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added : reduce allocations in MovingHorizonEstimator and initstate!#348

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franckgaga merged 4 commits intomainfrom
mhe_allocs
Apr 16, 2026
Merged

added : reduce allocations in MovingHorizonEstimator and initstate!#348
franckgaga merged 4 commits intomainfrom
mhe_allocs

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@franckgaga franckgaga commented Apr 15, 2026 •
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Added new fields in StateEstimatorBuffer to reduce allocations of MovingHorizonEstimator. These new fields are useless for other StateEstimator types (they will be vectors with 0 elements).

Also reduced the allocations in initstate! for LinModel by using the existing buffers.

@franckgaga franckgaga changed the title added : reduce allocations in MovingHorizoneEstimator added : reduce allocations in MovingHorizonEstimator Apr 15, 2026
@franckgaga franckgaga changed the title added : reduce allocations in MovingHorizonEstimator added : reduce allocations in MovingHorizonEstimator and initstate! Apr 15, 2026
@franckgaga
revert: keep bang in set_warmstart_mhe!
3f9ddf6 
It modifies `estim.optim`, so let's keep it.
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codecov-commenter commented Apr 15, 2026 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.55%. Comparing base (e9597f6) to head (3f9ddf6).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #348   +/-   ##
=======================================
  Coverage   98.54%   98.55%           
=======================================
  Files          27       27           
  Lines        5226     5250   +24     
=======================================
+ Hits         5150     5174   +24     
  Misses         76       76

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github-actions bot commented Apr 16, 2026

Benchmark Results (Julia v1)

Time benchmarks
main 3f9ddf6... main / 3f9ddf6...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 4.93 ± 0.52 ms 5.07 ± 0.51 ms 0.973 ± 0.14
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.325 ± 0.007 s 0.319 ± 0.011 s 1.02 ± 0.041
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.222 ± 0.019 s 0.217 ± 0.018 s 1.02 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.25 ± 0.63 ms 9.45 ± 0.56 ms 0.979 ± 0.089
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.75 ± 0.076 ms 1.83 ± 0.081 ms 0.954 ± 0.059
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 4.94 ± 0.49 ms 5.05 ± 0.5 ms 0.979 ± 0.14
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.281 ± 0.0053 s 0.276 ± 0.0028 s 1.02 ± 0.022
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.236 ± 0.007 s 0.228 ± 0.0016 s 1.04 ± 0.031
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.45 ± 0.44 ms 6.7 ± 0.43 ms 0.962 ± 0.09
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.93 ± 0.071 ms 1.91 ± 0.052 ms 1.01 ± 0.046
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 10.2 ± 1.8 ms 10.3 ± 1.8 ms 0.994 ± 0.24
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.349 ± 0.1 s 0.347 ± 0.11 s 1.01 ± 0.43
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.161 ± 0.0018 s 0.161 ± 0.0009 s 1 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.135 ± 0.029 s 0.132 ± 0.027 s 1.02 ± 0.3
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 13.5 ± 2 ms 13.4 ± 1.9 ms 1 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.737 ± 0.0074 s 0.744 ± 0.002 s 0.99 ± 0.01
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.676 ± 0.0065 s 0.683 ± 0.0058 s 0.99 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.86 ± 0.013 s 1.93 ± 0.009 s 0.963 ± 0.0079
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.506 ± 0.0051 s 0.504 ± 0.0026 s 1 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.507 ± 0.0079 s 0.505 ± 0.0096 s 1 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.362 ± 0.0046 s 0.367 ± 0.0055 s 0.986 ± 0.019
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.456 ± 0.015 s 0.443 ± 0.0011 s 1.03 ± 0.033
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 0.548 ± 0.0034 s 0.554 ± 0.0028 s 0.989 ± 0.0079
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 0.549 ± 0.0051 s 0.556 ± 0.0014 s 0.989 ± 0.0096
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.519 ± 0.0034 s 0.518 ± 0.0017 s 1 ± 0.0073
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.181 ± 0.0035 s 0.181 ± 0.00068 s 1 ± 0.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.339 ± 0.0015 s 0.346 ± 0.0013 s 0.981 ± 0.0058
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.334 ± 0.0012 s 0.342 ± 0.00085 s 0.978 ± 0.0043
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.0765 ± 0.00082 s 0.0752 ± 0.00036 s 1.02 ± 0.012
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.207 ± 0.012 s 0.209 ± 0.011 s 0.991 ± 0.075
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.35 ± 0.00084 s 0.355 ± 0.0044 s 0.985 ± 0.012
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.377 ± 0.0018 s 0.379 ± 0.00064 s 0.995 ± 0.0049
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.377 ± 0.003 s 0.381 ± 0.0051 s 0.989 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 0.619 ± 0.0073 s 0.611 ± 0.0025 s 1.01 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 1.82 ± 0.014 s 1.84 ± 0.033 s 0.991 ± 0.019
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.509 ± 0.0015 s 0.515 ± 0.0024 s 0.988 ± 0.0053
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.177 ± 0.00075 s 0.176 ± 0.00054 s 1.01 ± 0.0053
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.341 ± 0.00094 s 0.341 ± 0.00062 s 1 ± 0.0033
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.294 ± 0.0012 s 0.293 ± 0.004 s 1.01 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.374 ± 0.0032 s 0.369 ± 0.00094 s 1.01 ± 0.0091
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.255 ± 0.00078 s 0.256 ± 0.0012 s 0.994 ± 0.0056
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.0722 ± 0.00031 s 0.0723 ± 0.0003 s 0.999 ± 0.0059
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.185 ± 0.002 s 0.185 ± 0.00072 s 1 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/OrthogonalCollocation (Hessian) 1.29 ± 0.021 s 1.3 ± 0.032 s 0.999 ± 0.029
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0432 ± 0.0017 s 0.0441 ± 0.0024 s 0.979 ± 0.065
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0367 ± 0.011 s 0.0366 ± 0.012 s 1 ± 0.44
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.175 ± 0.049 s 0.174 ± 0.044 s 1 ± 0.38
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.168 ± 0.031 s 0.176 ± 0.032 s 0.957 ± 0.25
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0369 ± 0.0059 s 0.0352 ± 0.0059 s 1.05 ± 0.24
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 30.3 ± 7.1 ms 29.9 ± 8.3 ms 1.01 ± 0.37
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0875 ± 0.0016 s 0.091 ± 0.0005 s 0.961 ± 0.018
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0899 ± 0.0002 s 0.0906 ± 0.00048 s 0.992 ± 0.0057
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0648 ± 0.00037 s 0.0665 ± 0.00014 s 0.975 ± 0.0059
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0846 ± 0.00027 s 0.0878 ± 0.00017 s 0.963 ± 0.0036
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0493 ± 0.00035 s 0.0484 ± 0.00033 s 1.02 ± 0.01
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.0431 ± 0.00021 s 0.0445 ± 0.00051 s 0.97 ± 0.012
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 4.69 ± 0.05 μs 4.38 ± 0.04 μs 1.07 ± 0.015
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.0949 ± 0.0019 ms 0.0947 ± 0.0016 ms 1 ± 0.026
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.109 ± 0.0012 ms 0.109 ± 0.0012 ms 0.995 ± 0.016
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 16 ± 0.29 μs 15.6 ± 0.28 μs 1.02 ± 0.026
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.207 ± 0.013 ms 0.2 ± 0.01 ms 1.04 ± 0.085
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.243 ± 0.017 ms 0.237 ± 0.015 ms 1.03 ± 0.095
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 1.93 ± 0.25 ms 1.92 ± 0.24 ms 1 ± 0.18
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.29 ± 0.033 ms 1.29 ± 0.028 ms 1 ± 0.033
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 2.52 ± 0.75 ms 2.52 ± 0.76 ms 1 ± 0.42
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 2.34 ± 0.09 ms 2.37 ± 0.13 ms 0.989 ± 0.066
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 2.13 ± 0.16 ms 2.15 ± 0.11 ms 0.989 ± 0.091
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 3.15 ± 0.14 ms 3.2 ± 0.14 ms 0.985 ± 0.062
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.31 ± 0.031 ms 1.32 ± 0.033 ms 0.989 ± 0.034
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.3 ± 0.03 ms 1.3 ± 0.026 ms 0.998 ± 0.03
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 1.66 ± 0.15 ms 1.66 ± 0.11 ms 0.999 ± 0.11
UNIT TESTS/SimModel/LinModel/evaloutput 0.14 ± 0 μs 0.15 ± 0.001 μs 0.933 ± 0.0062
UNIT TESTS/SimModel/LinModel/updatestate! 0.19 ± 0.001 μs 0.201 ± 0.01 μs 0.945 ± 0.047
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.33 ± 0.001 μs 0.33 ± 0.001 μs 1 ± 0.0043
UNIT TESTS/SimModel/NonLinModel/linearize! 1.97 ± 0.05 μs 2.09 ± 0.03 μs 0.942 ± 0.027
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.381 ± 0.001 μs 0.39 ± 0.01 μs 0.977 ± 0.025
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.481 ± 0.011 μs 0.471 ± 0.01 μs 1.02 ± 0.032
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.71 ± 0.02 μs 1.7 ± 0.03 μs 1.01 ± 0.021
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.591 ± 0.01 μs 0.631 ± 0 μs 0.937 ± 0.016
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.32 ± 0.02 μs 1.29 ± 0.01 μs 1.02 ± 0.017
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 3.95 ± 0.05 μs 3.93 ± 0.05 μs 1.01 ± 0.018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 8.25 ± 0.071 μs 8.02 ± 0.09 μs 1.03 ± 0.015
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.23 ± 0.01 μs 0.261 ± 0.01 μs 0.881 ± 0.051
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.471 ± 0.009 μs 0.531 ± 0.04 μs 0.887 ± 0.069
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.37 ± 0.01 μs 0.391 ± 0.011 μs 0.946 ± 0.037
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.611 ± 0.011 μs 0.621 ± 0.01 μs 0.984 ± 0.024
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.541 ± 0.01 μs 0.541 ± 0.019 μs 1 ± 0.04
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 1.14 ± 0.019 μs 1.16 ± 0.04 μs 0.984 ± 0.038
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.411 ± 0.001 μs 0.501 ± 0.01 μs 0.82 ± 0.016
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.12 ± 0 μs 0.14 ± 0 μs 0.857 ± 0
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.7 ± 0.05 μs 2.76 ± 0.05 μs 0.978 ± 0.025
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.201 ± 0.01 μs 0.22 ± 0.001 μs 0.914 ± 0.046
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.23 ± 0.01 μs 0.291 ± 0.029 μs 0.79 ± 0.086
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.31 ± 0.01 μs 0.34 ± 0.02 μs 0.912 ± 0.061
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/LinModel 0.194 ± 0.025 ms 0.223 ± 0.045 ms 0.872 ± 0.21
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 0.326 ± 0.021 ms 0.324 ± 0.02 ms 1.01 ± 0.09
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.65 ± 0.23 ms 3.6 ± 0.15 ms 1.02 ± 0.076
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.391 ± 0.01 μs 0.421 ± 0.001 μs 0.929 ± 0.024
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.321 ± 0.019 ms 0.315 ± 0.019 ms 1.02 ± 0.084
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.39 ± 0.02 μs 1.24 ± 0.02 μs 1.12 ± 0.024
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 10.8 ± 3 μs 9.05 ± 2.4 μs 1.19 ± 0.46
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.24 ± 0.18 ms 3.14 ± 0.13 ms 1.03 ± 0.072
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 18 ± 0.52 μs 17.5 ± 0.51 μs 1.03 ± 0.042
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.345 ± 0.019 ms 0.34 ± 0.019 ms 1.02 ± 0.08
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.231 ± 0.01 μs 0.251 ± 0.01 μs 0.92 ± 0.054
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.591 ± 0.03 μs 0.251 ± 0.01 μs 2.35 ± 0.15
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.421 ± 0.021 μs 0.671 ± 0.02 μs 0.627 ± 0.036
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.29 ± 0.019 μs 0.29 ± 0.01 μs 1 ± 0.074
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.891 ± 0.021 μs 0.842 ± 0.02 μs 1.06 ± 0.035
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.89 ± 0.07 μs 3.74 ± 0.069 μs 1.04 ± 0.027
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 4.9 ± 0.051 μs 4.87 ± 0.05 μs 1.01 ± 0.015
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.69 ± 0.051 μs 3.72 ± 0.06 μs 0.992 ± 0.021
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.54 ± 0.07 μs 6.7 ± 0.1 μs 0.976 ± 0.018
time_to_load 5.94 ± 0.063 s 5.85 ± 0.015 s 1.02 ± 0.011
Memory benchmarks
main 3f9ddf6... main / 3f9ddf6...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0469 M allocs: 1.85 MB 0.0469 M allocs: 1.85 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 7.84 k allocs: 0.249 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 0.0468 M allocs: 1.84 MB 0.0468 M allocs: 1.84 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 0.0531 M allocs: 1.39 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 7.7 k allocs: 0.243 MB 7.69 k allocs: 0.243 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 0.119 M allocs: 6.37 MB 0.119 M allocs: 6.37 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 0.433 M allocs: 23.5 MB 0.433 M allocs: 23.5 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 1.04 M allocs: 0.087 GB 1.04 M allocs: 0.087 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 1.01 M allocs: 0.0714 GB 1.01 M allocs: 0.0714 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 1.01 M allocs: 0.0714 GB 1.01 M allocs: 0.0714 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.315 M allocs: 16.8 MB 0.315 M allocs: 16.8 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.737 M allocs: 0.0641 GB 0.737 M allocs: 0.0641 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 1.33 M allocs: 0.115 GB 1.33 M allocs: 0.115 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 1.33 M allocs: 0.115 GB 1.33 M allocs: 0.115 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: 4.85 MB 0.0772 M allocs: 4.85 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.313 M allocs: 16.7 MB 0.313 M allocs: 16.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.753 M allocs: 0.0558 GB 0.753 M allocs: 0.0558 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.114 M allocs: 11 MB 0.114 M allocs: 11 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.308 M allocs: 25.7 MB 0.308 M allocs: 25.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.276 M allocs: 14.6 MB 0.276 M allocs: 14.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.705 M allocs: 0.0543 GB 0.705 M allocs: 0.0543 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.295 M allocs: 23.3 MB 0.295 M allocs: 23.5 MB 0.993
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 1.42 M allocs: 0.124 GB 1.42 M allocs: 0.124 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 5.12 M allocs: 0.555 GB 5.12 M allocs: 0.555 GB 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: 4.81 MB 0.0768 M allocs: 4.81 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.275 M allocs: 14.5 MB 0.275 M allocs: 14.5 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.716 M allocs: 0.0456 GB 0.716 M allocs: 0.0456 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.294 M allocs: 23.4 MB 0.294 M allocs: 23.6 MB 0.993
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.596 M allocs: 0.0588 GB 0.596 M allocs: 0.0588 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.114 M allocs: 11 MB 0.114 M allocs: 11 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.304 M allocs: 22.6 MB 0.304 M allocs: 22.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/OrthogonalCollocation (Hessian) 2.12 M allocs: 0.225 GB 2.12 M allocs: 0.225 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.768 M allocs: 0.0804 GB 0.767 M allocs: 0.0804 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.687 M allocs: 0.0587 GB 0.687 M allocs: 0.0586 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.646 M allocs: 0.0785 GB 0.646 M allocs: 0.0784 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.601 M allocs: 0.0562 GB 0.6 M allocs: 0.0562 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.63 M allocs: 0.0764 GB 0.629 M allocs: 0.0764 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.585 M allocs: 0.0553 GB 0.584 M allocs: 0.0553 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0649 M allocs: 11.5 MB 0.0647 M allocs: 11.6 MB 0.988
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0639 M allocs: 11.3 MB 0.0637 M allocs: 11.4 MB 0.988
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0485 M allocs: 8.05 MB 0.0483 M allocs: 8.15 MB 0.988
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0642 M allocs: 11.3 MB 0.064 M allocs: 11.4 MB 0.988
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0986 M allocs: 15.5 MB 0.0984 M allocs: 15.7 MB 0.991
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.0929 M allocs: 14.5 MB 0.0927 M allocs: 14.7 MB 0.991
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.327 k allocs: 15.8 kB 0.327 k allocs: 15.8 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 0.574 k allocs: 0.0632 MB 0.574 k allocs: 0.0632 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.614 k allocs: 0.0784 MB 0.614 k allocs: 0.0785 MB 0.998
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 1.95 k allocs: 0.0809 MB 1.95 k allocs: 0.0809 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.298 k allocs: 10.1 kB 0.298 k allocs: 10.1 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 2.28 k allocs: 0.102 MB 2.28 k allocs: 0.102 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 2.87 k allocs: 0.138 MB 2.87 k allocs: 0.138 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 3.77 k allocs: 0.191 MB 3.77 k allocs: 0.191 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 7.58 k allocs: 0.531 MB 7.58 k allocs: 0.531 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.321 k allocs: 11.2 kB 0.321 k allocs: 11.2 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 0.321 k allocs: 11.2 kB 0.321 k allocs: 11.2 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 1.43 k allocs: 0.0591 MB 1.43 k allocs: 0.0591 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 1.2 k allocs: 0.121 MB 1.2 k allocs: 0.121 MB 0.999
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 0.972 k allocs: 25.4 kB 0.966 k allocs: 24 kB 1.06
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 7.04 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 0.966 k allocs: 24 kB 1.06
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 03b5a44 into main Apr 16, 2026
5 checks passed
@franckgaga franckgaga deleted the mhe_allocs branch April 16, 2026 00:36
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@franckgaga @codecov-commenter