ± 0.39 s 15.4 ± 0.34 s 0.945 ± 0.033
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 4.49 ± 0.12 s 4.56 ± 0.077 s 0.986 ± 0.031
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.23 ± 0.028 s 2.14 ± 0.048 s 1.04 ± 0.027
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.31 ± 0.033 s 1.26 ± 0.024 s 1.03 ± 0.033
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 2.56 ± 0.03 μs 2.56 ± 0.02 μs 0.996 ± 0.014
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.116 ± 0.0039 ms 0.109 ± 0.0036 ms 1.06 ± 0.051
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 12.6 ± 0.33 μs 12.6 ± 0.33 μs 1 ± 0.037
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.87 ± 0.21 ms 2.97 ± 0.26 ms 0.966 ± 0.11
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.88 ± 0.13 ms 1.89 ± 0.12 ms 0.999 ± 0.091
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 9.78 ± 0.72 ms 9.43 ± 0.62 ms 1.04 ± 0.1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.89 ± 0.12 ms 2.04 ± 0.16 ms 0.924 ± 0.094
UNIT TESTS/SimModel/LinModel/evaloutput 0.13 ± 0.01 μs 0.14 ± 0.011 μs 0.929 ± 0.1
UNIT TESTS/SimModel/LinModel/updatestate! 0.22 ± 0.011 μs 0.21 ± 0.01 μs 1.05 ± 0.072
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.14 ± 0.01 μs 0.13 ± 0.001 μs 1.08 ± 0.077
UNIT TESTS/SimModel/NonLinModel/linearize! 1.11 ± 0.011 μs 1.09 ± 0.011 μs 1.02 ± 0.014
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.2 ± 0.021 μs 0.21 ± 0.001 μs 0.952 ± 0.1
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.14 ± 0.01 μs 0.13 ± 0.01 μs 1.08 ± 0.11
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0.191 ± 0.01 μs 0.19 ± 0.01 μs 1.01 ± 0.075
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 ± 0.03 μs 2.73 ± 0.04 μs 1.03 ± 0.019
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 3.38 ± 0.031 μs 3.4 ± 0.03 μs 0.994 ± 0.013
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.12 ± 0.001 μs 0.12 ± 0.01 μs 1 ± 0.084
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.13 ± 0.001 μs 0.12 ± 0.011 μs 1.08 ± 0.1
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.19 ± 0.01 μs 0.181 ± 0.011 μs 1.05 ± 0.084
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.19 ± 0.01 μs 0.18 ± 0.01 μs 1.06 ± 0.081
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.301 ± 0.01 μs 0.31 ± 0.01 μs 0.971 ± 0.045
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.321 ± 0.011 μs 0.301 ± 0.01 μs 1.07 ± 0.051
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.131 ± 0.01 μs 0.17 ± 0.01 μs 0.771 ± 0.074
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.04 ± 0 μs 0.04 ± 0.009 μs 1 ± 0.23
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.1 ± 0.02 μs 2.07 ± 0.05 μs 1.01 ± 0.026
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.15 ± 0.01 μs 0.14 ± 0.001 μs 1.07 ± 0.072
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.2 ± 0.01 μs 0.2 ± 0.001 μs 1 ± 0.05
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.29 ± 0.01 μs 0.28 ± 0.01 μs 1.04 ± 0.051
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 4.02 ± 4.4 ms 3.64 ± 4.3 ms 1.11 ± 1.8
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.329 ± 0.018 ms 0.332 ± 0.018 ms 0.99 ± 0.077
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 7.53 ± 2.5 μs 6.57 ± 2.4 μs 1.15 ± 0.56
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.59 ± 0.95 ms 3.32 ± 0.63 ms 1.08 ± 0.35
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 13.2 ± 0.39 μs 13.1 ± 0.35 μs 1 ± 0.04
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.344 ± 0.02 ms 0.342 ± 0.019 ms 1.01 ± 0.082
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.15 ± 0.011 μs 0.16 ± 0.019 μs 0.938 ± 0.13
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.2 ± 0.001 μs 0.201 ± 0.01 μs 0.995 ± 0.05
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.29 ± 0.01 μs 0.28 ± 0.001 μs 1.04 ± 0.036
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.15 ± 0.01 μs 0.15 ± 0.001 μs 1 ± 0.067
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.2 ± 0.001 μs 0.191 ± 0.01 μs 1.05 ± 0.055
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.48 ± 0.071 μs 3.41 ± 0.07 μs 1.02 ± 0.03
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.92 ± 0.03 μs 3.84 ± 0.03 μs 1.02 ± 0.011
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.43 ± 0.091 μs 3.38 ± 0.08 μs 1.02 ± 0.036
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 4.7 ± 0.08 μs 4.66 ± 0.08 μs 1.01 ± 0.024
time_to_load 3.96 ± 0.0075 s 3.96 ± 0.014 s 1 ± 0.004
Memory benchmarks
main 2d2c77d... main / 2d2c77d...
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: 6.46 MB 0.102 M allocs: 6.46 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/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/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/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 0.728 M allocs: 0.087 GB 0.727 M allocs: 0.086 GB 1.01
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/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 deleted the doc_model_aug branch September 16, 2025 22:06
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