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added: trunc_cov function for MHE (to optimize perf. of dot in objective function) #276

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Merged
merged 1 commit into from
Nov 2, 2025
Merged

added: trunc_cov function for MHE (to optimize perf. of dot in objective function) #276

merged 1 commit into from
Nov 2, 2025

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@franckgaga franckgaga commented Nov 2, 2025 •
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The function will truncate the inverted covariance matrices only when Nk<He. There are also two methods, one for AbstractMatrix and one for Diagonal, the preserve the types. It induces some allocations when Nk<He, but at least dot in the objective function will be always computed on Hermitian or Diagonal, which is faster than generic dense matrices.

@franckgaga
added: trunc_cov function for MHE
3b9fe6d 
The function will truncate the inverted covariance matrices only when Nk<He. There is also two methods, one for `AbstractMatrix` and one for `Diagonal`. It indices some allocations when Nk<He but at least `dot` in the objective function will be always computer on `Hermitian` or `Diagonal`.
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codecov-commenter commented Nov 2, 2025 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.49%. Comparing base (6fdbce5) to head (3b9fe6d).
⚠️ Report is 2 commits behind head on main.

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #276   +/-   ##
=======================================
  Coverage   98.48%   98.49%           
=======================================
  Files          28       28           
  Lines        4764     4776   +12     
=======================================
+ Hits         4692     4704   +12     
  Misses         72       72

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@franckgaga franckgaga closed this Nov 2, 2025
@franckgaga franckgaga reopened this Nov 2, 2025
@franckgaga franckgaga merged commit 23aed06 into main Nov 2, 2025
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@franckgaga franckgaga deleted the debug_mhe_cov_trunk branch November 2, 2025 19:24
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github-actions bot commented Nov 2, 2025 •
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Benchmark Results (Julia v1)

Time benchmarks
main 3b9fe6d... main / 3b9fe6d...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.26 ± 0.49 ms 5.26 ± 0.49 ms 1 ± 0.13
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.315 ± 0.0034 s 0.313 ± 0.0073 s 1.01 ± 0.026
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.227 ± 0.013 s 0.225 ± 0.015 s 1.01 ± 0.087
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.34 ± 0.52 ms 9.24 ± 0.55 ms 1.01 ± 0.082
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.67 ± 0.066 ms 1.64 ± 0.073 ms 1.02 ± 0.061
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.21 ± 0.46 ms 5.23 ± 0.46 ms 0.996 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.279 ± 0.0018 s 0.278 ± 0.0019 s 1 ± 0.0094
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.241 ± 0.0009 s 0.241 ± 0.0016 s 1 ± 0.0075
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.42 ± 0.41 ms 6.41 ± 0.49 ms 1 ± 0.1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.77 ± 0.074 ms 1.76 ± 0.076 ms 1.01 ± 0.061
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.54 ± 1.3 ms 8.66 ± 1.4 ms 0.986 ± 0.22
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.314 ± 0.042 s 0.313 ± 0.051 s 1 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.158 ± 0.00084 s 0.158 ± 0.0025 s 0.999 ± 0.017
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.1 ± 0.01 s 0.1 ± 0.011 s 1 ± 0.15
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.4 ± 1.4 ms 11.5 ± 1.5 ms 0.99 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.689 ± 0.018 s 0.692 ± 0.03 s 0.996 ± 0.05
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.73 ± 0.079 s 1.73 ± 0.11 s 1 ± 0.08
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.691 ± 0.021 s 0.694 ± 0.021 s 0.996 ± 0.043
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.352 ± 0.0078 s 0.353 ± 0.0073 s 0.996 ± 0.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.486 ± 0.0099 s 0.491 ± 0.011 s 0.988 ± 0.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.327 ± 0.008 s 0.33 ± 0.01 s 0.992 ± 0.039
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.143 ± 0.0061 s 0.143 ± 0.0063 s 1 ± 0.061
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.345 ± 0.0044 s 0.344 ± 0.0051 s 1 ± 0.019
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.609 ± 0.0079 s 0.615 ± 0.011 s 0.99 ± 0.022
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.362 ± 0.029 s 0.364 ± 0.034 s 0.994 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.492 ± 0.0089 s 0.491 ± 0.01 s 1 ± 0.027
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.332 ± 0.009 s 0.337 ± 0.0093 s 0.985 ± 0.038
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.325 ± 0.0085 s 0.327 ± 0.0073 s 0.993 ± 0.034
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.346 ± 0.031 s 0.35 ± 0.033 s 0.991 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.123 ± 0.0052 s 0.121 ± 0.0049 s 1.02 ± 0.06
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0379 ± 0.0015 s 0.038 ± 0.0019 s 0.999 ± 0.064
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0329 ± 0.008 s 0.0321 ± 0.0068 s 1.02 ± 0.33
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.19 ± 0.033 s 0.19 ± 0.032 s 1 ± 0.24
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.16 ± 0.024 s 0.162 ± 0.024 s 0.993 ± 0.21
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0324 ± 0.0042 s 0.0334 ± 0.0043 s 0.97 ± 0.18
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 27.2 ± 1.2 ms 26.6 ± 0.63 ms 1.02 ± 0.05
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 9.41 ± 0.1 s 9.07 ± 0.052 s 1.04 ± 0.013
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 3.4 ± 0.0085 s 3.37 ± 0.17 s 1.01 ± 0.051
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.41 ± 0.021 s 2.44 ± 0.038 s 0.988 ± 0.017
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.41 ± 0.014 s 1.42 ± 0.026 s 0.988 ± 0.021
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.86 ± 0.03 μs 3.79 ± 0.03 μs 1.02 ± 0.011
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.106 ± 0.0067 ms 0.106 ± 0.0064 ms 1 ± 0.088
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 15.1 ± 0.33 μs 14.9 ± 0.35 μs 1.01 ± 0.032
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.58 ± 0.36 ms 2.63 ± 0.33 ms 0.982 ± 0.18
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.88 ± 0.2 ms 1.89 ± 0.17 ms 0.992 ± 0.14
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.1 ± 0.13 ms 3.1 ± 0.13 ms 1 ± 0.061
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.11 ± 0.16 ms 3.12 ± 0.15 ms 0.996 ± 0.07
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.76 ± 0.08 ms 1.79 ± 0.088 ms 0.987 ± 0.066
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.75 ± 0.036 ms 1.76 ± 0.026 ms 0.996 ± 0.025
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.2 ± 0.075 ms 2.22 ± 0.1 ms 0.992 ± 0.057
UNIT TESTS/SimModel/LinModel/evaloutput 0.14 ± 0.01 μs 0.14 ± 0.01 μs 1 ± 0.1
UNIT TESTS/SimModel/LinModel/updatestate! 0.21 ± 0.01 μs 0.201 ± 0.01 μs 1.04 ± 0.072
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.43 ± 0.01 μs 0.421 ± 0 μs 1.02 ± 0.024
UNIT TESTS/SimModel/NonLinModel/linearize! 2.04 ± 0.03 μs 2.33 ± 0.021 μs 0.876 ± 0.015
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.481 ± 0.01 μs 0.491 ± 0.001 μs 0.98 ± 0.02
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.551 ± 0.001 μs 0.551 ± 0 μs 1 ± 0.0018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.79 ± 0.011 μs 1.79 ± 0.01 μs 1 ± 0.0083
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.271 ± 0.011 μs 0.27 ± 0.01 μs 1 ± 0.055
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.42 ± 0.011 μs 1.42 ± 0.01 μs 1 ± 0.01
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 3.91 ± 0.06 μs 4.04 ± 0.06 μs 0.968 ± 0.021
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 9.12 ± 0.09 μs 9.02 ± 0.09 μs 1.01 ± 0.014
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.24 ± 0.01 μs 0.24 ± 0.01 μs 1 ± 0.059
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.591 ± 0.001 μs 0.571 ± 0 μs 1.04 ± 0.0018
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.29 ± 0.01 μs 0.29 ± 0.01 μs 1 ± 0.049
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.741 ± 0.01 μs 0.751 ± 0.01 μs 0.987 ± 0.019
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.411 ± 0.001 μs 0.411 ± 0.01 μs 1 ± 0.024
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.931 ± 0.01 μs 0.922 ± 0.01 μs 1.01 ± 0.015
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.27 ± 0.011 μs 0.261 ± 0.001 μs 1.03 ± 0.042
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.13 ± 0.01 μs 0.131 ± 0.01 μs 0.992 ± 0.11
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.58 ± 0.03 μs 2.54 ± 0.04 μs 1.02 ± 0.02
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.241 ± 0.01 μs 0.251 ± 0.001 μs 0.96 ± 0.04
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.27 ± 0.01 μs 0.251 ± 0.01 μs 1.08 ± 0.059
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.351 ± 0.011 μs 0.351 ± 0.01 μs 1 ± 0.042
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.5 ± 0.18 ms 3.58 ± 0.2 ms 0.976 ± 0.073
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.481 ± 0.009 μs 0.481 ± 0 μs 1 ± 0.019
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.32 ± 0.018 ms 0.318 ± 0.018 ms 1.01 ± 0.081
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.32 ± 0.01 μs 1.32 ± 0.01 μs 1 ± 0.011
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 7.09 ± 2 μs 7.39 ± 2.2 μs 0.959 ± 0.4
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 2.99 ± 0.12 ms 3.09 ± 0.19 ms 0.966 ± 0.071
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 16.7 ± 0.42 μs 16.5 ± 0.35 μs 1.01 ± 0.033
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.324 ± 0.018 ms 0.319 ± 0.018 ms 1.02 ± 0.081
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.27 ± 0.01 μs 0.271 ± 0.001 μs 0.996 ± 0.037
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.281 ± 0.011 μs 0.281 ± 0.01 μs 1 ± 0.053
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.371 ± 0.01 μs 0.371 ± 0.01 μs 1 ± 0.038
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.301 ± 0.001 μs 0.3 ± 0.001 μs 1 ± 0.0047
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.932 ± 0.011 μs 0.912 ± 0.01 μs 1.02 ± 0.016
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.69 ± 0.03 μs 3.86 ± 0.05 μs 0.956 ± 0.015
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 4.96 ± 0.05 μs 4.87 ± 0.04 μs 1.02 ± 0.013
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.5 ± 0.04 μs 3.7 ± 0.041 μs 0.946 ± 0.015
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.46 ± 0.059 μs 6.25 ± 0.051 μs 1.03 ± 0.013
time_to_load 3.39 ± 0.012 s 3.4 ± 0.03 s 0.998 ± 0.0096
Memory benchmarks
main 3b9fe6d... main / 3b9fe6d...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0424 M allocs: 1.7 MB 0.0424 M allocs: 1.7 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 0.0422 M allocs: 1.7 MB 0.0422 M allocs: 1.7 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 0.107 M allocs: 5.91 MB 0.107 M allocs: 5.91 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 0.119 M allocs: 7.46 MB 0.119 M allocs: 7.46 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.354 M allocs: 20.7 MB 0.354 M allocs: 20.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.357 M allocs: 17.2 MB 0.357 M allocs: 17.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.537 M allocs: 29.2 MB 0.537 M allocs: 29.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.271 M allocs: 15.6 MB 0.271 M allocs: 15.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0988 M allocs: 4.16 MB 0.0988 M allocs: 4.16 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.38 M allocs: 20.6 MB 0.38 M allocs: 20.6 MB 1
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 0.23 M allocs: 13.2 MB 0.23 M allocs: 13.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 3.55 M allocs: 0.381 GB 3.55 M allocs: 0.381 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.248 M allocs: 21 MB 0.248 M allocs: 21 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0778 M allocs: 3.26 MB 0.0778 M allocs: 3.26 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 2.41 M allocs: 0.241 GB 2.41 M allocs: 0.241 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.321 M allocs: 17.3 MB 0.321 M allocs: 17.3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.339 M allocs: 25.3 MB 0.339 M allocs: 25.3 MB 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: 0.0802 GB 0.762 M allocs: 0.0802 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.682 M allocs: 0.0585 GB 0.682 M allocs: 0.0585 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.647 M allocs: 0.0805 GB 0.647 M allocs: 0.0803 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.601 M allocs: 0.0562 GB 0.601 M allocs: 0.0562 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.63 M allocs: 0.0764 GB 0.63 M allocs: 0.0764 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.585 M allocs: 0.0553 GB 0.585 M allocs: 0.0553 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 14.4 M allocs: 2.56 GB 14.4 M allocs: 2.56 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 2.16 M allocs: 0.371 GB 2.16 M allocs: 0.371 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 2.92 k allocs: 0.149 MB 2.92 k allocs: 0.149 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.519 k allocs: 19.6 kB 0.519 k allocs: 19.6 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.16 k allocs: 0.168 MB 3.16 k allocs: 0.168 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.26 k allocs: 0.186 MB 3.26 k allocs: 0.186 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.553 k allocs: 21.2 kB 0.553 k allocs: 21.2 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 0.553 k allocs: 21.2 kB 0.553 k allocs: 21.2 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.27 k allocs: 0.102 MB 2.27 k allocs: 0.102 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 0.0754 M allocs: 14.6 MB 0.0754 M allocs: 14.6 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 0.973 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 7.05 k allocs: 0.443 MB 7.05 k allocs: 0.443 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 0.159 k allocs: 11.6 kB 0.964

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@franckgaga @codecov-commenter