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changed: differentiating only non-Inf constraints in NonLinMPC #267

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Merged
merged 3 commits into from
Oct 19, 2025
Merged

changed: differentiating only non-Inf constraints in NonLinMPC #267

merged 3 commits into from
Oct 19, 2025

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@franckgaga
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@franckgaga franckgaga commented Oct 18, 2025 •
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The benchmark gains are negligible on the case studies, but it is still worth it to merge to main. It was just inefficient in the case of dense AD backend.

@franckgaga
changed: trunk g vector earlier
82b70f9 
This is more efficient with dense differentiation, in theory. I will compare the perf. in a separate PR.
@franckgaga
debug: do not call @constraint when no nonlinear constraints
9268403
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codecov-commenter commented Oct 19, 2025 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 94.30%. Comparing base (65693cf) to head (d244194).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #267      +/-   ##
==========================================
- Coverage   94.31%   94.30%   -0.01%     
==========================================
  Files          26       26              
  Lines        4554     4551       -3     
==========================================
- Hits         4295     4292       -3     
  Misses        259      259

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github-actions bot commented Oct 19, 2025

Benchmark Results (Julia v1)

Time benchmarks
main d244194... main / d244194...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.2 ± 0.53 ms 5.33 ± 0.63 ms 0.975 ± 0.15
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.312 ± 0.0085 s 0.322 ± 0.0084 s 0.968 ± 0.037
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.221 ± 0.015 s 0.227 ± 0.013 s 0.97 ± 0.087
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.09 ± 0.56 ms 9.25 ± 0.67 ms 0.983 ± 0.093
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.6 ± 0.071 ms 1.59 ± 0.075 ms 1.01 ± 0.065
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.22 ± 0.51 ms 5.29 ± 0.58 ms 0.988 ± 0.15
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.273 ± 0.0031 s 0.276 ± 0.0038 s 0.987 ± 0.018
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.227 ± 0.0036 s 0.232 ± 0.0051 s 0.979 ± 0.026
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.27 ± 0.43 ms 6.35 ± 0.48 ms 0.987 ± 0.1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.78 ± 0.076 ms 1.77 ± 0.09 ms 1 ± 0.067
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.84 ± 1.5 ms 9.76 ± 1.5 ms 0.906 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.305 ± 0.054 s 0.333 ± 0.063 s 0.916 ± 0.24
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.156 ± 0.001 s 0.163 ± 0.0073 s 0.957 ± 0.043
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.0971 ± 0.012 s 0.108 ± 0.012 s 0.902 ± 0.15
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.7 ± 1.7 ms 12.3 ± 1.6 ms 0.956 ± 0.19
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.719 ± 0.038 s 0.714 ± 0.039 s 1.01 ± 0.076
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.83 ± 0.022 s 1.83 ± 0.017 s 0.997 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.718 ± 0.039 s 0.709 ± 0.034 s 1.01 ± 0.074
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.372 ± 0.02 s 0.36 ± 0.014 s 1.03 ± 0.068
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.532 ± 0.029 s 0.527 ± 0.039 s 1.01 ± 0.093
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.344 ± 0.022 s 0.334 ± 0.018 s 1.03 ± 0.086
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.147 ± 0.0065 s 0.148 ± 0.0055 s 0.991 ± 0.057
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.344 ± 0.016 s 0.341 ± 0.016 s 1.01 ± 0.067
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.377 ± 0.026 s 0.369 ± 0.036 s 1.02 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.52 ± 0.037 s 0.518 ± 0.048 s 1.01 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.332 ± 0.012 s 0.33 ± 0.015 s 1 ± 0.057
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.373 ± 0.022 s 0.359 ± 0.028 s 1.04 ± 0.1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.12 ± 0.0052 s 0.125 ± 0.0061 s 0.958 ± 0.062
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0383 ± 0.0019 s 0.0416 ± 0.0011 s 0.921 ± 0.053
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0317 ± 0.0069 s 0.0348 ± 0.009 s 0.912 ± 0.31
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.184 ± 0.033 s 0.173 ± 0.044 s 1.06 ± 0.33
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.162 ± 0.026 s 0.164 ± 0.024 s 0.986 ± 0.21
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0343 ± 0.0042 s 0.0359 ± 0.0054 s 0.954 ± 0.19
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 26.3 ± 0.72 ms 28.8 ± 1.9 ms 0.914 ± 0.064
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 16.2 ± 0.3 s 17.3 ± 0.27 s 0.936 ± 0.022
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 4.3 ± 0.021 s 4.45 ± 0.072 s 0.965 ± 0.016
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.47 ± 0.053 s 2.57 ± 0.025 s 0.961 ± 0.023
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.44 ± 0.03 s 1.52 ± 0.019 s 0.944 ± 0.023
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 4 ± 0.02 μs 3.61 ± 0.03 μs 1.11 ± 0.011
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.108 ± 0.0076 ms 0.111 ± 0.0074 ms 0.968 ± 0.094
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 14.5 ± 0.38 μs 15 ± 0.39 μs 0.967 ± 0.036
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.69 ± 0.17 ms 2.58 ± 0.13 ms 1.04 ± 0.085
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 2 ± 0.23 ms 1.95 ± 0.24 ms 1.02 ± 0.17
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.25 ± 0.16 ms 3.08 ± 0.1 ms 1.06 ± 0.063
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.86 ± 0.068 ms 1.77 ± 0.05 ms 1.05 ± 0.048
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.32 ± 0.17 ms 2.21 ± 0.15 ms 1.05 ± 0.11
UNIT TESTS/SimModel/LinModel/evaloutput 0.141 ± 0.01 μs 0.15 ± 0.01 μs 0.94 ± 0.091
UNIT TESTS/SimModel/LinModel/updatestate! 0.211 ± 0.001 μs 0.23 ± 0.011 μs 0.917 ± 0.044
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.431 ± 0.001 μs 0.43 ± 0.01 μs 1 ± 0.023
UNIT TESTS/SimModel/NonLinModel/linearize! 2.09 ± 0.03 μs 2.11 ± 0.02 μs 0.991 ± 0.017
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.491 ± 0.01 μs 0.501 ± 0.01 μs 0.98 ± 0.028
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.551 ± 0.001 μs 0.561 ± 0.01 μs 0.982 ± 0.018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.82 ± 0.02 μs 1.82 ± 0.019 μs 1 ± 0.015
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.27 ± 0.01 μs 0.271 ± 0.01 μs 0.996 ± 0.052
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.43 ± 0.01 μs 1.42 ± 0.01 μs 1.01 ± 0.01
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 4.05 ± 0.081 μs 4.08 ± 0.1 μs 0.993 ± 0.031
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 9.12 ± 0.13 μs 8.86 ± 0.11 μs 1.03 ± 0.02
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.231 ± 0.01 μs 0.241 ± 0.001 μs 0.959 ± 0.042
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.571 ± 0.01 μs 0.572 ± 0.01 μs 0.998 ± 0.025
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.29 ± 0.01 μs 0.3 ± 0.01 μs 0.967 ± 0.046
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.752 ± 0.01 μs 0.752 ± 0.01 μs 1 ± 0.019
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.411 ± 0.01 μs 0.411 ± 0.001 μs 1 ± 0.024
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.921 ± 0.01 μs 0.922 ± 0.001 μs 0.999 ± 0.011
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.27 ± 0.01 μs 0.27 ± 0.01 μs 1 ± 0.052
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.13 ± 0.01 μs 0.14 ± 0.01 μs 0.929 ± 0.097
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.52 ± 0.029 μs 2.56 ± 0.039 μs 0.984 ± 0.019
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.25 ± 0.01 μs 0.24 ± 0.001 μs 1.04 ± 0.042
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.26 ± 0.01 μs 0.26 ± 0.01 μs 1 ± 0.054
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.351 ± 0.01 μs 0.36 ± 0.01 μs 0.975 ± 0.039
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.7 ± 0.23 ms 3.31 ± 0.16 ms 1.12 ± 0.088
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.481 ± 0 μs 0.481 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.337 ± 0.019 ms 0.316 ± 0.018 ms 1.07 ± 0.086
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.33 ± 0.011 μs 1.32 ± 0.011 μs 1.01 ± 0.012
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 8.63 ± 2.9 μs 7.8 ± 2.5 μs 1.11 ± 0.51
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.19 ± 0.22 ms 2.93 ± 0.14 ms 1.09 ± 0.09
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 17.4 ± 0.63 μs 16.9 ± 0.27 μs 1.03 ± 0.041
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.338 ± 0.021 ms 0.318 ± 0.018 ms 1.07 ± 0.09
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.271 ± 0.01 μs 0.271 ± 0.01 μs 1 ± 0.052
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.281 ± 0.01 μs 0.281 ± 0.01 μs 1 ± 0.05
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.391 ± 0.01 μs 0.39 ± 0.01 μs 1 ± 0.036
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.301 ± 0.01 μs 0.321 ± 0.01 μs 0.938 ± 0.043
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.912 ± 0.001 μs 0.912 ± 0.01 μs 1 ± 0.011
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.64 ± 0.02 μs 3.69 ± 0.079 μs 0.986 ± 0.022
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 4.98 ± 0.05 μs 4.87 ± 0.039 μs 1.02 ± 0.013
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.53 ± 0.03 μs 3.54 ± 0.03 μs 0.997 ± 0.012
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.1 ± 0.05 μs 6.23 ± 0.05 μs 0.979 ± 0.011
time_to_load 3.65 ± 0.012 s 3.53 ± 0.014 s 1.04 ± 0.0053
Memory benchmarks
main d244194... main / d244194...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0451 M allocs: 1.78 MB 0.0451 M allocs: 1.78 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.162 M allocs: 9.02 MB 0.162 M allocs: 9.02 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.0538 M allocs: 2.4 MB 0.0538 M allocs: 2.4 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 0.0449 M allocs: 1.78 MB 0.0449 M allocs: 1.78 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.127 M allocs: 7.19 MB 0.127 M allocs: 7.19 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0555 M allocs: 2.44 MB 0.0555 M allocs: 2.44 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: 5.95 MB 0.109 M allocs: 5.95 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.65 M allocs: 0.25 GB 4.65 M allocs: 0.25 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.108 M allocs: 6.34 MB 0.108 M allocs: 6.34 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.68 M allocs: 0.254 GB 4.68 M allocs: 0.254 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.12 M allocs: 7.5 MB 0.12 M allocs: 7.5 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.353 M allocs: 27.5 MB 0.353 M allocs: 27.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.357 M allocs: 0.0518 GB 0.351 M allocs: 0.0509 GB 1.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.536 M allocs: 0.0355 GB 0.536 M allocs: 0.0354 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.28 M allocs: 21.5 MB 0.27 M allocs: 20.9 MB 1.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.136 M allocs: 20.3 MB 0.0962 M allocs: 18 MB 1.13
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.406 M allocs: 27.2 MB 0.38 M allocs: 25.9 MB 1.05
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.297 M allocs: 0.0649 GB 0.297 M allocs: 0.0649 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.238 M allocs: 18 MB 0.229 M allocs: 17.5 MB 1.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.261 M allocs: 27.8 MB 0.247 M allocs: 25.4 MB 1.1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.107 M allocs: 15.4 MB 0.0758 M allocs: 13.6 MB 1.13
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.342 M allocs: 22.8 MB 0.32 M allocs: 21.6 MB 1.05
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.364 M allocs: 0.032 GB 0.338 M allocs: 29.6 MB 1.1
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 0.762 M allocs: 0.0804 GB 0.762 M allocs: 0.0804 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.682 M allocs: 0.0587 GB 0.682 M allocs: 0.0587 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.647 M allocs: 0.0787 GB 0.647 M allocs: 0.0787 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.601 M allocs: 0.0564 GB 0.601 M allocs: 0.0564 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.631 M allocs: 0.079 GB 0.63 M allocs: 0.0766 GB 1.03
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.585 M allocs: 0.0555 GB 0.585 M allocs: 0.0555 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: 0.195 MB 2.91 k allocs: 0.192 MB 1.02
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.566 k allocs: 0.0589 MB 0.511 k allocs: 0.0542 MB 1.09
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.2 k allocs: 0.273 MB 3.15 k allocs: 0.27 MB 1.01
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.633 k allocs: 0.121 MB 0.545 k allocs: 0.114 MB 1.05
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.74 k allocs: 0.177 MB 2.27 k allocs: 0.16 MB 1.11
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 0.0754 M allocs: 14.7 MB 0.0754 M allocs: 14.6 MB 1.01
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 7.04 k allocs: 0.445 MB 7.04 k allocs: 0.445 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 0.149 k allocs: 11.2 kB 0.149 k allocs: 11.2 kB 1

@franckgaga franckgaga merged commit 9333844 into main Oct 19, 2025
5 checks passed
@franckgaga franckgaga deleted the VectorNonLinOracle_trunk branch October 19, 2025 21:10
@franckgaga franckgaga mentioned this pull request Oct 19, 2025
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@franckgaga @codecov-commenter