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added: assign! function to reduce allocations with BitVector #266

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@franckgaga franckgaga commented Oct 17, 2025

The field mpc.con.i_g is a BitVector and doing b .= @views a[i] is allocating when i isa BitVector.

@franckgaga
added: assign! function to reduce allocations with BitVector
4a82a1a 
The field `mpc.con.i_g` is a `BitVector` and doing `b .= @views a[i]` is allocating when `i isa BitVector`.
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codecov-commenter commented Oct 17, 2025 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 94.33%. Comparing base (5389a4a) to head (4a82a1a).

Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #266      +/-   ##
==========================================
+ Coverage   94.31%   94.33%   +0.01%     
==========================================
  Files          26       26              
  Lines        4554     4570      +16     
==========================================
+ Hits         4295     4311      +16     
  Misses        259      259

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github-actions bot commented Oct 17, 2025

Benchmark Results (Julia v1)

Time benchmarks
main 4a82a1a... main / 4a82a1a...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.25 ± 0.52 ms 5.41 ± 0.54 ms 0.971 ± 0.14
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.31 ± 0.011 s 0.316 ± 0.0045 s 0.979 ± 0.037
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.219 ± 0.016 s 0.227 ± 0.015 s 0.968 ± 0.096
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9 ± 0.66 ms 8.7 ± 0.53 ms 1.03 ± 0.098
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.54 ± 0.076 ms 1.64 ± 0.071 ms 0.941 ± 0.062
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.27 ± 0.53 ms 5.38 ± 0.54 ms 0.979 ± 0.14
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.269 ± 0.0033 s 0.272 ± 0.0027 s 0.991 ± 0.016
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.227 ± 0.0018 s 0.23 ± 0.0029 s 0.987 ± 0.015
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.27 ± 0.45 ms 6.34 ± 0.49 ms 0.989 ± 0.1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.74 ± 0.079 ms 1.78 ± 0.091 ms 0.978 ± 0.067
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.53 ± 1.7 ms 8.51 ± 1.7 ms 1 ± 0.28
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.31 ± 0.055 s 0.306 ± 0.043 s 1.01 ± 0.23
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.154 ± 0.00081 s 0.155 ± 0.0012 s 0.994 ± 0.009
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.102 ± 0.014 s 0.105 ± 0.014 s 0.968 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.6 ± 1.7 ms 11.7 ± 1.8 ms 0.987 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.695 ± 0.033 s 0.725 ± 0.015 s 0.959 ± 0.049
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.78 ± 0.017 s 1.78 ± 0.017 s 0.997 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.699 ± 0.037 s 0.73 ± 0.012 s 0.957 ± 0.053
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.36 ± 0.013 s 0.362 ± 0.02 s 0.994 ± 0.065
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.53 ± 0.03 s 0.546 ± 0.033 s 0.969 ± 0.081
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.339 ± 0.038 s 0.336 ± 0.037 s 1.01 ± 0.16
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.143 ± 0.0047 s 0.15 ± 0.0061 s 0.956 ± 0.05
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.339 ± 0.0081 s 0.342 ± 0.0098 s 0.991 ± 0.037
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.38 ± 0.025 s 0.392 ± 0.03 s 0.97 ± 0.097
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.517 ± 0.039 s 0.533 ± 0.039 s 0.97 ± 0.1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.327 ± 0.0072 s 0.33 ± 0.013 s 0.99 ± 0.045
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.368 ± 0.02 s 0.374 ± 0.025 s 0.983 ± 0.083
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.123 ± 0.005 s 0.125 ± 0.0055 s 0.986 ± 0.059
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0376 ± 0.0048 s 0.0373 ± 0.0045 s 1.01 ± 0.18
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 30.8 ± 4.6 ms 30.6 ± 3.8 ms 1.01 ± 0.2
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.182 ± 0.037 s 0.181 ± 0.032 s 1.01 ± 0.27
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.161 ± 0.028 s 0.164 ± 0.027 s 0.985 ± 0.23
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0324 ± 0.0039 s 0.0349 ± 0.0038 s 0.929 ± 0.15
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 25.3 ± 0.44 ms 25.3 ± 0.28 ms 1 ± 0.021
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 15.5 ± 0.091 s 16.7 ± 0.44 s 0.93 ± 0.025
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 4.17 ± 0.014 s 4.6 ± 0.0049 s 0.906 ± 0.0033
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.43 ± 0.012 s 2.43 ± 0.028 s 1 ± 0.013
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.42 ± 0.0086 s 1.42 ± 0.0085 s 1 ± 0.0085
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.64 ± 0.021 μs 3.66 ± 0.039 μs 0.994 ± 0.012
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.106 ± 0.0074 ms 0.108 ± 0.0072 ms 0.985 ± 0.094
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 14.4 ± 0.29 μs 14.7 ± 0.35 μs 0.984 ± 0.031
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.64 ± 0.13 ms 2.65 ± 0.15 ms 0.997 ± 0.075
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.99 ± 0.26 ms 1.99 ± 0.25 ms 1 ± 0.18
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.15 ± 0.11 ms 3.16 ± 0.11 ms 0.999 ± 0.049
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.83 ± 0.03 ms 1.84 ± 0.03 ms 0.996 ± 0.023
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.27 ± 0.15 ms 2.31 ± 0.14 ms 0.986 ± 0.086
UNIT TESTS/SimModel/LinModel/evaloutput 0.15 ± 0.01 μs 0.171 ± 0.01 μs 0.877 ± 0.078
UNIT TESTS/SimModel/LinModel/updatestate! 0.21 ± 0.001 μs 0.21 ± 0.01 μs 1 ± 0.048
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.431 ± 0 μs 0.421 ± 0.009 μs 1.02 ± 0.022
UNIT TESTS/SimModel/NonLinModel/linearize! 2.15 ± 0.021 μs 2.07 ± 0.02 μs 1.04 ± 0.014
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.491 ± 0.01 μs 0.492 ± 0.01 μs 0.998 ± 0.029
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.551 ± 0.01 μs 0.551 ± 0 μs 1 ± 0.018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.81 ± 0.011 μs 1.83 ± 0.019 μs 0.99 ± 0.012
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.27 ± 0.001 μs 0.271 ± 0.01 μs 0.996 ± 0.037
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.41 ± 0.01 μs 1.42 ± 0.01 μs 0.993 ± 0.0099
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 4.07 ± 0.05 μs 3.85 ± 0.04 μs 1.06 ± 0.017
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 8.77 ± 0.1 μs 8.86 ± 0.1 μs 0.99 ± 0.016
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.23 ± 0.001 μs 0.24 ± 0.001 μs 0.958 ± 0.0058
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.572 ± 0.01 μs 0.581 ± 0.01 μs 0.985 ± 0.024
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.29 ± 0.01 μs 0.281 ± 0.01 μs 1.03 ± 0.051
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.741 ± 0.001 μs 0.732 ± 0.01 μs 1.01 ± 0.014
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.41 ± 0.01 μs 0.411 ± 0 μs 0.998 ± 0.024
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.922 ± 0.01 μs 0.912 ± 0.01 μs 1.01 ± 0.016
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.27 ± 0.001 μs 0.27 ± 0.01 μs 1 ± 0.037
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.13 ± 0.001 μs 0.13 ± 0.001 μs 1 ± 0.011
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.53 ± 0.03 μs 2.5 ± 0.02 μs 1.02 ± 0.015
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.241 ± 0.01 μs 0.24 ± 0.001 μs 1 ± 0.042
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.25 ± 0.001 μs 0.26 ± 0.01 μs 0.962 ± 0.037
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.351 ± 0.01 μs 0.351 ± 0.001 μs 1 ± 0.029
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.16 ± 0.2 ms 3.22 ± 0.39 ms 0.98 ± 0.13
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.481 ± 0 μs 0.501 ± 0 μs 0.96 ± 0
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.313 ± 0.018 ms 0.31 ± 0.018 ms 1.01 ± 0.082
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.32 ± 0.01 μs 1.32 ± 0.01 μs 0.999 ± 0.011
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 7.06 ± 2.4 μs 7.75 ± 2.5 μs 0.911 ± 0.42
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 2.79 ± 0.096 ms 2.84 ± 0.11 ms 0.98 ± 0.052
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 16.6 ± 0.29 μs 17.1 ± 0.4 μs 0.974 ± 0.028
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.314 ± 0.018 ms 0.316 ± 0.018 ms 0.993 ± 0.08
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.27 ± 0.001 μs 0.27 ± 0.01 μs 1 ± 0.037
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.281 ± 0.001 μs 0.291 ± 0.001 μs 0.966 ± 0.0048
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.371 ± 0.01 μs 0.381 ± 0.01 μs 0.974 ± 0.037
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.301 ± 0.001 μs 0.3 ± 0.01 μs 1 ± 0.034
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.912 ± 0.011 μs 0.921 ± 0.01 μs 0.99 ± 0.016
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.6 ± 0.03 μs 3.6 ± 0.03 μs 1 ± 0.012
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 4.92 ± 0.039 μs 4.87 ± 0.04 μs 1.01 ± 0.012
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.57 ± 0.08 μs 3.69 ± 0.05 μs 0.967 ± 0.025
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.34 ± 0.06 μs 6.25 ± 0.041 μs 1.01 ± 0.012
time_to_load 3.48 ± 0.0036 s 3.48 ± 0.029 s 1 ± 0.0083
Memory benchmarks
main 4a82a1a... main / 4a82a1a...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0449 M allocs: 1.8 MB 0.0449 M allocs: 1.8 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.162 M allocs: 9.54 MB 0.162 M allocs: 9.54 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.053 M allocs: 2.47 MB 0.053 M allocs: 2.47 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 0.0758 M allocs: 1.95 MB 0.0758 M allocs: 1.95 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 7.85 k allocs: 0.249 MB 7.85 k allocs: 0.249 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 0.127 M allocs: 7.71 MB 0.127 M allocs: 7.71 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0547 M allocs: 2.51 MB 0.0547 M allocs: 2.51 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 0.0532 M allocs: 1.39 MB 0.0532 M allocs: 1.39 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 7.7 k allocs: 0.243 MB 7.7 k allocs: 0.243 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 0.109 M allocs: 6.62 MB 0.109 M allocs: 6.62 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 0.107 M allocs: 6.83 MB 0.107 M allocs: 6.83 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.68 M allocs: 0.255 GB 4.68 M allocs: 0.255 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.12 M allocs: 8.33 MB 0.12 M allocs: 8.33 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.353 M allocs: 27.7 MB 0.486 M allocs: 0.061 GB 0.443
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.357 M allocs: 0.0515 GB 0.347 M allocs: 0.0505 GB 1.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.536 M allocs: 0.0356 GB 0.67 M allocs: 0.07 GB 0.509
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.28 M allocs: 21.7 MB 0.28 M allocs: 21.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.136 M allocs: 20.3 MB 0.134 M allocs: 20.3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.406 M allocs: 27.4 MB 0.405 M allocs: 27.3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.296 M allocs: 0.0649 GB 0.296 M allocs: 0.0649 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.237 M allocs: 18.2 MB 0.237 M allocs: 18.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.26 M allocs: 28 MB 0.26 M allocs: 28 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.107 M allocs: 15.4 MB 0.105 M allocs: 15.3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.341 M allocs: 22.9 MB 0.341 M allocs: 22.9 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.364 M allocs: 0.0321 GB 0.364 M allocs: 0.0321 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.255 M allocs: 0.056 GB 0.255 M allocs: 0.056 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.76 M allocs: 0.089 GB 0.759 M allocs: 0.0872 GB 1.02
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.679 M allocs: 0.0634 GB 0.679 M allocs: 0.0634 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.642 M allocs: 0.0844 GB 0.642 M allocs: 0.0844 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.598 M allocs: 0.0612 GB 0.598 M allocs: 0.0612 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.626 M allocs: 0.0834 GB 0.626 M allocs: 0.0834 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.582 M allocs: 0.0602 GB 0.582 M allocs: 0.0602 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0873 G allocs: 15.9 GB 0.0873 G allocs: 15.9 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 12.7 M allocs: 2.3 GB 12.7 M allocs: 2.3 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 15.2 M allocs: 2.8 GB 15.2 M allocs: 2.8 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 8.88 M allocs: 1.63 GB 8.88 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: 25.5 kB 0.994 k allocs: 25.5 kB 1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 0.088 k allocs: 2.23 kB 0.088 k allocs: 2.23 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.97 k allocs: 0.199 MB 2.96 k allocs: 0.199 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.564 k allocs: 0.059 MB 0.555 k allocs: 0.0587 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.2 k allocs: 0.277 MB 3.19 k allocs: 0.276 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.631 k allocs: 0.121 MB 0.622 k allocs: 0.12 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.73 k allocs: 0.178 MB 2.73 k allocs: 0.178 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 4 allocs: 0.0938 kB 4 allocs: 0.0938 kB 1
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 4 allocs: 0.0938 kB 4 allocs: 0.0938 kB 1
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! 4 allocs: 0.0938 kB 4 allocs: 0.0938 kB 1
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 0.0752 M allocs: 16 MB 0.0752 M allocs: 16.1 MB 0.992
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.973 k allocs: 25.4 kB 0.973 k allocs: 25.4 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 7.01 k allocs: 0.465 MB 7.01 k allocs: 0.465 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 0.973 k allocs: 25.4 kB 0.973 k allocs: 25.4 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 0.151 k allocs: 11.5 kB 0.151 k allocs: 11.5 kB 1

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franckgaga commented Oct 19, 2025

Closing since this is not necessary. I can just convert mpc.con.i_g to normal indexing instead of logical indexing and create a closer. That's what I implemented in #267.

@franckgaga franckgaga closed this Oct 19, 2025
@franckgaga franckgaga deleted the logical_index_alloc branch October 19, 2025 21:11
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