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added: h=1 support for OrthogonalCollocation + misc. improvements#331

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franckgaga merged 8 commits intomainfrom
ortho_colloc_foh
Mar 6, 2026
Merged

added: h=1 support for OrthogonalCollocation + misc. improvements#331
franckgaga merged 8 commits intomainfrom
ortho_colloc_foh

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@franckgaga franckgaga commented Mar 5, 2026 •
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  • added support for piecewise linear manipulated input $\mathbf{u}$ in OrthogonalCollocation
  • debug some potential race conditions in TrapezoidalCollocation and OrthogonalCollocation
  • removed allocations in OrthogonalCollocation
  • benchmark OrthogonalCollocation with UnoSolver.jl and hessian=true

@franckgaga franckgaga marked this pull request as draft March 5, 2026 23:00
@franckgaga franckgaga marked this pull request as ready for review March 6, 2026 19:26
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codecov-commenter commented Mar 6, 2026 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.58%. Comparing base (c4290c6) to head (cd026dd).
⚠️ Report is 9 commits behind head on main.

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@@            Coverage Diff             @@
##             main     #331      +/-   ##
==========================================
+ Coverage   98.56%   98.58%   +0.02%     
==========================================
  Files          27       27              
  Lines        5164     5174      +10     
==========================================
+ Hits         5090     5101      +11     
+ Misses         74       73       -1

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@franckgaga franckgaga merged commit c06273f into main Mar 6, 2026
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@franckgaga franckgaga deleted the ortho_colloc_foh branch March 6, 2026 21:06
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Benchmark Results (Julia v1)

Time benchmarks
main cd026dd... main / cd026dd...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.45 ± 0.46 ms 5.41 ± 0.49 ms 1.01 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.314 ± 0.011 s 0.314 ± 0.0095 s 0.998 ± 0.046
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.221 ± 0.015 s 0.22 ± 0.015 s 1 ± 0.097
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.43 ± 0.6 ms 9.26 ± 0.6 ms 1.02 ± 0.093
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.88 ± 0.083 ms 1.79 ± 0.089 ms 1.05 ± 0.07
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.46 ± 0.36 ms 5.35 ± 0.47 ms 1.02 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.272 ± 0.0042 s 0.272 ± 0.0041 s 1 ± 0.022
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.231 ± 0.0025 s 0.23 ± 0.0018 s 1 ± 0.014
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.62 ± 0.5 ms 6.47 ± 0.44 ms 1.02 ± 0.1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.99 ± 0.078 ms 1.9 ± 0.081 ms 1.05 ± 0.061
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 10.3 ± 1.7 ms 10.1 ± 1.7 ms 1.02 ± 0.24
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.332 ± 0.1 s 0.324 ± 0.085 s 1.03 ± 0.41
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.158 ± 0.0036 s 0.157 ± 0.0011 s 1.01 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.117 ± 0.025 s 0.111 ± 0.019 s 1.05 ± 0.29
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 13.7 ± 1.8 ms 13.5 ± 1.8 ms 1.02 ± 0.19
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.737 ± 0.01 s 0.723 ± 0.0026 s 1.02 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.643 ± 0.008 s 0.679 ± 0.043 s 0.947 ± 0.061
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.87 ± 0.012 s 1.89 ± 0.058 s 0.992 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.509 ± 0.0092 s 0.498 ± 0.025 s 1.02 ± 0.054
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.503 ± 0.0053 s 0.491 ± 0.0012 s 1.02 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.37 ± 0.0024 s 0.386 ± 0.002 s 0.959 ± 0.0081
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.443 ± 0.0059 s 0.436 ± 0.006 s 1.02 ± 0.019
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 0.547 ± 0.0044 s 0.591 ± 0.023 s 0.925 ± 0.037
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 0.544 ± 0.0068 s 0.582 ± 0.0028 s 0.934 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.529 ± 0.0024 s 0.558 ± 0.0043 s 0.949 ± 0.0086
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.178 ± 0.0034 s 0.185 ± 0.0012 s 0.96 ± 0.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.35 ± 0.0024 s 0.36 ± 0.019 s 0.972 ± 0.053
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.405 ± 0.0077 s 0.403 ± 0.0054 s 1 ± 0.023
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.0821 ± 0.0006 s 0.0869 ± 0.0032 s 0.945 ± 0.035
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.154 ± 0.0023 s 0.169 ± 0.0098 s 0.913 ± 0.055
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.368 ± 0.0044 s 0.369 ± 0.0015 s 0.999 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.394 ± 0.0018 s 0.401 ± 0.0058 s 0.983 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.394 ± 0.004 s 0.39 ± 0.0034 s 1.01 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 0.607 ± 0.002 s 0.636 ± 0.0049 s 0.955 ± 0.008
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 1.54 ± 0.14 s 1.77 ± 0.04 s 0.87 ± 0.081
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.528 ± 0.0053 s 0.538 ± 0.0026 s 0.98 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.174 ± 0.0011 s 0.174 ± 0.002 s 0.998 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.349 ± 0.0013 s 0.345 ± 0.0035 s 1.01 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.314 ± 0.011 s 0.317 ± 0.0036 s 0.99 ± 0.037
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.381 ± 0.013 s 0.371 ± 0.004 s 1.03 ± 0.036
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.269 ± 0.0081 s 0.258 ± 0.00099 s 1.04 ± 0.032
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.0787 ± 0.0015 s 0.0773 ± 0.00051 s 1.02 ± 0.021
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.141 ± 0.0031 s 0.139 ± 0.0018 s 1.02 ± 0.026
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0426 ± 0.0021 s 0.0383 ± 0.0015 s 1.11 ± 0.07
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0367 ± 0.012 s 0.0322 ± 0.0068 s 1.14 ± 0.45
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.175 ± 0.044 s 0.176 ± 0.042 s 0.991 ± 0.35
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.162 ± 0.03 s 0.162 ± 0.034 s 0.998 ± 0.28
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0345 ± 0.005 s 0.0321 ± 0.0043 s 1.07 ± 0.21
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 28.5 ± 2.4 ms 26.2 ± 3.2 ms 1.08 ± 0.16
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0865 ± 0.0018 s 0.0903 ± 0.00066 s 0.958 ± 0.022
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0827 ± 0.0018 s 0.0893 ± 0.0004 s 0.926 ± 0.02
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0632 ± 0.0013 s 0.0681 ± 0.00053 s 0.928 ± 0.02
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.082 ± 0.001 s 0.0883 ± 0.00037 s 0.929 ± 0.012
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.052 ± 0.0011 s 0.0494 ± 0.0003 s 1.05 ± 0.023
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.047 ± 0.0012 s 0.0462 ± 0.00031 s 1.02 ± 0.026
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 4.29 ± 0.03 μs 3.84 ± 0.03 μs 1.12 ± 0.012
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.109 ± 0.0023 ms 0.109 ± 0.0023 ms 1 ± 0.03
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.108 ± 0.0013 ms 0.107 ± 0.001 ms 1.01 ± 0.015
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 17.3 ± 0.28 μs 17.1 ± 0.46 μs 1.01 ± 0.032
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.196 ± 0.011 ms 0.196 ± 0.0095 ms 1 ± 0.076
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.228 ± 0.018 ms 0.228 ± 0.012 ms 0.999 ± 0.094
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 1.86 ± 0.25 ms 1.89 ± 0.23 ms 0.98 ± 0.18
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.25 ± 0.068 ms 1.27 ± 0.033 ms 0.986 ± 0.059
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 2.43 ± 0.76 ms 2.51 ± 0.78 ms 0.967 ± 0.43
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 2.27 ± 0.14 ms 2.29 ± 0.11 ms 0.99 ± 0.076
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 2.08 ± 0.14 ms 2.17 ± 0.21 ms 0.958 ± 0.11
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 2.89 ± 0.17 ms 3.2 ± 0.18 ms 0.904 ± 0.074
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.27 ± 0.032 ms 1.27 ± 0.029 ms 0.995 ± 0.034
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.27 ± 0.026 ms 1.28 ± 0.029 ms 0.993 ± 0.031
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 1.64 ± 0.16 ms 1.69 ± 0.2 ms 0.966 ± 0.15
UNIT TESTS/SimModel/LinModel/evaloutput 0.15 ± 0.01 μs 0.14 ± 0.001 μs 1.07 ± 0.072
UNIT TESTS/SimModel/LinModel/updatestate! 0.21 ± 0.001 μs 0.23 ± 0.01 μs 0.913 ± 0.04
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.43 ± 0.01 μs 0.421 ± 0.01 μs 1.02 ± 0.034
UNIT TESTS/SimModel/NonLinModel/linearize! 2.05 ± 0.021 μs 2.06 ± 0.02 μs 0.996 ± 0.014
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.49 ± 0.01 μs 0.491 ± 0.01 μs 0.998 ± 0.029
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.541 ± 0 μs 0.551 ± 0.001 μs 0.982 ± 0.0018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.81 ± 0.011 μs 1.79 ± 0.019 μs 1.01 ± 0.012
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.27 ± 0.01 μs 0.271 ± 0.011 μs 0.996 ± 0.055
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.41 ± 0.01 μs 1.42 ± 0.011 μs 0.993 ± 0.01
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 3.95 ± 0.07 μs 4.34 ± 0.07 μs 0.91 ± 0.022
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 8.98 ± 0.14 μs 9.04 ± 0.09 μs 0.993 ± 0.018
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 ± 0.01 μs 1.04 ± 0.018
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.31 ± 0.01 μs 0.311 ± 0.001 μs 0.997 ± 0.032
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.741 ± 0.001 μs 0.742 ± 0.01 μs 0.999 ± 0.014
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.441 ± 0 μs 0.451 ± 0.01 μs 0.978 ± 0.022
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 1.23 ± 0.011 μs 1.23 ± 0.01 μs 1 ± 0.012
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.261 ± 0.01 μs 0.27 ± 0.01 μs 0.967 ± 0.052
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.14 ± 0.01 μs 0.13 ± 0.01 μs 1.08 ± 0.11
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.52 ± 0.04 μs 2.52 ± 0.03 μs 1 ± 0.02
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.231 ± 0.01 μs 0.24 ± 0.001 μs 0.963 ± 0.042
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.25 ± 0.01 μs 0.26 ± 0.01 μs 0.962 ± 0.053
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.351 ± 0.01 μs 0.35 ± 0.01 μs 1 ± 0.04
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/LinModel 0.173 ± 0.013 ms 0.207 ± 0.038 ms 0.836 ± 0.16
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 0.338 ± 0.018 ms 0.343 ± 0.018 ms 0.984 ± 0.074
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.4 ± 0.14 ms 3.35 ± 0.12 ms 1.01 ± 0.055
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.481 ± 0 μs 0.481 ± 0.01 μs 1 ± 0.021
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.305 ± 0.017 ms 0.31 ± 0.017 ms 0.983 ± 0.077
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.34 ± 0.001 μs 1.33 ± 0.001 μs 1.01 ± 0.0011
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 6.97 ± 3.9 μs 6.49 ± 1.9 μs 1.07 ± 0.67
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 2.96 ± 0.18 ms 2.9 ± 0.14 ms 1.02 ± 0.081
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 16.7 ± 0.56 μs 16.6 ± 0.31 μs 1.01 ± 0.039
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.315 ± 0.018 ms 0.319 ± 0.018 ms 0.987 ± 0.079
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.27 ± 0.01 μs 0.261 ± 0.001 μs 1.03 ± 0.039
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.29 ± 0.01 μs 0.28 ± 0.01 μs 1.04 ± 0.051
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.371 ± 0.01 μs 0.381 ± 0.001 μs 0.974 ± 0.026
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.31 ± 0.01 μs 0.301 ± 0.01 μs 1.03 ± 0.048
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.931 ± 0.01 μs 0.941 ± 0.01 μs 0.989 ± 0.015
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.7 ± 0.04 μs 3.73 ± 0.04 μs 0.992 ± 0.015
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 4.9 ± 0.031 μs 4.93 ± 0.04 μs 0.994 ± 0.01
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.55 ± 0.03 μs 3.52 ± 0.039 μs 1.01 ± 0.014
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.38 ± 0.049 μs 6.32 ± 0.08 μs 1.01 ± 0.015
time_to_load 6.02 ± 0.12 s 6.29 ± 0.16 s 0.956 ± 0.031
Memory benchmarks
main cd026dd... main / cd026dd...
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 0.115 M allocs: 6.26 MB 0.115 M allocs: 6.26 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: 0.0791 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 1.18 M allocs: 0.079 GB 0.904
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 1.01 M allocs: 0.0714 GB 1.18 M allocs: 0.079 GB 0.904
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 1.49 M allocs: 0.125 GB 0.802
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 0.717 M allocs: 0.1 GB 1.49 M allocs: 0.125 GB 0.802
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 0.376 M allocs: 19.7 MB 0.87
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.913 M allocs: 0.0725 GB 1.07 M allocs: 0.0794 GB 0.913
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 1.53 M allocs: 0.129 GB 0.802
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 3.46 M allocs: 0.501 GB 5.4 M allocs: 0.567 GB 0.883
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 0.317 M allocs: 16.4 MB 0.872
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.761 M allocs: 0.0494 GB 0.879 M allocs: 0.0547 GB 0.904
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.289 M allocs: 23.2 MB 0.335 M allocs: 25.1 MB 0.923
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 3.87 k allocs: 0.196 MB 0.859
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 6.26 k allocs: 0.486 MB 7.79 k allocs: 0.54 MB 0.899
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 1.48 k allocs: 0.0609 MB 0.955
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

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@franckgaga @codecov-commenter @JuliaRegistrator