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bench: compare OrthogonalCollocation to other TranscriptionMethod#330

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franckgaga merged 1 commit intomainfrom
run_bench
Mar 5, 2026
Merged

bench: compare OrthogonalCollocation to other TranscriptionMethod#330
franckgaga merged 1 commit intomainfrom
run_bench

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@franckgaga franckgaga commented Mar 5, 2026 •
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This is a simple PR to execute benchmark CI for the new OrthogonalCollocation.

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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.56%. Comparing base (c65d79c) to head (1e87de3).

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##             main     #330   +/-   ##
=======================================
  Coverage   98.56%   98.56%           
=======================================
  Files          27       27           
  Lines        5164     5164           
=======================================
  Hits         5090     5090           
  Misses         74       74

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Benchmark Results (Julia v1)

Time benchmarks
main 1e87de3... main / 1e87de3...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.47 ± 0.52 ms 5.42 ± 0.47 ms 1.01 ± 0.13
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.316 ± 0.0087 s 0.312 ± 0.0098 s 1.01 ± 0.042
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.222 ± 0.016 s 0.216 ± 0.018 s 1.03 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.37 ± 0.61 ms 9.34 ± 0.57 ms 1 ± 0.09
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.84 ± 0.087 ms 1.82 ± 0.069 ms 1.01 ± 0.061
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.36 ± 0.43 ms 5.48 ± 0.53 ms 0.979 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.271 ± 0.0043 s 0.272 ± 0.0029 s 0.995 ± 0.019
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.229 ± 0.0017 s 0.231 ± 0.0079 s 0.994 ± 0.035
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.69 ± 0.48 ms 6.47 ± 0.44 ms 1.03 ± 0.1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.93 ± 0.071 ms 1.92 ± 0.082 ms 1 ± 0.057
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 9.92 ± 1.7 ms 10.1 ± 1.7 ms 0.978 ± 0.23
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.324 ± 0.07 s 0.335 ± 0.092 s 0.969 ± 0.34
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.156 ± 0.00088 s 0.158 ± 0.00077 s 0.99 ± 0.0074
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.114 ± 0.023 s 0.114 ± 0.026 s 0.998 ± 0.3
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 13.4 ± 1.8 ms 13.7 ± 1.8 ms 0.984 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.742 ± 0.0061 s 0.735 ± 0.0072 s 1.01 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.655 ± 0.0096 s 0.661 ± 0.0072 s 0.992 ± 0.018
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.87 ± 0.0072 s 1.85 ± 0.012 s 1.01 ± 0.0076
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.511 ± 0.0066 s 0.493 ± 0.005 s 1.04 ± 0.017
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.503 ± 0.0036 s 0.498 ± 0.0051 s 1.01 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.396 ± 0.0029 s 0.369 ± 0.0018 s 1.07 ± 0.0093
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.427 ± 0.0027 s 0.438 ± 0.0046 s 0.975 ± 0.012
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 0.538 ± 0.0046 s 0.546 ± 0.0046 s 0.986 ± 0.012
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 0.559 ± 0.0095 s 0.554 ± 0.0061 s 1.01 ± 0.021
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.566 ± 0.0051 s 0.541 ± 0.0027 s 1.05 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.178 ± 0.0013 s 0.182 ± 0.0028 s 0.976 ± 0.017
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.349 ± 0.0043 s 0.357 ± 0.0035 s 0.977 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.399 ± 0.0077 s 0.4 ± 0.0035 s 0.998 ± 0.021
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.084 ± 0.0018 s 0.0813 ± 0.0012 s 1.03 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.157 ± 0.0056 s 0.154 ± 0.0016 s 1.02 ± 0.038
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.353 ± 0.0064 s 0.352 ± 0.0017 s 1 ± 0.019
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.401 ± 0.0066 s 0.394 ± 0.0023 s 1.02 ± 0.018
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.38 ± 0.0092 s 0.374 ± 0.0041 s 1.01 ± 0.027
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 0.636 ± 0.0053 s 0.603 ± 0.0038 s 1.05 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 1.6 ± 0.06 s 1.53 ± 0.015 s 1.04 ± 0.04
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.52 ± 0.0032 s 0.518 ± 0.0026 s 1 ± 0.008
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.176 ± 0.0017 s 0.172 ± 0.001 s 1.02 ± 0.012
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.352 ± 0.0083 s 0.346 ± 0.0029 s 1.02 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.318 ± 0.0046 s 0.304 ± 0.0027 s 1.05 ± 0.018
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.379 ± 0.0068 s 0.376 ± 0.0051 s 1.01 ± 0.023
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.266 ± 0.013 s 0.261 ± 0.0037 s 1.02 ± 0.051
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.0778 ± 0.00058 s 0.0775 ± 0.00062 s 1 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.145 ± 0.003 s 0.135 ± 0.0016 s 1.07 ± 0.026
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0383 ± 0.0021 s 0.0389 ± 0.0016 s 0.985 ± 0.067
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0324 ± 0.008 s 0.0322 ± 0.0072 s 1.01 ± 0.34
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.178 ± 0.042 s 0.173 ± 0.039 s 1.03 ± 0.33
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.161 ± 0.033 s 0.156 ± 0.031 s 1.04 ± 0.3
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0336 ± 0.0045 s 0.0338 ± 0.0047 s 0.993 ± 0.19
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 26.6 ± 1.1 ms 27.3 ± 4.7 ms 0.974 ± 0.17
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0871 ± 0.0012 s 0.0905 ± 0.00027 s 0.962 ± 0.014
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0898 ± 0.0017 s 0.09 ± 0.00053 s 0.998 ± 0.02
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0662 ± 0.0006 s 0.0669 ± 0.00047 s 0.99 ± 0.011
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0846 ± 0.0013 s 0.0873 ± 0.00053 s 0.969 ± 0.016
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0517 ± 0.0012 s 0.0505 ± 0.0013 s 1.02 ± 0.034
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.0482 ± 0.0017 s 0.0462 ± 0.00067 s 1.04 ± 0.041
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 4.17 ± 0.039 μs 4.31 ± 0.03 μs 0.967 ± 0.011
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.11 ± 0.0028 ms 0.109 ± 0.0027 ms 1 ± 0.036
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.108 ± 0.0021 ms 0.108 ± 0.0014 ms 0.998 ± 0.023
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 17 ± 0.39 μs 17.3 ± 0.32 μs 0.981 ± 0.029
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.196 ± 0.013 ms 0.197 ± 0.011 ms 0.995 ± 0.085
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.228 ± 0.019 ms 0.229 ± 0.016 ms 0.995 ± 0.11
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 1.88 ± 0.25 ms 1.88 ± 0.24 ms 0.999 ± 0.19
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.28 ± 0.078 ms 1.28 ± 0.035 ms 1 ± 0.067
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 2.44 ± 0.76 ms 2.43 ± 0.76 ms 1 ± 0.44
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 2.28 ± 0.14 ms 2.26 ± 0.081 ms 1.01 ± 0.074
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 2.07 ± 0.15 ms 2.11 ± 0.15 ms 0.984 ± 0.099
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 2.92 ± 0.19 ms 2.92 ± 0.18 ms 0.999 ± 0.091
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.28 ± 0.034 ms 1.28 ± 0.029 ms 0.995 ± 0.035
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.27 ± 0.029 ms 1.28 ± 0.029 ms 1 ± 0.032
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 1.66 ± 0.17 ms 1.66 ± 0.17 ms 0.998 ± 0.15
UNIT TESTS/SimModel/LinModel/evaloutput 0.14 ± 0.001 μs 0.141 ± 0.01 μs 0.993 ± 0.071
UNIT TESTS/SimModel/LinModel/updatestate! 0.21 ± 0.01 μs 0.211 ± 0.01 μs 0.995 ± 0.067
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.421 ± 0.01 μs 0.451 ± 0 μs 0.933 ± 0.022
UNIT TESTS/SimModel/NonLinModel/linearize! 2.09 ± 0.023 μs 2.03 ± 0.019 μs 1.03 ± 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 0.541 ± 0.01 μs 0.551 ± 0 μs 0.982 ± 0.018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.83 ± 0.021 μs 1.81 ± 0.019 μs 1.01 ± 0.016
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.27 ± 0.01 μs 0.261 ± 0.01 μs 1.03 ± 0.055
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.42 ± 0.01 μs 1.45 ± 0.01 μs 0.979 ± 0.0096
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 3.97 ± 0.08 μs 4.06 ± 0.06 μs 0.978 ± 0.024
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 9.1 ± 0.08 μs 8.96 ± 0.09 μs 1.02 ± 0.014
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.24 ± 0.001 μs 0.24 ± 0.01 μs 1 ± 0.042
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.571 ± 0.01 μs 0.571 ± 0.01 μs 1 ± 0.025
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.321 ± 0.011 μs 0.311 ± 0.001 μs 1.03 ± 0.036
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.732 ± 0.01 μs 0.741 ± 0.011 μs 0.988 ± 0.02
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.441 ± 0.01 μs 0.441 ± 0.001 μs 1 ± 0.023
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 1.21 ± 0.011 μs 1.22 ± 0.019 μs 0.992 ± 0.018
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.27 ± 0.01 μs 0.261 ± 0.01 μs 1.03 ± 0.055
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.131 ± 0.01 μs 0.13 ± 0.01 μs 1.01 ± 0.11
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.52 ± 0.039 μs 2.54 ± 0.031 μs 0.992 ± 0.02
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.24 ± 0.011 μs 0.25 ± 0.01 μs 0.96 ± 0.058
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.251 ± 0.01 μs 0.26 ± 0.01 μs 0.965 ± 0.053
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.351 ± 0.001 μs 0.351 ± 0.001 μs 1 ± 0.004
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/LinModel 0.179 ± 0.016 ms 0.181 ± 0.017 ms 0.99 ± 0.13
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 0.336 ± 0.017 ms 0.343 ± 0.018 ms 0.981 ± 0.072
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.46 ± 0.22 ms 3.53 ± 0.23 ms 0.98 ± 0.089
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 0.313 ± 0.017 ms 0.311 ± 0.017 ms 1.01 ± 0.078
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.34 ± 0.01 μs 1.33 ± 0.01 μs 1.01 ± 0.011
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 7.02 ± 2.6 μs 7.64 ± 2.7 μs 0.919 ± 0.47
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3 ± 0.18 ms 3.04 ± 0.18 ms 0.988 ± 0.085
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 16.6 ± 0.4 μs 17.1 ± 0.86 μs 0.969 ± 0.054
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.317 ± 0.018 ms 0.319 ± 0.018 ms 0.994 ± 0.079
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.27 ± 0.01 μs 0.27 ± 0.001 μs 1 ± 0.037
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.29 ± 0.01 μs 0.28 ± 0.001 μs 1.04 ± 0.036
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.381 ± 0.01 μs 0.381 ± 0.01 μs 1 ± 0.037
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.32 ± 0.01 μs 0.301 ± 0.01 μs 1.06 ± 0.048
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.932 ± 0.019 μs 0.922 ± 0.019 μs 1.01 ± 0.029
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.7 ± 0.03 μs 3.71 ± 0.04 μs 0.997 ± 0.013
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 5.01 ± 0.03 μs 5 ± 0.031 μs 1 ± 0.0086
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.49 ± 0.03 μs 3.52 ± 0.03 μs 0.991 ± 0.012
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.33 ± 0.06 μs 6.29 ± 0.06 μs 1.01 ± 0.014
time_to_load 6.1 ± 0.014 s 6.09 ± 0.07 s 1 ± 0.012
Memory benchmarks
main 1e87de3... main / 1e87de3...
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 0.115 M allocs: 6.26 MB 0.999
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 0.999
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: 0.0791 GB 0.862 M allocs: 0.0791 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 0.267 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: 0.0603 GB 0.633 M allocs: 0.0603 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 0.717 M allocs: 0.1 GB 0.717 M allocs: 0.1 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 0.717 M allocs: 0.1 GB 0.717 M allocs: 0.1 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 0.321 M allocs: 17.1 MB 0.321 M allocs: 17.1 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.913 M allocs: 0.0725 GB 0.913 M allocs: 0.0725 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) 0.265 M allocs: 23.7 MB 0.265 M allocs: 23.7 MB 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: 0.0542 GB 0.647 M allocs: 0.0542 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.244 M allocs: 21 MB 0.244 M allocs: 21 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 0.738 M allocs: 0.103 GB 0.738 M allocs: 0.103 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 3.46 M allocs: 0.501 GB 3.46 M allocs: 0.501 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 0.271 M allocs: 14.3 MB 0.271 M allocs: 14.3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.761 M allocs: 0.0494 GB 0.761 M allocs: 0.0494 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.289 M allocs: 23.2 MB 0.289 M allocs: 23.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.527 M allocs: 0.0563 GB 0.527 M allocs: 0.0563 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) 0.261 M allocs: 20.7 MB 0.261 M allocs: 20.7 MB 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 (Hessian) 0.0986 M allocs: 15.5 MB 0.0986 M allocs: 15.5 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.0929 M allocs: 14.5 MB 0.0929 M allocs: 14.5 MB 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: 0.0587 MB 0.563 k allocs: 0.0587 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.606 k allocs: 0.076 MB 0.606 k allocs: 0.076 MB 1
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 2.09 k allocs: 0.0932 MB 2.09 k allocs: 0.0932 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 2.6 k allocs: 0.125 MB 2.6 k allocs: 0.125 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 3.01 k allocs: 0.169 MB 3.01 k allocs: 0.169 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 6.26 k allocs: 0.486 MB 6.26 k allocs: 0.486 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 1.42 k allocs: 0.0582 MB 1.42 k allocs: 0.0582 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: 14.6 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 0.972 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

@franckgaga franckgaga merged commit c4290c6 into main Mar 5, 2026
6 checks passed
@franckgaga franckgaga deleted the run_bench branch March 5, 2026 12:32
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@franckgaga @codecov-commenter