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debug: avoid duplicate precompile macros#318

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franckgaga merged 3 commits intomainfrom
debug_precompile
Feb 8, 2026
Merged

debug: avoid duplicate precompile macros#318
franckgaga merged 3 commits intomainfrom
debug_precompile

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@franckgaga franckgaga commented Feb 8, 2026

The macros were called in ModelPredictiveControl.jl file and precompile.jl file. I'm surprised that precompilation even worked.

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codecov-commenter commented Feb 8, 2026 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.38%. Comparing base (37392e4) to head (3b71fa2).
⚠️ Report is 4 commits behind head on main.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #318      +/-   ##
==========================================
- Coverage   98.38%   98.38%   -0.01%     
==========================================
  Files          29       29              
  Lines        5392     5389       -3     
==========================================
- Hits         5305     5302       -3     
  Misses         87       87

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@franckgaga
Disable Uno Solver benchmark (once more)
3b71fa2 
Comment out benchmark for Multiple Shooting (Hessian) case.
@franckgaga franckgaga merged commit eb816fa into main Feb 8, 2026
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@franckgaga franckgaga deleted the debug_precompile branch February 8, 2026 19:37
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github-actions bot commented Feb 8, 2026

Benchmark Results (Julia v1)

Time benchmarks
main 3b71fa2... main / 3b71fa2...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.68 ± 0.45 ms 5.95 ± 0.56 ms 0.956 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.323 ± 0.0032 s 0.319 ± 0.0042 s 1.01 ± 0.017
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.232 ± 0.0014 s 0.23 ± 0.0072 s 1.01 ± 0.032
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 11 ± 0.6 ms 11.3 ± 0.51 ms 0.969 ± 0.068
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.97 ± 0.037 ms 2.24 ± 0.068 ms 0.878 ± 0.031
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.6 ± 0.48 ms 5.85 ± 0.53 ms 0.957 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.276 ± 0.0032 s 0.277 ± 0.0017 s 0.997 ± 0.013
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.235 ± 0.005 s 0.234 ± 0.0027 s 1 ± 0.024
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 7.54 ± 0.47 ms 7.96 ± 0.4 ms 0.947 ± 0.075
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 2.07 ± 0.041 ms 2.3 ± 0.068 ms 0.9 ± 0.032
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 10 ± 1.4 ms 10.2 ± 1.5 ms 0.979 ± 0.2
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.312 ± 0.05 s 0.316 ± 0.044 s 0.99 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.158 ± 0.0026 s 0.158 ± 0.00091 s 1 ± 0.018
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.0953 ± 0.023 s 0.0996 ± 0.023 s 0.957 ± 0.32
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 13.1 ± 1.5 ms 13.5 ± 1.5 ms 0.972 ± 0.16
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.696 ± 0.019 s 0.712 ± 0.019 s 0.977 ± 0.037
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.674 ± 0.045 s 0.677 ± 0.048 s 0.996 ± 0.097
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.74 ± 0.031 s 1.76 ± 0.055 s 0.994 ± 0.036
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.486 ± 0.056 s 0.492 ± 0.057 s 0.988 ± 0.16
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.486 ± 0.057 s 0.491 ± 0.058 s 0.99 ± 0.16
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.358 ± 0.006 s 0.361 ± 0.0066 s 0.993 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.438 ± 0.042 s 0.455 ± 0.049 s 0.963 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.494 ± 0.015 s 0.494 ± 0.0086 s 1 ± 0.034
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.169 ± 0.0042 s 0.17 ± 0.0026 s 0.996 ± 0.029
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.333 ± 0.0067 s 0.344 ± 0.0092 s 0.967 ± 0.032
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.386 ± 0.047 s 0.406 ± 0.051 s 0.951 ± 0.17
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.151 ± 0.017 s 0.146 ± 0.013 s 1.04 ± 0.15
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.347 ± 0.0038 s 0.347 ± 0.0035 s 0.998 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.402 ± 0.039 s 0.395 ± 0.038 s 1.02 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.364 ± 0.012 s 0.363 ± 0.011 s 1 ± 0.045
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.497 ± 0.015 s 0.496 ± 0.0085 s 1 ± 0.035
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.17 ± 0.004 s 0.168 ± 0.0033 s 1.02 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.326 ± 0.006 s 0.322 ± 0.0061 s 1.01 ± 0.027
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.306 ± 0.024 s 0.296 ± 0.028 s 1.04 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.365 ± 0.015 s 0.361 ± 0.0076 s 1.01 ± 0.046
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.125 ± 0.0088 s 0.132 ± 0.012 s 0.948 ± 0.11
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0389 ± 0.0019 s 0.0384 ± 0.0016 s 1.01 ± 0.065
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0327 ± 0.0076 s 0.0327 ± 0.0077 s 1 ± 0.33
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.188 ± 0.036 s 0.185 ± 0.039 s 1.02 ± 0.29
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.16 ± 0.029 s 0.157 ± 0.026 s 1.02 ± 0.25
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0356 ± 0.0051 s 0.032 ± 0.0039 s 1.11 ± 0.21
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 29.1 ± 5.5 ms 26.8 ± 5.6 ms 1.09 ± 0.31
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0857 ± 0.0035 s 0.0835 ± 0.0015 s 1.03 ± 0.046
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0845 ± 0.0047 s 0.0841 ± 0.005 s 1.01 ± 0.081
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0658 ± 0.0015 s 0.0656 ± 0.0014 s 1 ± 0.031
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0852 ± 0.004 s 0.0837 ± 0.0016 s 1.02 ± 0.051
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.36 ± 0.021 s 2.4 ± 0.0092 s 0.98 ± 0.0096
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.4 ± 0.025 s 1.42 ± 0.029 s 0.983 ± 0.027
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 4.06 ± 0.03 μs 4.19 ± 0.04 μs 0.969 ± 0.012
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.11 ± 0.0026 ms 0.11 ± 0.0026 ms 1 ± 0.034
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.106 ± 0.0023 ms 0.105 ± 0.0016 ms 1.01 ± 0.027
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 16.4 ± 0.35 μs 16.1 ± 0.36 μs 1.02 ± 0.032
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.202 ± 0.011 ms 0.203 ± 0.01 ms 0.995 ± 0.075
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.239 ± 0.016 ms 0.244 ± 0.013 ms 0.982 ± 0.085
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.54 ± 0.22 ms 2.58 ± 0.22 ms 0.982 ± 0.12
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.73 ± 0.11 ms 1.78 ± 0.074 ms 0.969 ± 0.075
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.09 ± 0.08 ms 3.1 ± 0.1 ms 0.997 ± 0.042
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.21 ± 0.25 ms 3.29 ± 0.14 ms 0.977 ± 0.087
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.74 ± 0.049 ms 1.75 ± 0.052 ms 0.991 ± 0.041
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.76 ± 0.062 ms 1.75 ± 0.042 ms 1.01 ± 0.043
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.19 ± 0.13 ms 2.26 ± 0.12 ms 0.967 ± 0.076
UNIT TESTS/SimModel/LinModel/evaloutput 0.14 ± 0.001 μs 0.14 ± 0.001 μs 1 ± 0.01
UNIT TESTS/SimModel/LinModel/updatestate! 0.201 ± 0.01 μs 0.201 ± 0.01 μs 1 ± 0.07
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.441 ± 0.001 μs 0.421 ± 0.01 μs 1.05 ± 0.025
UNIT TESTS/SimModel/NonLinModel/linearize! 2.09 ± 0.021 μs 2.1 ± 0.02 μs 0.995 ± 0.014
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.481 ± 0.01 μs 0.481 ± 0.01 μs 1 ± 0.029
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.541 ± 0.01 μs 0.551 ± 0.001 μs 0.982 ± 0.018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.82 ± 0.02 μs 1.83 ± 0.02 μs 0.995 ± 0.015
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.261 ± 0.01 μs 0.27 ± 0.01 μs 0.967 ± 0.052
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.41 ± 0.011 μs 1.42 ± 0.01 μs 0.994 ± 0.01
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 3.97 ± 0.05 μs 3.97 ± 0.059 μs 1 ± 0.019
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 8.95 ± 0.09 μs 8.86 ± 0.1 μs 1.01 ± 0.015
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.231 ± 0.01 μs 0.24 ± 0.001 μs 0.963 ± 0.042
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.571 ± 0.001 μs 0.571 ± 0.001 μs 1 ± 0.0025
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.28 ± 0.001 μs 0.281 ± 0.001 μs 0.996 ± 0.005
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.732 ± 0.011 μs 0.742 ± 0.01 μs 0.987 ± 0.02
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.431 ± 0.02 μs 0.401 ± 0.01 μs 1.07 ± 0.057
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.912 ± 0.01 μs 0.922 ± 0.001 μs 0.989 ± 0.011
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.26 ± 0.01 μs 0.261 ± 0.01 μs 0.996 ± 0.054
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.13 ± 0.001 μs 0.131 ± 0.01 μs 0.992 ± 0.076
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.56 ± 0.03 μs 2.52 ± 0.029 μs 1.01 ± 0.017
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.231 ± 0.01 μs 0.241 ± 0.01 μs 0.959 ± 0.057
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.261 ± 0.001 μs 0.251 ± 0.01 μs 1.04 ± 0.042
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.341 ± 0.001 μs 0.35 ± 0.01 μs 0.974 ± 0.028
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/LinModel 0.19 ± 0.019 ms 0.182 ± 0.011 ms 1.04 ± 0.12
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 0.342 ± 0.018 ms 0.345 ± 0.018 ms 0.992 ± 0.074
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.71 ± 0.26 ms 3.58 ± 0.24 ms 1.04 ± 0.1
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 0.339 ± 0.018 ms 0.313 ± 0.018 ms 1.08 ± 0.085
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.34 ± 0.01 μs 1.32 ± 0.01 μs 1.02 ± 0.011
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 7.18 ± 2.4 μs 7.71 ± 3.3 μs 0.931 ± 0.51
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.06 ± 0.11 ms 3.02 ± 0.11 ms 1.01 ± 0.053
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 17.5 ± 1 μs 16.8 ± 0.61 μs 1.05 ± 0.072
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.349 ± 0.019 ms 0.333 ± 0.02 ms 1.05 ± 0.084
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.27 ± 0.01 μs 0.27 ± 0.001 μs 1 ± 0.037
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.28 ± 0.01 μs 0.29 ± 0.01 μs 0.966 ± 0.048
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.38 ± 0.01 μs 0.381 ± 0.01 μs 0.997 ± 0.037
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.3 ± 0.001 μs 0.31 ± 0.01 μs 0.968 ± 0.031
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.912 ± 0.011 μs 0.922 ± 0.01 μs 0.989 ± 0.016
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 4.04 ± 0.1 μs 3.71 ± 0.03 μs 1.09 ± 0.028
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 4.91 ± 0.031 μs 4.98 ± 0.04 μs 0.986 ± 0.01
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.48 ± 0.021 μs 3.48 ± 0.03 μs 1 ± 0.011
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.19 ± 0.059 μs 6.25 ± 0.05 μs 0.99 ± 0.012
time_to_load 5.35 ± 0.046 s 5.32 ± 0.085 s 1 ± 0.018
Memory benchmarks
main 3b71fa2... main / 3b71fa2...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0424 M allocs: 1.71 MB 0.0424 M allocs: 1.71 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.162 M allocs: 8.9 MB 0.162 M allocs: 8.9 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.0536 M allocs: 2.38 MB 0.0536 M allocs: 2.38 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 0.0423 M allocs: 1.7 MB 0.0423 M allocs: 1.7 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.127 M allocs: 7.07 MB 0.127 M allocs: 7.07 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0553 M allocs: 2.42 MB 0.0553 M allocs: 2.42 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 0.114 M allocs: 6.25 MB 0.114 M allocs: 6.25 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.65 M allocs: 0.251 GB 4.65 M allocs: 0.251 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.115 M allocs: 6.67 MB 0.115 M allocs: 6.67 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.69 M allocs: 0.255 GB 4.69 M allocs: 0.255 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.126 M allocs: 7.8 MB 0.126 M allocs: 7.8 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.351 M allocs: 19.7 MB 0.351 M allocs: 19.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.862 M allocs: 0.0792 GB 0.862 M allocs: 0.0792 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.353 M allocs: 16.7 MB 0.353 M allocs: 16.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.18 M allocs: 0.0791 GB 1.18 M allocs: 0.0791 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 1.18 M allocs: 0.0791 GB 1.18 M allocs: 0.0791 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.267 M allocs: 14.7 MB 0.267 M allocs: 14.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.633 M allocs: 0.0604 GB 0.633 M allocs: 0.0604 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0951 M allocs: 3.9 MB 0.0951 M allocs: 3.9 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.0772 M allocs: 5.08 MB 0.0772 M allocs: 5.08 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.376 M allocs: 19.7 MB 0.376 M allocs: 19.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 1.07 M allocs: 0.0796 GB 1.07 M allocs: 0.0796 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.297 M allocs: 0.067 GB 0.297 M allocs: 0.067 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.226 M allocs: 12.2 MB 0.226 M allocs: 12.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.647 M allocs: 0.0543 GB 0.647 M allocs: 0.0543 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.244 M allocs: 20.7 MB 0.244 M allocs: 20.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0741 M allocs: 3 MB 0.0741 M allocs: 3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.0768 M allocs: 5.04 MB 0.0768 M allocs: 5.04 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.317 M allocs: 16.4 MB 0.317 M allocs: 16.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.879 M allocs: 0.0548 GB 0.879 M allocs: 0.0548 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.335 M allocs: 25.1 MB 0.335 M allocs: 25.1 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.255 M allocs: 0.0577 GB 0.255 M allocs: 0.0577 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 0.646 M allocs: 0.0785 GB 0.646 M allocs: 0.0785 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 0.0649 M allocs: 11.5 MB 0.0649 M allocs: 11.5 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0639 M allocs: 11.3 MB 0.0639 M allocs: 11.3 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0485 M allocs: 8.05 MB 0.0485 M allocs: 8.05 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0642 M allocs: 11.3 MB 0.0642 M allocs: 11.3 MB 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/getinfo! 0.323 k allocs: 15.6 kB 0.323 k allocs: 15.6 kB 1
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/getinfo!/LinModel 0.563 k allocs: 0.0588 MB 0.563 k allocs: 0.0588 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.606 k allocs: 0.0776 MB 0.606 k allocs: 0.0776 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.4 k allocs: 0.107 MB 2.4 k allocs: 0.107 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.37 k allocs: 13.1 kB 0.37 k allocs: 13.1 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 2.64 k allocs: 0.126 MB 2.64 k allocs: 0.126 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.15 k allocs: 0.158 MB 3.15 k allocs: 0.158 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.404 k allocs: 14.7 kB 0.404 k allocs: 14.7 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 0.404 k allocs: 14.7 kB 0.404 k allocs: 14.7 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.01 k allocs: 0.0858 MB 2.01 k allocs: 0.0858 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/getinfo!/LinModel 1.03 k allocs: 0.0393 MB 1.03 k allocs: 0.0393 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 1.24 k allocs: 0.203 MB 1.24 k allocs: 0.203 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 0.0754 M allocs: 14.6 MB 0.0754 M allocs: 14.7 MB 0.998
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.972 k allocs: 25.4 kB 0.972 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 2 allocs: 0.0469 kB 2 allocs: 0.0469 kB 1
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 0.972 k allocs: 25.4 kB 0.972 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

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@franckgaga @codecov-commenter