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Merged
merged 6 commits into from
Aug 30, 2025
Merged

added: unit tests and benchmarks for TrapezoidalCollocation #237

merged 6 commits into from
Aug 30, 2025

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@franckgaga franckgaga commented Aug 29, 2025

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codecov-commenter commented Aug 29, 2025 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.56%. Comparing base (bf181ac) to head (f62b79a).
⚠️ Report is 2 commits behind head on main.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #237      +/-   ##
==========================================
+ Coverage   97.66%   98.56%   +0.89%     
==========================================
  Files          26       26              
  Lines        4375     4375              
==========================================
+ Hits         4273     4312      +39     
+ Misses        102       63      -39

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github-actions bot commented Aug 29, 2025 •
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Benchmark Results (Julia v1)

Time benchmarks
main f62b79a... main / f62b79a...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 6.64 ± 0.53 ms 6.78 ± 0.55 ms 0.979 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.317 ± 0.004 s 0.319 ± 0.0087 s 0.994 ± 0.03
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.23 ± 0.014 s 0.23 ± 0.015 s 0.997 ± 0.09
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 8.8 ± 0.53 ms 8.27 ± 0.54 ms 1.06 ± 0.095
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.46 ± 0.072 ms 1.45 ± 0.071 ms 1 ± 0.07
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 6.84 ± 0.5 ms 6.79 ± 0.51 ms 1.01 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.281 ± 0.004 s 0.277 ± 0.003 s 1.02 ± 0.018
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.244 ± 0.0032 s 0.232 ± 0.0031 s 1.05 ± 0.02
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 5.97 ± 0.41 ms 5.93 ± 0.39 ms 1.01 ± 0.096
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.58 ± 0.066 ms 1.58 ± 0.065 ms 0.996 ± 0.059
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 7.99 ± 0.81 ms 7.97 ± 0.68 ms 1 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.337 ± 0.011 s 0.336 ± 0.014 s 1 ± 0.055
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.159 ± 0.0019 s 0.158 ± 0.0011 s 1.01 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.11 ± 0.0027 s 0.11 ± 0.0023 s 1 ± 0.032
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.6 ± 0.83 ms 11.5 ± 0.88 ms 1.01 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 1.89 ± 0.0048 s 1.9 ± 0.0061 s 0.996 ± 0.0041
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.06 ± 0.028 s 2.06 ± 0.022 s 1 ± 0.017
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.88 ± 0.0069 s 0.884 ± 0.01 s 0.995 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.51 ± 0.033 s 0.524 ± 0.039 s 0.975 ± 0.097
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.14 ± 0.0017 s 0.14 ± 0.0018 s 1 ± 0.018
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.784 ± 0.004 s 0.8 ± 0.0044 s 0.98 ± 0.0074
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.503 ± 0.039 s 0.515 ± 0.05 s 0.977 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.121 ± 0.0038 s 0.121 ± 0.0031 s 1 ± 0.04
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0403 ± 0.0051 s 0.042 ± 0.0051 s 0.958 ± 0.17
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0349 ± 0.0051 s 0.0333 ± 0.002 s 1.05 ± 0.17
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.197 ± 0.03 s 0.201 ± 0.021 s 0.983 ± 0.18
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.17 ± 0.037 s 0.169 ± 0.038 s 1 ± 0.31
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0333 ± 0.0034 s 0.036 ± 0.0031 s 0.924 ± 0.12
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 26 ± 2.4 ms 26.4 ± 2 ms 0.984 ± 0.12
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 13.9 ± 0.094 s 13.8 ± 0.081 s 1.01 ± 0.0091
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 4.07 ± 0.011 s 4.12 ± 0.016 s 0.99 ± 0.0048
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.02 ± 0.017 s 1.99 ± 0.036 s 1.02 ± 0.02
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.21 ± 0.0098 s 1.16 ± 0.013 s 1.04 ± 0.015
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 2.52 ± 0.02 μs 2.55 ± 0.03 μs 0.988 ± 0.014
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.108 ± 0.004 ms 0.109 ± 0.0039 ms 0.992 ± 0.051
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 12.3 ± 0.25 μs 12.7 ± 0.28 μs 0.974 ± 0.029
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.91 ± 0.23 ms 2.87 ± 0.18 ms 1.02 ± 0.1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.91 ± 0.14 ms 1.88 ± 0.11 ms 1.02 ± 0.098
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 8.89 ± 0.24 ms 8.85 ± 0.22 ms 1 ± 0.037
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.96 ± 0.083 ms 1.92 ± 0.076 ms 1.02 ± 0.059
UNIT TESTS/SimModel/LinModel/evaloutput 0.131 ± 0.01 μs 0.14 ± 0.01 μs 0.936 ± 0.098
UNIT TESTS/SimModel/LinModel/updatestate! 0.22 ± 0.01 μs 0.211 ± 0.01 μs 1.04 ± 0.068
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.15 ± 0.001 μs 0.14 ± 0.01 μs 1.07 ± 0.077
UNIT TESTS/SimModel/NonLinModel/linearize! 1.14 ± 0.019 μs 1.12 ± 0.02 μs 1.02 ± 0.025
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.211 ± 0.01 μs 0.22 ± 0.01 μs 0.959 ± 0.063
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.14 ± 0.01 μs 0.15 ± 0.009 μs 0.933 ± 0.087
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0.19 ± 0.01 μs 0.181 ± 0.01 μs 1.05 ± 0.08
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.04 ± 0.01 μs 0.04 ± 0 μs 1 ± 0.25
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 2.81 ± 0.021 μs 2.75 ± 0.03 μs 1.02 ± 0.013
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 3.37 ± 0.04 μs 3.33 ± 0.04 μs 1.01 ± 0.017
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.12 ± 0 μs 0.12 ± 0.01 μs 1 ± 0.083
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.12 ± 0.01 μs 0.111 ± 0.01 μs 1.08 ± 0.13
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.181 ± 0.01 μs 0.19 ± 0.01 μs 0.953 ± 0.073
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.19 ± 0.009 μs 0.19 ± 0.01 μs 1 ± 0.071
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.321 ± 0.01 μs 0.31 ± 0.01 μs 1.04 ± 0.046
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.31 ± 0.001 μs 0.311 ± 0.01 μs 0.997 ± 0.032
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.14 ± 0.009 μs 0.131 ± 0.01 μs 1.07 ± 0.11
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.1 ± 0.021 μs 2.07 ± 0.03 μs 1.01 ± 0.018
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.15 ± 0.01 μs 0.141 ± 0.01 μs 1.06 ± 0.1
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.21 ± 0.01 μs 0.211 ± 0.01 μs 0.995 ± 0.067
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.291 ± 0.01 μs 0.281 ± 0.01 μs 1.04 ± 0.051
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.47 ± 3.9 ms 3.64 ± 3.8 ms 0.955 ± 1.5
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.04 ± 0.01 μs 0.04 ± 0 μs 1 ± 0.25
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.327 ± 0.018 ms 0.327 ± 0.019 ms 1 ± 0.081
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0.04 ± 0.01 μs 0.04 ± 0 μs 1 ± 0.25
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 6.12 ± 2 μs 6.18 ± 2.4 μs 0.991 ± 0.5
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.24 ± 2 ms 3.38 ± 1.6 ms 0.959 ± 0.74
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 13.1 ± 0.3 μs 13.2 ± 0.24 μs 0.991 ± 0.029
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.338 ± 0.018 ms 0.337 ± 0.018 ms 1 ± 0.077
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.15 ± 0.01 μs 0.15 ± 0.001 μs 1 ± 0.067
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.2 ± 0.001 μs 0.2 ± 0.001 μs 1 ± 0.0071
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.29 ± 0.01 μs 0.281 ± 0.001 μs 1.03 ± 0.036
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.14 ± 0.01 μs 0.15 ± 0.01 μs 0.933 ± 0.091
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.2 ± 0.01 μs 0.2 ± 0.01 μs 1 ± 0.071
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.44 ± 0.031 μs 3.37 ± 0.031 μs 1.02 ± 0.013
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.9 ± 0.029 μs 3.95 ± 0.049 μs 0.987 ± 0.014
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.29 ± 0.04 μs 3.27 ± 0.061 μs 1.01 ± 0.022
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 4.71 ± 0.061 μs 4.62 ± 0.069 μs 1.02 ± 0.02
time_to_load 3.8 ± 0.0074 s 3.8 ± 0.037 s 0.999 ± 0.0099
Memory benchmarks
main f62b79a... main / f62b79a...
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 0.727 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/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: 16 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 ffc3bda into main Aug 30, 2025
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@franckgaga franckgaga deleted the prerelease branch August 30, 2025 19:45
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@franckgaga @codecov-commenter