Skip to content

doc: changing the notation of transcription internals #242

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
merged 4 commits into from
Sep 5, 2025
Merged

doc: changing the notation of transcription internals #242

merged 4 commits into from
Sep 5, 2025

Conversation

@franckgaga
Copy link
Member

@franckgaga franckgaga commented Sep 5, 2025 •
edited
Loading

Also did a little cleanup in the ExtendedKalmanFilter code. There are now two separate linearization functions (instead of one function with two methods), since $\mathbf{\hat{F}}$ and $\mathbf{\hat{H}}$ Jacobians are always computed separately.

@codecov-commenter
Copy link

codecov-commenter commented Sep 5, 2025 •
edited
Loading

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.55%. Comparing base (5f3a969) to head (4bc771b).
⚠️ Report is 5 commits behind head on main.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #242      +/-   ##
==========================================
- Coverage   98.56%   98.55%   -0.01%     
==========================================
  Files          26       26              
  Lines        4379     4374       -5     
==========================================
- Hits         4316     4311       -5     
  Misses         63       63

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:
  • ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

@github-actions
Copy link

github-actions bot commented Sep 5, 2025 •
edited
Loading

Benchmark Results (Julia v1)

Time benchmarks
main 4bc771b... main / 4bc771b...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 6.83 ± 0.54 ms 6.89 ± 0.52 ms 0.992 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.313 ± 0.0058 s 0.317 ± 0.0049 s 0.986 ± 0.024
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.228 ± 0.015 s 0.229 ± 0.014 s 0.994 ± 0.089
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 8.64 ± 0.56 ms 8.93 ± 0.55 ms 0.968 ± 0.087
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.48 ± 0.088 ms 1.44 ± 0.092 ms 1.03 ± 0.09
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 6.79 ± 0.5 ms 6.91 ± 0.53 ms 0.983 ± 0.1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.273 ± 0.0022 s 0.287 ± 0.0061 s 0.95 ± 0.022
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.229 ± 0.0019 s 0.248 ± 0.0015 s 0.923 ± 0.0095
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 5.94 ± 0.41 ms 5.97 ± 0.4 ms 0.994 ± 0.096
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.58 ± 0.052 ms 1.6 ± 0.051 ms 0.987 ± 0.045
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 7.97 ± 1.3 ms 8.02 ± 1.4 ms 0.994 ± 0.24
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.325 ± 0.039 s 0.334 ± 0.039 s 0.975 ± 0.16
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.154 ± 0.0014 s 0.156 ± 0.0018 s 0.989 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.11 ± 0.0029 s 0.112 ± 0.009 s 0.981 ± 0.083
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.6 ± 1.7 ms 11.7 ± 1.8 ms 0.993 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 1.79 ± 0.0024 s 1.87 ± 0.012 s 0.957 ± 0.0061
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.94 ± 0.02 s 2 ± 0.023 s 0.972 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.81 ± 0.0078 s 1.89 ± 0.01 s 0.958 ± 0.0065
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.859 ± 0.0048 s 0.879 ± 0.0031 s 0.977 ± 0.0064
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.501 ± 0.036 s 0.503 ± 0.039 s 0.996 ± 0.1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.814 ± 0.0067 s 0.838 ± 0.0035 s 0.971 ± 0.0089
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.137 ± 0.00071 s 0.137 ± 0.00078 s 0.998 ± 0.0077
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.764 ± 0.0018 s 0.779 ± 0.003 s 0.981 ± 0.0044
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.488 ± 0.041 s 0.493 ± 0.039 s 0.99 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.737 ± 0.0013 s 0.749 ± 0.0041 s 0.984 ± 0.0057
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.119 ± 0.0034 s 0.119 ± 0.0037 s 1 ± 0.042
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0385 ± 0.0048 s 0.0391 ± 0.0055 s 0.985 ± 0.19
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.033 ± 0.0015 s 0.0326 ± 0.0021 s 1.01 ± 0.08
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.192 ± 0.019 s 0.192 ± 0.034 s 1 ± 0.2
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.162 ± 0.038 s 0.17 ± 0.038 s 0.957 ± 0.31
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.034 ± 0.0035 s 0.0353 ± 0.0038 s 0.962 ± 0.14
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 25.9 ± 1.2 ms 26.2 ± 2.5 ms 0.989 ± 0.1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 13.2 ± 0.031 s 13.2 ± 0.11 s 0.996 ± 0.0089
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 3.9 ± 0.0088 s 4 ± 0.092 s 0.974 ± 0.022
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 1.96 ± 0.018 s 1.94 ± 0.0097 s 1.01 ± 0.011
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.14 ± 0.0087 s 1.14 ± 0.0063 s 0.998 ± 0.0094
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 2.56 ± 0.03 μs 2.56 ± 0.02 μs 1 ± 0.014
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.109 ± 0.0043 ms 0.109 ± 0.004 ms 0.994 ± 0.053
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 12.3 ± 0.24 μs 12.6 ± 0.26 μs 0.976 ± 0.028
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.83 ± 0.18 ms 2.88 ± 0.19 ms 0.983 ± 0.091
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.94 ± 0.11 ms 1.96 ± 0.099 ms 0.989 ± 0.076
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 8.58 ± 0.13 ms 8.75 ± 0.17 ms 0.981 ± 0.024
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.91 ± 0.079 ms 1.94 ± 0.088 ms 0.988 ± 0.061
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 3.39 ± 0.11 ms 3.66 ± 0.13 ms 0.926 ± 0.045
UNIT TESTS/SimModel/LinModel/evaloutput 0.14 ± 0.01 μs 0.13 ± 0.001 μs 1.08 ± 0.077
UNIT TESTS/SimModel/LinModel/updatestate! 0.22 ± 0.01 μs 0.21 ± 0.001 μs 1.05 ± 0.048
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.151 ± 0.01 μs 0.14 ± 0.01 μs 1.08 ± 0.11
UNIT TESTS/SimModel/NonLinModel/linearize! 1.11 ± 0.02 μs 1.12 ± 0.01 μs 0.991 ± 0.02
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.22 ± 0.01 μs 0.211 ± 0.01 μs 1.04 ± 0.068
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.141 ± 0.01 μs 0.14 ± 0.001 μs 1.01 ± 0.072
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0.19 ± 0.001 μs 0.19 ± 0.001 μs 1 ± 0.0074
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 2.75 ± 0.03 μs 2.84 ± 0.041 μs 0.971 ± 0.018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 3.43 ± 0.04 μs 3.55 ± 0.05 μs 0.966 ± 0.018
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.12 ± 0 μs 0.14 ± 0.01 μs 0.857 ± 0.061
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.12 ± 0 μs 0.12 ± 0.01 μs 1 ± 0.083
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.19 ± 0.001 μs 0.19 ± 0.01 μs 1 ± 0.053
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.19 ± 0.01 μs 0.19 ± 0.001 μs 1 ± 0.053
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.331 ± 0.01 μs 0.301 ± 0.011 μs 1.1 ± 0.052
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.311 ± 0.011 μs 0.301 ± 0.011 μs 1.03 ± 0.053
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.14 ± 0.001 μs 0.14 ± 0.01 μs 1 ± 0.072
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.061 ± 0.01 μs 0.04 ± 0 μs 1.52 ± 0.25
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.05 ± 0.021 μs 2.06 ± 0.02 μs 0.995 ± 0.014
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.141 ± 0.01 μs 0.14 ± 0.001 μs 1.01 ± 0.072
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.21 ± 0.01 μs 0.21 ± 0.001 μs 1 ± 0.048
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.291 ± 0.01 μs 0.29 ± 0.001 μs 1 ± 0.035
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.48 ± 3.8 ms 3.38 ± 4.1 ms 1.03 ± 1.7
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.305 ± 0.02 ms 0.316 ± 0.018 ms 0.965 ± 0.083
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 5.85 ± 1.8 μs 5.79 ± 1.9 μs 1.01 ± 0.45
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.22 ± 0.58 ms 3.22 ± 0.16 ms 0.999 ± 0.19
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 13 ± 0.2 μs 13.4 ± 0.31 μs 0.967 ± 0.027
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.313 ± 0.018 ms 0.327 ± 0.018 ms 0.958 ± 0.076
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.15 ± 0.009 μs 0.141 ± 0.01 μs 1.06 ± 0.099
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.21 ± 0.001 μs 0.21 ± 0.01 μs 1 ± 0.048
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.281 ± 0.01 μs 0.281 ± 0.01 μs 1 ± 0.05
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.15 ± 0 μs 0.141 ± 0.01 μs 1.06 ± 0.075
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.2 ± 0.01 μs 0.2 ± 0.01 μs 1 ± 0.071
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.4 ± 0.03 μs 3.44 ± 0.031 μs 0.988 ± 0.012
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.92 ± 0.039 μs 4 ± 0.05 μs 0.98 ± 0.016
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.43 ± 0.059 μs 3.4 ± 0.041 μs 1.01 ± 0.021
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 4.92 ± 0.12 μs 4.77 ± 0.09 μs 1.03 ± 0.032
time_to_load 3.83 ± 0.0097 s 3.81 ± 0.0042 s 1 ± 0.0028
Memory benchmarks
main 4bc771b... main / 4bc771b...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0449 M allocs: 1.79 MB 0.0449 M allocs: 1.79 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.183 M allocs: 9.81 MB 0.183 M allocs: 9.81 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.0746 M allocs: 2.81 MB 0.0746 M allocs: 2.81 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 0.0758 M allocs: 1.88 MB 0.0758 M allocs: 1.88 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 7.85 k allocs: 0.243 MB 7.85 k allocs: 0.243 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 0.0448 M allocs: 1.79 MB 0.0448 M allocs: 1.79 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.148 M allocs: 8 MB 0.148 M allocs: 8 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0779 M allocs: 2.88 MB 0.0779 M allocs: 2.88 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 0.0532 M allocs: 1.33 MB 0.0532 M allocs: 1.33 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 7.7 k allocs: 0.237 MB 7.7 k allocs: 0.237 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 0.102 M allocs: 6.47 MB 0.102 M allocs: 6.47 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.64 M allocs: 0.248 GB 4.64 M allocs: 0.248 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.112 M allocs: 6.86 MB 0.112 M allocs: 6.86 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.66 M allocs: 0.252 GB 4.66 M allocs: 0.252 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.113 M allocs: 8.17 MB 0.113 M allocs: 8.17 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 16.9 M allocs: 0.955 GB 16.9 M allocs: 0.955 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.68 M allocs: 0.705 GB 2.68 M allocs: 0.705 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 17.7 M allocs: 0.998 GB 17.7 M allocs: 0.998 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 10 M allocs: 0.574 GB 10 M allocs: 0.574 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.111 M allocs: 18.2 MB 0.111 M allocs: 18.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 10.4 M allocs: 0.59 GB 10.4 M allocs: 0.59 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.293 M allocs: 0.0647 GB 0.293 M allocs: 0.0647 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 7.95 M allocs: 0.458 GB 7.95 M allocs: 0.458 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0889 M allocs: 13.8 MB 0.0889 M allocs: 13.8 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 8.09 M allocs: 0.465 GB 8.09 M allocs: 0.465 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.253 M allocs: 0.0559 GB 0.253 M allocs: 0.0559 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.727 M allocs: 0.086 GB 0.727 M allocs: 0.086 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.648 M allocs: 0.0621 GB 0.648 M allocs: 0.0621 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.622 M allocs: 0.0833 GB 0.623 M allocs: 0.0861 GB 0.967
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.577 M allocs: 0.0601 GB 0.577 M allocs: 0.0601 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.595 M allocs: 0.0821 GB 0.595 M allocs: 0.0831 GB 0.988
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.55 M allocs: 0.0589 GB 0.55 M allocs: 0.0589 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0884 G allocs: 15.9 GB 0.0884 G allocs: 15.9 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 12.9 M allocs: 2.3 GB 12.9 M allocs: 2.3 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 15.1 M allocs: 2.8 GB 15.1 M allocs: 2.8 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 8.83 M allocs: 1.63 GB 8.83 M allocs: 1.63 GB 1
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.994 k allocs: 24.5 kB 0.994 k allocs: 24.5 kB 1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 0.088 k allocs: 2.16 kB 0.088 k allocs: 2.16 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 3 k allocs: 0.196 MB 3 k allocs: 0.196 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.599 k allocs: 0.0556 MB 0.599 k allocs: 0.0556 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 0.104 M allocs: 7.98 MB 0.104 M allocs: 7.98 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.633 k allocs: 0.116 MB 0.633 k allocs: 0.116 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 15.7 k allocs: 1.43 MB 15.7 k allocs: 1.43 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 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
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! 0 allocs: 0 B 0 allocs: 0 B
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/preparestate!/LinModel/Current form 0.0734 M allocs: 16 MB 0.0734 M allocs: 15.9 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 0.996 k allocs: 24.7 kB 0.996 k allocs: 24.7 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 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 6.7 k allocs: 0.451 MB 6.7 k allocs: 0.451 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 0.996 k allocs: 24.7 kB 0.996 k allocs: 24.7 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 0.159 k allocs: 11.2 kB 0.159 k allocs: 11.2 kB 1

@franckgaga franckgaga merged commit 035fe98 into main Sep 5, 2025
4 checks passed
@franckgaga franckgaga deleted the doc_minor_mod branch September 5, 2025 14:55
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

3 participants

@franckgaga @codecov-commenter