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@franckgaga franckgaga commented Sep 12, 2025

Is the feature list still worth it ? It's getting a bit to long for a home page...

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Update README.md
7e5dd6b 
Is the feature list still worth it ? It's getting a bit to long for a home page...
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franckgaga commented Sep 12, 2025 •
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No I really don't think so, I like minimalist README.md file 👋

edit: or maybe a TL;DR version of unique features, compared to other MPC packages

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codecov-commenter commented Sep 12, 2025

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.63%. Comparing base (0dbe0b9) to head (7e5dd6b).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #250   +/-   ##
=======================================
  Coverage   98.63%   98.63%           
=======================================
  Files          26       26           
  Lines        4458     4458           
=======================================
  Hits         4397     4397           
  Misses         61       61

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github-actions bot commented Sep 12, 2025

Benchmark Results (Julia v1)

Time benchmarks
main 7e5dd6b... main / 7e5dd6b...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 7.09 ± 0.44 ms 6.97 ± 0.52 ms 1.02 ± 0.099
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.319 ± 0.0059 s 0.318 ± 0.007 s 1 ± 0.029
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.228 ± 0.014 s 0.228 ± 0.014 s 1 ± 0.086
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.75 ± 0.63 ms 9.31 ± 0.56 ms 1.05 ± 0.093
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.59 ± 0.086 ms 1.52 ± 0.094 ms 1.04 ± 0.086
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 7.08 ± 0.51 ms 6.97 ± 0.52 ms 1.02 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.277 ± 0.002 s 0.282 ± 0.0037 s 0.983 ± 0.015
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.229 ± 0.0018 s 0.241 ± 0.0061 s 0.952 ± 0.025
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.91 ± 0.42 ms 6.41 ± 0.44 ms 1.08 ± 0.099
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.75 ± 0.064 ms 1.66 ± 0.054 ms 1.05 ± 0.052
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.14 ± 1.4 ms 8.08 ± 1.4 ms 1.01 ± 0.25
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.321 ± 0.035 s 0.319 ± 0.045 s 1.01 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.155 ± 0.0016 s 0.155 ± 0.0032 s 0.997 ± 0.023
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.114 ± 0.014 s 0.11 ± 0.013 s 1.04 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.6 ± 1.7 ms 11.7 ± 1.8 ms 0.995 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 1.82 ± 0.027 s 1.94 ± 0.055 s 0.94 ± 0.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.01 ± 0.031 s 2.03 ± 0.08 s 0.991 ± 0.042
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.82 ± 0.014 s 1.9 ± 0.038 s 0.956 ± 0.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.899 ± 0.013 s 0.892 ± 0.024 s 1.01 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.508 ± 0.045 s 0.521 ± 0.058 s 0.976 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.819 ± 0.004 s 0.858 ± 0.022 s 0.954 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.14 ± 0.0046 s 0.144 ± 0.0056 s 0.977 ± 0.049
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.799 ± 0.014 s 0.781 ± 0.0092 s 1.02 ± 0.021
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.493 ± 0.046 s 0.493 ± 0.047 s 0.998 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.768 ± 0.021 s 0.757 ± 0.02 s 1.02 ± 0.039
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.119 ± 0.0045 s 0.119 ± 0.0041 s 0.999 ± 0.051
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0402 ± 0.0057 s 0.0392 ± 0.0053 s 1.03 ± 0.2
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.036 ± 0.0053 s 0.0338 ± 0.0021 s 1.07 ± 0.17
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.195 ± 0.029 s 0.181 ± 0.036 s 1.08 ± 0.26
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.163 ± 0.045 s 0.166 ± 0.033 s 0.977 ± 0.33
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0344 ± 0.0039 s 0.0323 ± 0.004 s 1.07 ± 0.18
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 27.9 ± 2.6 ms 26.7 ± 1.4 ms 1.04 ± 0.11
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 13.4 ± 0.12 s 13.2 ± 0.29 s 1.01 ± 0.024
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 3.85 ± 0.048 s 3.96 ± 0.059 s 0.97 ± 0.019
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.03 ± 0.034 s 1.94 ± 0.087 s 1.05 ± 0.05
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.17 ± 0.027 s 1.15 ± 0.0032 s 1.02 ± 0.024
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 2.54 ± 0.029 μs 2.54 ± 0.029 μs 1 ± 0.016
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.125 ± 0.0042 ms 0.118 ± 0.0043 ms 1.06 ± 0.053
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 14.6 ± 0.35 μs 13.8 ± 0.3 μs 1.06 ± 0.034
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.85 ± 0.19 ms 2.84 ± 0.17 ms 1 ± 0.092
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.95 ± 0.14 ms 1.94 ± 0.12 ms 1 ± 0.098
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 8.82 ± 0.33 ms 8.83 ± 0.29 ms 0.999 ± 0.049
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.9 ± 0.078 ms 1.9 ± 0.076 ms 1 ± 0.057
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 3.63 ± 0.16 ms 3.6 ± 0.13 ms 1.01 ± 0.057
UNIT TESTS/SimModel/LinModel/evaloutput 0.13 ± 0 μs 0.131 ± 0.01 μs 0.992 ± 0.076
UNIT TESTS/SimModel/LinModel/updatestate! 0.211 ± 0.01 μs 0.22 ± 0.001 μs 0.959 ± 0.046
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.13 ± 0.001 μs 0.14 ± 0.01 μs 0.929 ± 0.067
UNIT TESTS/SimModel/NonLinModel/linearize! 1.1 ± 0.02 μs 1.11 ± 0.01 μs 0.991 ± 0.02
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.211 ± 0.01 μs 0.211 ± 0.01 μs 1 ± 0.067
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.14 ± 0.009 μs 0.14 ± 0 μs 1 ± 0.064
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0.19 ± 0.01 μs 0.19 ± 0.001 μs 1 ± 0.053
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 ± 0.009 μs 1 ± 0.23
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 2.77 ± 0.021 μs 2.77 ± 0.031 μs 1 ± 0.014
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 3.37 ± 0.039 μs 3.39 ± 0.049 μs 0.994 ± 0.018
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.12 ± 0.009 μs 0.12 ± 0.009 μs 1 ± 0.11
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.12 ± 0 μs 0.111 ± 0.01 μs 1.08 ± 0.097
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.19 ± 0.01 μs 0.181 ± 0.01 μs 1.05 ± 0.08
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.181 ± 0.01 μs 0.191 ± 0.01 μs 0.948 ± 0.072
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.31 ± 0.01 μs 0.311 ± 0.001 μs 0.997 ± 0.032
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.31 ± 0.01 μs 0.321 ± 0.01 μs 0.966 ± 0.043
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.14 ± 0.01 μs 0.14 ± 0.001 μs 1 ± 0.072
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.06 ± 0.029 μs 2.05 ± 0.02 μs 1 ± 0.017
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.14 ± 0.01 μs 0.141 ± 0.01 μs 0.993 ± 0.1
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.21 ± 0.01 μs 0.2 ± 0.001 μs 1.05 ± 0.05
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.29 ± 0.01 μs 0.281 ± 0.001 μs 1.03 ± 0.036
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.38 ± 4 ms 3.47 ± 4.2 ms 0.973 ± 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 0.336 ± 0.018 ms 0.322 ± 0.018 ms 1.05 ± 0.08
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 6.18 ± 1.8 μs 6.42 ± 2.4 μs 0.962 ± 0.46
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.09 ± 0.22 ms 3.25 ± 0.54 ms 0.951 ± 0.17
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 12.8 ± 0.27 μs 13.2 ± 0.26 μs 0.973 ± 0.028
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.335 ± 0.018 ms 0.335 ± 0.017 ms 1 ± 0.075
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.141 ± 0.01 μs 0.141 ± 0.01 μs 1 ± 0.1
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.21 ± 0.001 μs 0.2 ± 0.001 μs 1.05 ± 0.0073
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.281 ± 0.01 μs 0.28 ± 0.01 μs 1 ± 0.051
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.15 ± 0.01 μs 0.15 ± 0.01 μs 1 ± 0.094
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.2 ± 0.01 μs 0.191 ± 0.01 μs 1.05 ± 0.076
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.52 ± 0.3 μs 3.44 ± 0.03 μs 1.02 ± 0.088
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.9 ± 0.05 μs 3.85 ± 0.031 μs 1.01 ± 0.015
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.44 ± 0.079 μs 3.37 ± 0.05 μs 1.02 ± 0.028
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 4.72 ± 0.08 μs 4.79 ± 0.08 μs 0.985 ± 0.023
time_to_load 3.76 ± 0.036 s 3.77 ± 0.002 s 0.998 ± 0.0097
Memory benchmarks
main 7e5dd6b... main / 7e5dd6b...
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: 6.48 MB 0.102 M allocs: 6.48 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.64 M allocs: 0.251 GB 4.64 M allocs: 0.251 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.112 M allocs: 6.87 MB 0.112 M allocs: 6.87 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.66 M allocs: 0.255 GB 4.66 M allocs: 0.255 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.114 M allocs: 8.19 MB 0.114 M allocs: 8.19 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 0.622 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/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: 16 MB 0.0734 M allocs: 15.9 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 0.996 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 closed this Sep 15, 2025
@franckgaga franckgaga deleted the franckgaga-patch-2 branch September 15, 2025 14:36
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