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debug: always update linear eq. constraints for OrthogonalCollocation - #407

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franckgaga merged 4 commits into
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debug_orthocolloc_imc
Jul 23, 2026
Merged

debug: always update linear eq. constraints for OrthogonalCollocation#407
franckgaga merged 4 commits into
mainfrom
debug_orthocolloc_imc

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@franckgaga

@franckgaga franckgaga commented Jul 23, 2026

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The right-hand side of the linear equality constraints was not updated with OrthogonalCollocation in these two cases :

  1. with estim::InternalModel
  2. with nint_ym=0 and nint_u=0 options

It should be always updated with this transcription method. This is a bugfix.

@franckgaga
debug: always update linear eq. constraints for OrthogonalCollocation
55819a1 
The right-hand side of the linear equality constraint was not updated with `OrthogonalCollocation` in these two cases :

1- with `InternalModel`
2- if `nint_ym=0` and `nint_u=0`

It should be always updated with this transcription. This is a bugfix.
@franckgaga
debug: avoid method ambiguities
785ff71
@franckgaga
bump
59d198b
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codecov-commenter commented Jul 23, 2026 •
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Codecov Report

❌ Patch coverage is 90.00000% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 98.67%. Comparing base (94956a6) to head (6d96a6a).
⚠️ Report is 5 commits behind head on main.

Files with missing lines Patch % Lines
src/controller/transcription.jl 90.00% 1 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #407      +/-   ##
==========================================
- Coverage   98.72%   98.67%   -0.06%     
==========================================
  Files          27       27              
  Lines        5722     5728       +6     
==========================================
+ Hits         5649     5652       +3     
- Misses         73       76       +3

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@franckgaga
franckgaga merged commit 6eaf879 into main Jul 23, 2026
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@franckgaga
franckgaga deleted the debug_orthocolloc_imc branch July 23, 2026 13:35
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Benchmark Results (Julia v1)

Time benchmarks
main 6d96a6a... main / 6d96a6a...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 4.02 ± 0.37 ms 4.12 ± 0.39 ms 0.976 ± 0.13
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.45 ± 0.6 ms 9.34 ± 0.6 ms 1.01 ± 0.091
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.56 ± 0.074 ms 1.58 ± 0.077 ms 0.988 ± 0.067
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 4.02 ± 0.34 ms 4.05 ± 0.35 ms 0.993 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.5 ± 0.49 ms 6.56 ± 0.49 ms 0.99 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.69 ± 0.074 ms 1.68 ± 0.076 ms 1.01 ± 0.064
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 7.65 ± 1.3 ms 7.59 ± 1.1 ms 1.01 ± 0.22
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.101 ± 0.021 s 0.104 ± 0.023 s 0.97 ± 0.29
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.9 ± 1.7 ms 11.8 ± 1.6 ms 1.01 ± 0.2
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.412 ± 0.00051 s 0.417 ± 0.00046 s 0.988 ± 0.0016
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 1.08 ± 0.012 s 1.06 ± 0.0012 s 1.02 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.31 ± 0.0012 s 1.3 ± 0.0027 s 1.01 ± 0.0023
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.79 ± 0.0017 s 0.787 ± 0.0012 s 1 ± 0.0027
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.79 ± 0.0023 s 0.787 ± 0.0012 s 1 ± 0.0033
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.274 ± 0.00042 s 0.289 ± 0.015 s 0.948 ± 0.048
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.325 ± 0.0011 s 0.325 ± 0.0027 s 1 ± 0.0091
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 0.421 ± 0.0012 s 0.424 ± 0.0012 s 0.992 ± 0.004
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 0.421 ± 0.0011 s 0.428 ± 0.011 s 0.981 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.382 ± 0.00054 s 0.389 ± 0.0012 s 0.983 ± 0.0034
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.143 ± 0.00042 s 0.145 ± 0.001 s 0.992 ± 0.0077
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.261 ± 0.00039 s 0.263 ± 0.00072 s 0.991 ± 0.0031
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.269 ± 0.00064 s 0.268 ± 0.0018 s 1 ± 0.0071
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.0619 ± 0.00033 s 0.0644 ± 0.00054 s 0.96 ± 0.0095
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.123 ± 0.00024 s 0.122 ± 0.00081 s 1.01 ± 0.007
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.269 ± 0.0067 s 0.257 ± 0.00044 s 1.05 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.355 ± 0.00047 s 0.351 ± 0.00064 s 1.01 ± 0.0023
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.288 ± 0.0057 s 0.279 ± 0.0028 s 1.03 ± 0.023
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 0.465 ± 0.0013 s 0.473 ± 0.0014 s 0.984 ± 0.0039
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 1.43 ± 0.005 s 1.53 ± 0.031 s 0.934 ± 0.019
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.402 ± 0.0048 s 0.383 ± 0.0013 s 1.05 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.145 ± 0.00037 s 0.143 ± 0.00089 s 1.02 ± 0.0068
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.261 ± 0.00052 s 0.259 ± 0.00053 s 1.01 ± 0.0029
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.268 ± 0.0023 s 0.272 ± 0.00097 s 0.984 ± 0.0093
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.282 ± 0.0025 s 0.281 ± 0.00095 s 1.01 ± 0.0097
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.201 ± 0.0019 s 0.2 ± 0.00099 s 1 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.0606 ± 0.00044 s 0.0591 ± 0.00036 s 1.03 ± 0.0097
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.104 ± 0.00024 s 0.107 ± 0.00083 s 0.973 ± 0.0079
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.065 ± 0.0026 s 0.0661 ± 0.0012 s 0.983 ± 0.043
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0484 ± 0.0014 s 0.0487 ± 0.00092 s 0.993 ± 0.034
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0626 ± 0.0043 s 0.0634 ± 0.0045 s 0.988 ± 0.097
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.042 ± 0.0053 s 0.0439 ± 0.0054 s 0.957 ± 0.17
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.075 ± 0.00024 s 0.0756 ± 0.00035 s 0.992 ± 0.0056
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0718 ± 0.00022 s 0.0747 ± 0.00046 s 0.961 ± 0.0066
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0553 ± 0.00013 s 0.0563 ± 0.00035 s 0.983 ± 0.0065
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0745 ± 0.00022 s 0.0747 ± 0.0004 s 0.996 ± 0.0061
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0392 ± 0.00012 s 0.04 ± 0.00052 s 0.981 ± 0.013
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.037 ± 0.00037 s 0.0378 ± 0.00059 s 0.98 ± 0.018
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.31 ± 0.18 μs 3.19 ± 0.18 μs 1.04 ± 0.081
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.0802 ± 0.0017 ms 0.0807 ± 0.0016 ms 0.994 ± 0.029
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.11 ± 0.0073 ms 0.111 ± 0.0075 ms 0.99 ± 0.094
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 13.7 ± 0.32 μs 13.2 ± 0.32 μs 1.03 ± 0.035
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.127 ± 0.012 ms 0.135 ± 0.0075 ms 0.935 ± 0.1
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.21 ± 0.013 ms 0.211 ± 0.014 ms 0.996 ± 0.089
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 0.868 ± 0.21 ms 0.866 ± 0.2 ms 1 ± 0.33
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.331 ± 0.03 ms 0.324 ± 0.027 ms 1.02 ± 0.13
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 8.33 ± 0.54 ms 8.3 ± 0.53 ms 1 ± 0.091
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 8.31 ± 0.53 ms 8.28 ± 0.52 ms 1 ± 0.089
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 8 ± 0.39 ms 7.96 ± 0.32 ms 1 ± 0.063
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 8.36 ± 0.35 ms 8.4 ± 0.46 ms 0.996 ± 0.069
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 5.49 ± 0.16 ms 5.49 ± 0.19 ms 0.999 ± 0.044
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 5.47 ± 0.12 ms 5.5 ± 0.17 ms 0.996 ± 0.038
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 5.78 ± 0.33 ms 5.77 ± 0.32 ms 1 ± 0.079
UNIT TESTS/SimModel/LinModel/evaloutput 0.11 ± 0.01 μs 0.11 ± 0.001 μs 1 ± 0.091
UNIT TESTS/SimModel/LinModel/updatestate! 0.15 ± 0.001 μs 0.16 ± 0.001 μs 0.938 ± 0.0086
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.26 ± 0.01 μs 0.25 ± 0.01 μs 1.04 ± 0.058
UNIT TESTS/SimModel/NonLinModel/linearize! 1.42 ± 0.03 μs 1.41 ± 0.03 μs 1.01 ± 0.03
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.301 ± 0.01 μs 0.29 ± 0.01 μs 1.04 ± 0.05
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.331 ± 0.011 μs 0.33 ± 0.01 μs 1 ± 0.045
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.3 ± 0.02 μs 1.3 ± 0.01 μs 1 ± 0.017
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.17 ± 0.001 μs 0.481 ± 0.001 μs 0.353 ± 0.0022
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 0.961 ± 0.001 μs 0.951 ± 0.01 μs 1.01 ± 0.011
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 2.68 ± 0.05 μs 2.87 ± 0.04 μs 0.937 ± 0.022
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 6.01 ± 0.06 μs 5.97 ± 0.08 μs 1.01 ± 0.017
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.19 ± 0.01 μs 0.19 ± 0.01 μs 1 ± 0.074
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.351 ± 0.011 μs 0.35 ± 0.01 μs 1 ± 0.043
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.491 ± 0.019 μs 0.31 ± 0.01 μs 1.58 ± 0.08
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.471 ± 0.01 μs 0.471 ± 0.03 μs 1 ± 0.067
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.481 ± 0.01 μs 0.441 ± 0.01 μs 1.09 ± 0.034
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.891 ± 0.02 μs 0.901 ± 0.02 μs 0.989 ± 0.031
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.33 ± 0.01 μs 0.33 ± 0.001 μs 1 ± 0.03
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.11 ± 0.01 μs 0.1 ± 0.001 μs 1.1 ± 0.1
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 1.76 ± 0.05 μs 1.78 ± 0.041 μs 0.989 ± 0.036
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.24 ± 0.001 μs 0.18 ± 0.01 μs 1.33 ± 0.074
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.24 ± 0.011 μs 0.2 ± 0.001 μs 1.2 ± 0.055
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.251 ± 0.011 μs 0.341 ± 0.011 μs 0.736 ± 0.04
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/LinModel 0.256 ± 0.02 ms 0.266 ± 0.016 ms 0.961 ± 0.093
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 0.32 ± 0.019 ms 0.346 ± 0.032 ms 0.925 ± 0.1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Constant arr. cov. 28.5 ± 2.1 ms 29.8 ± 3 ms 0.957 ± 0.12
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 30.5 ± 1.9 ms 28.4 ± 2.2 ms 1.07 ± 0.11
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.321 ± 0.01 μs 0.331 ± 0.01 μs 0.97 ± 0.042
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.259 ± 0.014 ms 0.241 ± 0.013 ms 1.08 ± 0.085
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0.981 ± 0.01 μs 0.991 ± 0.011 μs 0.99 ± 0.015
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Constant arr. cov. 11.9 ± 2 μs 11.2 ± 1.9 μs 1.06 ± 0.25
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 30 ± 6.2 μs 27.1 ± 4.3 μs 1.1 ± 0.29
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 26 ± 0.67 ms 14 ± 18 ms 1.85 ± 2.4
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 13.5 ± 0.39 μs 14.2 ± 0.42 μs 0.953 ± 0.039
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.251 ± 0.013 ms 0.254 ± 0.013 ms 0.987 ± 0.073
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.18 ± 0.01 μs 0.37 ± 0.01 μs 0.486 ± 0.03
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.37 ± 0.03 μs 0.26 ± 0.02 μs 1.42 ± 0.16
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.3 ± 0.011 μs 0.401 ± 0.011 μs 0.748 ± 0.034
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.2 ± 0.01 μs 0.21 ± 0.01 μs 0.952 ± 0.066
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.641 ± 0.02 μs 0.631 ± 0.011 μs 1.02 ± 0.036
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 2.59 ± 0.05 μs 2.62 ± 0.05 μs 0.989 ± 0.027
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.81 ± 0.1 μs 3.7 ± 0.071 μs 1.03 ± 0.034
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 2.76 ± 0.04 μs 2.75 ± 0.041 μs 1 ± 0.021
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 5.03 ± 0.11 μs 5.27 ± 0.07 μs 0.954 ± 0.024
time_to_load 4.91 ± 0.019 s 4.98 ± 0.0069 s 0.985 ± 0.0041
Memory benchmarks
main 6d96a6a... main / 6d96a6a...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0489 M allocs: 1.86 MB 0.0489 M allocs: 1.86 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 0.126 M allocs: 3.16 MB 0.126 M allocs: 3.16 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 12.6 k allocs: 0.356 MB 12.6 k allocs: 0.356 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 0.0487 M allocs: 1.85 MB 0.0487 M allocs: 1.85 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 0.0879 M allocs: 2.23 MB 0.0879 M allocs: 2.23 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 12.5 k allocs: 0.35 MB 12.5 k allocs: 0.35 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 0.119 M allocs: 6.38 MB 0.119 M allocs: 6.37 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.76 M allocs: 0.257 GB 4.76 M allocs: 0.257 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.148 M allocs: 8.23 MB 0.148 M allocs: 8.23 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.369 M allocs: 25.5 MB 0.369 M allocs: 25.5 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 2.22 M allocs: 0.245 GB 2.22 M allocs: 0.245 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.371 M allocs: 0.0533 GB 0.371 M allocs: 0.0533 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 2.16 M allocs: 0.211 GB 2.16 M allocs: 0.211 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 2.16 M allocs: 0.211 GB 2.16 M allocs: 0.211 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.32 M allocs: 22.2 MB 0.32 M allocs: 22.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.686 M allocs: 0.0776 GB 0.686 M allocs: 0.0776 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 1.32 M allocs: 0.118 GB 1.32 M allocs: 0.118 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 1.32 M allocs: 0.118 GB 1.32 M allocs: 0.118 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0736 M allocs: 13 MB 0.0736 M allocs: 13 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.0811 M allocs: 16.9 MB 0.0811 M allocs: 16.9 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.334 M allocs: 23.4 MB 0.334 M allocs: 23.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.755 M allocs: 0.0765 GB 0.755 M allocs: 0.0765 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.0941 M allocs: 20.3 MB 0.0941 M allocs: 20.3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.339 M allocs: 0.036 GB 0.339 M allocs: 0.036 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.269 M allocs: 18.4 MB 0.269 M allocs: 18.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.871 M allocs: 0.0908 GB 0.871 M allocs: 0.0908 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.287 M allocs: 27 MB 0.287 M allocs: 27 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 1.41 M allocs: 0.127 GB 1.41 M allocs: 0.127 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 5.42 M allocs: 0.646 GB 5.42 M allocs: 0.646 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0757 M allocs: 13.4 MB 0.0757 M allocs: 13.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.0811 M allocs: 17 MB 0.0811 M allocs: 17 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.276 M allocs: 19 MB 0.276 M allocs: 19 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.881 M allocs: 0.0815 GB 0.881 M allocs: 0.0815 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.295 M allocs: 28.1 MB 0.295 M allocs: 28.1 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.583 M allocs: 0.0723 GB 0.583 M allocs: 0.0723 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.0937 M allocs: 20.2 MB 0.0937 M allocs: 20.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.334 M allocs: 0.0325 GB 0.334 M allocs: 0.0325 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 1.25 M allocs: 0.213 GB 1.25 M allocs: 0.213 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 1.16 M allocs: 0.136 GB 1.16 M allocs: 0.136 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 1.13 M allocs: 0.21 GB 1.13 M allocs: 0.21 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 1.07 M allocs: 0.134 GB 1.07 M allocs: 0.134 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0707 M allocs: 17.8 MB 0.0707 M allocs: 17.8 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0698 M allocs: 17.6 MB 0.0698 M allocs: 17.6 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0526 M allocs: 12.5 MB 0.0526 M allocs: 12.5 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.07 M allocs: 17.7 MB 0.07 M allocs: 17.7 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0915 M allocs: 22.3 MB 0.0915 M allocs: 22.3 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.0864 M allocs: 20.3 MB 0.0864 M allocs: 20.3 MB 1
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.326 k allocs: 15.6 kB 0.326 k allocs: 15.6 kB 1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 1.62 k allocs: 0.0403 MB 1.62 k allocs: 0.0403 MB 1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 0.114 k allocs: 2.98 kB 0.114 k allocs: 2.98 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.408 k allocs: 0.0579 MB 0.408 k allocs: 0.0579 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.571 k allocs: 0.077 MB 0.571 k allocs: 0.077 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 1.79 k allocs: 0.105 MB 1.79 k allocs: 0.105 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.254 k allocs: 10.1 kB 0.254 k allocs: 10.1 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 4.76 k allocs: 0.368 MB 4.76 k allocs: 0.368 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 5.34 k allocs: 0.423 MB 5.34 k allocs: 0.423 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 9.59 k allocs: 0.609 MB 9.59 k allocs: 0.609 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 0.0459 M allocs: 4.44 MB 0.0459 M allocs: 4.44 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.957 k allocs: 0.233 MB 0.957 k allocs: 0.233 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 0.957 k allocs: 0.233 MB 0.957 k allocs: 0.233 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 3.42 k allocs: 0.241 MB 3.42 k allocs: 0.241 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 1.42 k allocs: 0.0529 MB 1.42 k allocs: 0.0529 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 1.31 k allocs: 0.17 MB 1.31 k allocs: 0.17 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Constant arr. cov. 0.158 M allocs: 0.118 GB 0.159 M allocs: 0.117 GB 1.01
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 0.159 M allocs: 0.119 GB 0.158 M allocs: 0.119 GB 1.01
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.982 k allocs: 25.4 kB 0.982 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/Constant arr. cov. 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 6.75 k allocs: 0.45 MB 6.75 k allocs: 0.45 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 0.945 k allocs: 25.4 kB 0.945 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