added: multithreading with MultipleShooting and TrapezoidalCollocation
#258
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Since future measured disturbances are typically unknown, the best we can have generally a forecast or similar
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
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- Coverage 98.63% 98.58% -0.05%
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Lines 4458 4448 -10
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There are two new keyword arguments in
MultipleShootingandTrapezoidalCollocationconstructors:f_threads=false: to multithread the defect of the states in the equality constraints forNonLinModel(worthy only whenh_threads=false: to multithread the output functions (worthy only whenIt's not common that$\mathbf{h}$ is expensive to evaluate but the option is still there in such cases. Note that as mentionned here, it's impossible to use the efficient $\mathbf{f}$ -call tricks with multithreading, even with
h=1. I added someifs to correctly handle multi-threading withh=1.