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Merged
merged 3 commits into from
Sep 8, 2025
Merged

debug: setmodel! now works with LinMPC based on MultipleShooting #246

merged 3 commits into from
Sep 8, 2025

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@franckgaga
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@franckgaga franckgaga commented Sep 8, 2025 •
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I forgot to update the defect matrices in setmodel!. Now they are updated and I added a test to cover this.

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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.60%. Comparing base (36deef6) to head (07a9967).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #246   +/-   ##
=======================================
  Coverage   98.60%   98.60%           
=======================================
  Files          26       26           
  Lines        4435     4443    +8     
=======================================
+ Hits         4373     4381    +8     
  Misses         62       62

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github-actions bot commented Sep 8, 2025 •
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Benchmark Results (Julia v1)

Time benchmarks
main 07a9967... main / 07a9967...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 6.94 ± 0.55 ms 6.9 ± 0.54 ms 1.01 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.317 ± 0.0036 s 0.319 ± 0.0031 s 0.994 ± 0.015
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.232 ± 0.016 s 0.232 ± 0.015 s 0.998 ± 0.093
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 8.83 ± 0.64 ms 8.72 ± 0.6 ms 1.01 ± 0.1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.46 ± 0.087 ms 1.49 ± 0.083 ms 0.982 ± 0.08
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 6.94 ± 0.56 ms 7 ± 0.65 ms 0.991 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.283 ± 0.0017 s 0.277 ± 0.0023 s 1.02 ± 0.011
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.246 ± 0.00078 s 0.235 ± 0.0034 s 1.05 ± 0.016
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.1 ± 0.34 ms 6.08 ± 0.42 ms 1 ± 0.089
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.62 ± 0.053 ms 1.6 ± 0.087 ms 1.02 ± 0.064
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.6 ± 1.5 ms 8.23 ± 1.5 ms 1.04 ± 0.26
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.345 ± 0.031 s 0.326 ± 0.048 s 1.06 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.158 ± 0.0017 s 0.157 ± 0.0018 s 1.01 ± 0.016
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.113 ± 0.01 s 0.114 ± 0.016 s 0.988 ± 0.16
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.8 ± 1.7 ms 11.9 ± 1.7 ms 0.995 ± 0.2
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 1.92 ± 0.049 s 1.92 ± 0.057 s 0.999 ± 0.039
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.06 ± 0.044 s 2.05 ± 0.036 s 1 ± 0.028
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.95 ± 0.067 s 1.92 ± 0.066 s 1.01 ± 0.049
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.887 ± 0.021 s 0.895 ± 0.027 s 0.992 ± 0.038
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.517 ± 0.046 s 0.507 ± 0.039 s 1.02 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.851 ± 0.02 s 0.845 ± 0.018 s 1.01 ± 0.032
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.143 ± 0.0047 s 0.141 ± 0.0039 s 1.02 ± 0.043
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.792 ± 0.013 s 0.779 ± 0.017 s 1.02 ± 0.028
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.499 ± 0.044 s 0.496 ± 0.04 s 1.01 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.762 ± 0.019 s 0.748 ± 0.0099 s 1.02 ± 0.028
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.121 ± 0.0048 s 0.123 ± 0.0069 s 0.987 ± 0.068
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0418 ± 0.0059 s 0.0394 ± 0.0051 s 1.06 ± 0.2
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0358 ± 0.0061 s 0.0344 ± 0.0019 s 1.04 ± 0.18
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.187 ± 0.04 s 0.2 ± 0.022 s 0.933 ± 0.22
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.171 ± 0.036 s 0.17 ± 0.036 s 1 ± 0.3
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0348 ± 0.0051 s 0.0341 ± 0.0048 s 1.02 ± 0.21
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 29.1 ± 5.7 ms 28.5 ± 4.3 ms 1.02 ± 0.25
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 13.6 ± 0.39 s 14.1 ± 0.33 s 0.967 ± 0.035
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 4.17 ± 0.12 s 4.02 ± 0.15 s 1.04 ± 0.048
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.02 ± 0.0069 s 2.03 ± 0.046 s 0.995 ± 0.023
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.22 ± 0.043 s 1.21 ± 0.057 s 1 ± 0.059
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 2.52 ± 0.02 μs 2.54 ± 0.019 μs 0.992 ± 0.011
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.111 ± 0.0042 ms 0.11 ± 0.0044 ms 1.01 ± 0.055
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 12.9 ± 0.33 μs 12.7 ± 0.3 μs 1.01 ± 0.035
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.93 ± 0.23 ms 2.91 ± 0.19 ms 1.01 ± 0.1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.96 ± 0.079 ms 1.97 ± 0.12 ms 0.994 ± 0.073
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 9 ± 0.44 ms 8.99 ± 0.5 ms 1 ± 0.074
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.93 ± 0.09 ms 1.96 ± 0.093 ms 0.984 ± 0.065
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 3.8 ± 0.19 ms 3.8 ± 0.25 ms 1 ± 0.083
UNIT TESTS/SimModel/LinModel/evaloutput 0.13 ± 0 μs 0.13 ± 0.001 μs 1 ± 0.0077
UNIT TESTS/SimModel/LinModel/updatestate! 0.211 ± 0.01 μs 0.21 ± 0.01 μs 1 ± 0.068
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.131 ± 0.01 μs 0.131 ± 0.01 μs 1 ± 0.11
UNIT TESTS/SimModel/NonLinModel/linearize! 1.18 ± 0.02 μs 1.14 ± 0.04 μs 1.04 ± 0.04
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.21 ± 0.011 μs 0.21 ± 0.001 μs 1 ± 0.053
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.131 ± 0.01 μs 0.14 ± 0.01 μs 0.936 ± 0.098
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0.181 ± 0.01 μs 0.19 ± 0.01 μs 0.953 ± 0.073
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.04 ± 0 μs 0.04 ± 0.009 μs 1 ± 0.23
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 2.93 ± 0.03 μs 2.77 ± 0.03 μs 1.06 ± 0.016
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 3.45 ± 0.049 μs 3.53 ± 0.04 μs 0.977 ± 0.018
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.12 ± 0.01 μs 0.12 ± 0.01 μs 1 ± 0.12
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.111 ± 0.01 μs 0.12 ± 0.01 μs 0.925 ± 0.11
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.181 ± 0.01 μs 0.181 ± 0.01 μs 1 ± 0.078
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.181 ± 0.01 μs 0.18 ± 0.001 μs 1.01 ± 0.056
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.301 ± 0.01 μs 0.31 ± 0.01 μs 0.971 ± 0.045
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.301 ± 0.001 μs 0.301 ± 0.001 μs 1 ± 0.0047
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.131 ± 0.01 μs 0.14 ± 0.001 μs 0.936 ± 0.072
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.11 ± 0.02 μs 2.06 ± 0.03 μs 1.02 ± 0.018
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.141 ± 0.01 μs 0.15 ± 0.01 μs 0.94 ± 0.091
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.201 ± 0.01 μs 0.2 ± 0.001 μs 1 ± 0.05
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.281 ± 0.001 μs 0.291 ± 0.001 μs 0.966 ± 0.0048
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.46 ± 4.1 ms 3.32 ± 4 ms 1.04 ± 1.8
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 0.331 ± 0.018 ms 0.318 ± 0.022 ms 1.04 ± 0.093
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0.04 ± 0 μs 0.04 ± 0.01 μs 1 ± 0.25
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 6.45 ± 2.8 μs 5.53 ± 1.8 μs 1.17 ± 0.63
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.29 ± 0.9 ms 3.06 ± 0.58 ms 1.07 ± 0.36
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 13.4 ± 0.4 μs 13.1 ± 0.34 μs 1.02 ± 0.041
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.341 ± 0.02 ms 0.327 ± 0.019 ms 1.04 ± 0.086
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.15 ± 0.009 μs 0.141 ± 0.01 μs 1.06 ± 0.099
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.201 ± 0.01 μs 0.22 ± 0.011 μs 0.914 ± 0.064
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.29 ± 0.01 μs 0.281 ± 0.01 μs 1.03 ± 0.051
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.15 ± 0.009 μs 0.15 ± 0.001 μs 1 ± 0.06
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.2 ± 0.01 μs 0.19 ± 0.001 μs 1.05 ± 0.053
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.4 ± 0.041 μs 3.41 ± 0.031 μs 0.997 ± 0.015
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.89 ± 0.04 μs 3.95 ± 0.031 μs 0.985 ± 0.013
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.64 ± 0.07 μs 3.39 ± 0.041 μs 1.07 ± 0.024
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 4.86 ± 0.12 μs 4.84 ± 0.06 μs 1 ± 0.028
time_to_load 3.76 ± 0.034 s 3.79 ± 0.055 s 0.993 ± 0.017
Memory benchmarks
main 07a9967... main / 07a9967...
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: 6.46 MB 0.102 M allocs: 6.48 MB 0.998
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.64 M allocs: 0.248 GB 4.64 M allocs: 0.251 GB 0.987
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.112 M allocs: 6.86 MB 0.112 M allocs: 6.87 MB 0.998
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.66 M allocs: 0.252 GB 4.66 M allocs: 0.255 GB 0.987
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.113 M allocs: 8.17 MB 0.114 M allocs: 8.19 MB 0.998
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 0.622 M allocs: 0.0833 GB 1
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: 0.0821 GB 1
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: 15.9 MB 0.0734 M allocs: 15.9 MB 0.999
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 7bde163 into main Sep 8, 2025
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@franckgaga franckgaga deleted the debug_ms_setmodel branch September 8, 2025 21:23
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