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debug: linearize! on NonLinModel with non-zero operating points now works #239

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Merged
merged 4 commits into from
Sep 4, 2025
Merged

debug: linearize! on NonLinModel with non-zero operating points now works #239

merged 4 commits into from
Sep 4, 2025

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@franckgaga
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@franckgaga franckgaga commented Sep 4, 2025 •
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Added a simple test to verify the correctness of the results in such cases.

Non-zero operating points on NonLinModel are arguably not very useful in practice. But this feature is available, so all the available methods should work correctly in such cases.

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codecov-commenter commented Sep 4, 2025

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.56%. Comparing base (ffc3bda) to head (345c605).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #239   +/-   ##
=======================================
  Coverage   98.56%   98.56%           
=======================================
  Files          26       26           
  Lines        4375     4377    +2     
=======================================
+ Hits         4312     4314    +2     
  Misses         63       63

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github-actions bot commented Sep 4, 2025

Benchmark Results (Julia v1)

Time benchmarks
main 345c605... main / 345c605...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 6.93 ± 0.56 ms 6.97 ± 0.59 ms 0.995 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.319 ± 0.0084 s 0.321 ± 0.0085 s 0.994 ± 0.037
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.231 ± 0.014 s 0.232 ± 0.013 s 0.996 ± 0.081
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 8.93 ± 0.64 ms 9.03 ± 0.62 ms 0.989 ± 0.098
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.49 ± 0.096 ms 1.48 ± 0.091 ms 1.01 ± 0.089
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 6.98 ± 0.52 ms 6.93 ± 0.54 ms 1.01 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.282 ± 0.006 s 0.284 ± 0.0029 s 0.992 ± 0.023
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.245 ± 0.0023 s 0.246 ± 0.0034 s 0.995 ± 0.017
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.08 ± 0.41 ms 6.43 ± 0.38 ms 0.945 ± 0.085
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.63 ± 0.051 ms 1.61 ± 0.088 ms 1.01 ± 0.063
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.18 ± 1.4 ms 8.18 ± 1.5 ms 1 ± 0.25
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.353 ± 0.028 s 0.346 ± 0.034 s 1.02 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.158 ± 0.0016 s 0.159 ± 0.0016 s 0.995 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.121 ± 0.0095 s 0.116 ± 0.0098 s 1.04 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 12 ± 1.8 ms 12 ± 1.7 ms 1 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 1.88 ± 0.023 s 2.01 ± 0.042 s 0.935 ± 0.023
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.04 ± 0.027 s 2.15 ± 0.052 s 0.948 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.91 ± 0.033 s 2.03 ± 0.052 s 0.942 ± 0.029
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.895 ± 0.011 s 0.939 ± 0.022 s 0.953 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.505 ± 0.041 s 0.514 ± 0.049 s 0.983 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.864 ± 0.013 s 0.887 ± 0.017 s 0.974 ± 0.023
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.142 ± 0.004 s 0.144 ± 0.0051 s 0.989 ± 0.045
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.802 ± 0.016 s 0.832 ± 0.012 s 0.963 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.5 ± 0.051 s 0.499 ± 0.046 s 1 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.763 ± 0.014 s 0.801 ± 0.013 s 0.953 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.123 ± 0.0063 s 0.122 ± 0.005 s 1.01 ± 0.066
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0449 ± 0.006 s 0.0417 ± 0.0061 s 1.08 ± 0.21
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0381 ± 0.0043 s 0.0357 ± 0.0032 s 1.07 ± 0.15
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.208 ± 0.05 s 0.195 ± 0.044 s 1.07 ± 0.35
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.174 ± 0.022 s 0.173 ± 0.036 s 1 ± 0.24
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.041 ± 0.0063 s 0.0364 ± 0.0055 s 1.13 ± 0.24
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.0326 ± 0.0033 s 27.7 ± 2.3 ms 1.18 ± 0.15
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 13.5 ± 0.29 s 15.1 ± 0.45 s 0.898 ± 0.033
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 4.03 ± 0.098 s 4.44 ± 0.093 s 0.908 ± 0.029
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.02 ± 0.037 s 2.09 ± 0.041 s 0.969 ± 0.026
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.23 ± 0.049 s 1.21 ± 0.011 s 1.02 ± 0.042
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 2.54 ± 0.05 μs 2.54 ± 0.03 μs 1 ± 0.023
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.111 ± 0.0049 ms 0.114 ± 0.0041 ms 0.976 ± 0.055
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 12.8 ± 0.33 μs 13.2 ± 0.63 μs 0.97 ± 0.053
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.89 ± 0.19 ms 3.1 ± 0.35 ms 0.933 ± 0.12
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.95 ± 0.12 ms 1.98 ± 0.095 ms 0.989 ± 0.076
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 9.39 ± 0.64 ms 10.1 ± 0.85 ms 0.933 ± 0.1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.91 ± 0.094 ms 2.04 ± 0.11 ms 0.936 ± 0.068
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 3.74 ± 0.22 ms 4.24 ± 0.32 ms 0.882 ± 0.085
UNIT TESTS/SimModel/LinModel/evaloutput 0.13 ± 0.01 μs 0.13 ± 0.01 μs 1 ± 0.11
UNIT TESTS/SimModel/LinModel/updatestate! 0.211 ± 0.011 μs 0.21 ± 0.001 μs 1 ± 0.053
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.13 ± 0.001 μs 0.13 ± 0.001 μs 1 ± 0.011
UNIT TESTS/SimModel/NonLinModel/linearize! 1.1 ± 0.02 μs 1.1 ± 0.01 μs 1 ± 0.02
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.201 ± 0.01 μs 0.21 ± 0.001 μs 0.957 ± 0.048
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.131 ± 0.01 μs 0.131 ± 0.01 μs 1 ± 0.11
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0.18 ± 0.001 μs 0.181 ± 0.01 μs 0.994 ± 0.055
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.04 ± 0.009 μs 0.04 ± 0 μs 1 ± 0.23
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 2.71 ± 0.03 μs 2.82 ± 0.04 μs 0.961 ± 0.017
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 3.36 ± 0.04 μs 3.43 ± 0.041 μs 0.98 ± 0.017
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.111 ± 0.01 μs 0.12 ± 0.01 μs 0.925 ± 0.11
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 0.181 ± 0.011 μs 1 ± 0.082
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.181 ± 0.01 μs 0.181 ± 0.01 μs 1 ± 0.078
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.301 ± 0.011 μs 0.311 ± 0.001 μs 0.968 ± 0.036
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.301 ± 0.001 μs 0.31 ± 0.01 μs 0.971 ± 0.031
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.14 ± 0.011 μs 0.14 ± 0.011 μs 1 ± 0.11
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.05 ± 0 μs 0.04 ± 0 μs 1.25 ± 0
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.1 ± 0.02 μs 2.09 ± 0.02 μs 1 ± 0.014
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.14 ± 0.01 μs 0.14 ± 0.01 μs 1 ± 0.1
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.2 ± 0.001 μs 0.2 ± 0.001 μs 1 ± 0.0071
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.28 ± 0.001 μs 0.291 ± 0.001 μs 0.962 ± 0.0048
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.61 ± 4.4 ms 4.08 ± 5.9 ms 0.884 ± 1.7
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 0.328 ± 0.018 ms 0.359 ± 0.021 ms 0.915 ± 0.074
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 6.65 ± 2.3 μs 11.6 ± 7.3 μs 0.575 ± 0.41
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.33 ± 0.51 ms 3.77 ± 0.49 ms 0.883 ± 0.18
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 13 ± 0.32 μs 13.4 ± 0.37 μs 0.971 ± 0.036
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.343 ± 0.019 ms 0.36 ± 0.019 ms 0.955 ± 0.072
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.14 ± 0.001 μs 0.14 ± 0.001 μs 1 ± 0.01
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.2 ± 0.001 μs 0.21 ± 0.01 μs 0.952 ± 0.046
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.28 ± 0.01 μs 0.29 ± 0.01 μs 0.966 ± 0.048
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.15 ± 0.01 μs 0.141 ± 0.01 μs 1.06 ± 0.1
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.191 ± 0.01 μs 0.2 ± 0.001 μs 0.955 ± 0.05
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.38 ± 0.03 μs 3.46 ± 0.059 μs 0.977 ± 0.019
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.91 ± 0.039 μs 3.84 ± 0.03 μs 1.02 ± 0.013
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.38 ± 0.091 μs 3.27 ± 0.2 μs 1.03 ± 0.069
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 4.69 ± 0.07 μs 4.74 ± 0.1 μs 0.989 ± 0.026
time_to_load 3.89 ± 0.03 s 4.11 ± 0.095 s 0.948 ± 0.023
Memory benchmarks
main 345c605... main / 345c605...
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/Custom constraints/Ipopt/TrapezoidalCollocation 17.7 M allocs: 0.998 GB 17.7 M allocs: 0.998 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/Ipopt/TrapezoidalCollocation 10.4 M allocs: 0.59 GB 10.4 M allocs: 0.59 GB 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/Ipopt/TrapezoidalCollocation 8.09 M allocs: 0.465 GB 8.09 M allocs: 0.465 GB 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 0.623 M allocs: 0.0855 GB 0.622 M allocs: 0.0833 GB 1.03
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/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 15.7 k allocs: 1.43 MB 15.7 k allocs: 1.43 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 0.996
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 14766cb into main Sep 4, 2025
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@franckgaga franckgaga deleted the debug_linearize branch September 4, 2025 20:31
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@franckgaga @codecov-commenter