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Merged
merged 1 commit into from
Sep 23, 2025
Merged

removed: less useful workload in precompile.jl #262

merged 1 commit into from
Sep 23, 2025

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@franckgaga
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Trying to accelerate the precompilation of MPC.jl

@franckgaga
removed: less useful workload in precompile.jl
9da439c 
Trying to accelerate the precompilation of `MPC.jl`
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.45%. Comparing base (8daa441) to head (9da439c).

Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #262      +/-   ##
==========================================
- Coverage   98.58%   98.45%   -0.14%     
==========================================
  Files          26       26              
  Lines        4464     4464              
==========================================
- Hits         4401     4395       -6     
- Misses         63       69       +6

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Benchmark Results (Julia v1)

Time benchmarks
main 9da439c... main / 9da439c...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 6.9 ± 0.51 ms 6.96 ± 0.6 ms 0.992 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.319 ± 0.0037 s 0.317 ± 0.0062 s 1 ± 0.023
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.231 ± 0.015 s 0.229 ± 0.012 s 1.01 ± 0.084
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 8.95 ± 0.58 ms 9.46 ± 0.54 ms 0.947 ± 0.082
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.47 ± 0.11 ms 1.57 ± 0.084 ms 0.942 ± 0.084
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 6.96 ± 0.59 ms 6.97 ± 0.55 ms 0.999 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.283 ± 0.0011 s 0.278 ± 0.0015 s 1.02 ± 0.0067
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.247 ± 0.00062 s 0.234 ± 0.003 s 1.05 ± 0.014
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.15 ± 0.41 ms 6.42 ± 0.41 ms 0.958 ± 0.088
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.64 ± 0.054 ms 1.66 ± 0.063 ms 0.991 ± 0.05
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.12 ± 1.5 ms 8.35 ± 1.4 ms 0.972 ± 0.24
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.327 ± 0.04 s 0.321 ± 0.04 s 1.02 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.158 ± 0.00098 s 0.157 ± 0.00093 s 1.01 ± 0.0087
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.111 ± 0.014 s 0.112 ± 0.0043 s 0.991 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.8 ± 1.6 ms 11.8 ± 1.7 ms 1.01 ± 0.2
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 2.25 ± 0.24 s 1.76 ± 0.013 s 1.27 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.23 ± 0.017 s 2.01 ± 0.024 s 1.11 ± 0.016
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.88 ± 0.24 s 1.77 ± 0.0082 s 1.06 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.883 ± 0.051 s 0.939 ± 0.021 s 0.941 ± 0.058
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.529 ± 0.059 s 0.537 ± 0.057 s 0.985 ± 0.15
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.893 ± 0.033 s 0.827 ± 0.0064 s 1.08 ± 0.041
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.15 ± 0.0059 s 0.14 ± 0.0082 s 1.07 ± 0.075
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.811 ± 0.069 s 0.851 ± 0.015 s 0.954 ± 0.083
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.806 ± 0.027 s 0.853 ± 0.018 s 0.945 ± 0.037
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.511 ± 0.056 s 0.511 ± 0.053 s 0.999 ± 0.15
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.81 ± 0.037 s 0.816 ± 0.018 s 0.992 ± 0.05
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.8 ± 0.012 s 0.812 ± 0.012 s 0.985 ± 0.021
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.121 ± 0.0052 s 0.127 ± 0.0063 s 0.954 ± 0.063
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0433 ± 0.0065 s 0.0411 ± 0.0055 s 1.05 ± 0.21
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0389 ± 0.009 s 0.0347 ± 0.003 s 1.12 ± 0.28
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.2 ± 0.043 s 0.197 ± 0.025 s 1.01 ± 0.25
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.173 ± 0.028 s 0.165 ± 0.041 s 1.05 ± 0.31
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0395 ± 0.0069 s 0.0366 ± 0.0059 s 1.08 ± 0.26
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 31.5 ± 2.5 ms 27.6 ± 2.6 ms 1.14 ± 0.14
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 13 ± 1.3 s 15.7 ± 1.4 s 0.826 ± 0.11
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 4.41 ± 0.037 s 4.47 ± 0.18 s 0.986 ± 0.042
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.21 ± 0.02 s 2.08 ± 0.058 s 1.06 ± 0.031
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.29 ± 0.0077 s 1.22 ± 0.029 s 1.06 ± 0.026
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 2.53 ± 0.02 μs 2.55 ± 0.021 μs 0.992 ± 0.011
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.112 ± 0.0048 ms 0.115 ± 0.004 ms 0.968 ± 0.054
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 13.7 ± 0.29 μs 13.7 ± 0.31 μs 1 ± 0.031
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.95 ± 0.31 ms 2.84 ± 0.23 ms 1.04 ± 0.14
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.93 ± 0.14 ms 1.96 ± 0.12 ms 0.983 ± 0.092
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 8.79 ± 0.34 ms 8.52 ± 0.15 ms 1.03 ± 0.043
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.88 ± 0.084 ms 1.93 ± 0.08 ms 0.975 ± 0.06
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 3.71 ± 0.13 ms 3.48 ± 0.15 ms 1.07 ± 0.06
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 ± 0.011 μs 0.21 ± 0.01 μs 1.05 ± 0.072
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.13 ± 0 μs 0.13 ± 0 μs 1 ± 0
UNIT TESTS/SimModel/NonLinModel/linearize! 1.11 ± 0.01 μs 1.1 ± 0.01 μs 1.01 ± 0.013
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.22 ± 0.001 μs 0.211 ± 0.01 μs 1.04 ± 0.05
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.13 ± 0.001 μs 0.14 ± 0.001 μs 0.929 ± 0.0097
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0.18 ± 0.001 μs 0.181 ± 0.01 μs 0.994 ± 0.055
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 2.79 ± 0.031 μs 2.83 ± 0.03 μs 0.989 ± 0.015
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 3.41 ± 0.041 μs 3.49 ± 0.049 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 0.12 ± 0.01 μs 0.11 ± 0.01 μs 1.09 ± 0.13
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.181 ± 0.01 μs 0.18 ± 0.001 μs 1.01 ± 0.056
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.18 ± 0.001 μs 0.181 ± 0.01 μs 0.994 ± 0.055
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.311 ± 0.01 μs 0.311 ± 0.001 μs 1 ± 0.032
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.311 ± 0.01 μs 0.311 ± 0.001 μs 1 ± 0.032
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.14 ± 0.01 μs 0.13 ± 0.001 μs 1.08 ± 0.077
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.04 ± 0 μs 0.04 ± 0.001 μs 1 ± 0.025
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.06 ± 0.02 μs 2.08 ± 0.02 μs 0.99 ± 0.014
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.14 ± 0.009 μs 0.14 ± 0.001 μs 1 ± 0.065
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.2 ± 0.01 μs 0.201 ± 0.01 μs 0.995 ± 0.07
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.301 ± 0.01 μs 0.281 ± 0.001 μs 1.07 ± 0.036
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.55 ± 4.2 ms 3.36 ± 4.2 ms 1.06 ± 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 0.312 ± 0.017 ms 0.312 ± 0.017 ms 1 ± 0.077
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 6.16 ± 1.8 μs 5.85 ± 1.8 μs 1.05 ± 0.45
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.33 ± 0.47 ms 3.09 ± 0.43 ms 1.08 ± 0.21
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 13.1 ± 0.26 μs 13.1 ± 0.23 μs 0.999 ± 0.027
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.317 ± 0.015 ms 0.322 ± 0.017 ms 0.984 ± 0.07
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.141 ± 0.01 μs 0.14 ± 0.001 μs 1.01 ± 0.072
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.201 ± 0.01 μs 0.2 ± 0.001 μs 1 ± 0.05
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.29 ± 0.01 μs 0.28 ± 0.01 μs 1.04 ± 0.051
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.14 ± 0.01 μs 0.141 ± 0.01 μs 0.993 ± 0.1
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.19 ± 0.001 μs 0.2 ± 0.01 μs 0.95 ± 0.048
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.41 ± 0.03 μs 3.4 ± 0.03 μs 1 ± 0.013
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.85 ± 0.03 μs 3.85 ± 0.03 μs 1 ± 0.011
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.4 ± 0.07 μs 3.38 ± 0.051 μs 1.01 ± 0.026
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 4.88 ± 0.09 μs 4.77 ± 0.08 μs 1.02 ± 0.026
time_to_load 4.18 ± 0.0099 s 4.02 ± 0.038 s 1.04 ± 0.01
Memory benchmarks
main 9da439c... main / 9da439c...
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: 6.48 MB 0.102 M allocs: 6.48 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.64 M allocs: 0.251 GB 4.64 M allocs: 0.251 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.113 M allocs: 6.88 MB 0.113 M allocs: 6.88 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.66 M allocs: 0.255 GB 4.66 M allocs: 0.255 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.114 M allocs: 8.19 MB 0.114 M allocs: 8.19 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/MultipleShooting (threaded) 7.97 M allocs: 0.466 GB 7.97 M allocs: 0.466 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/Ipopt/TrapezoidalCollocation (threaded) 8.11 M allocs: 0.473 GB 8.11 M allocs: 0.473 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: 16 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 9c7d276 into main Sep 23, 2025
6 checks passed
@franckgaga franckgaga deleted the precompile_smaller branch September 23, 2025 23:31
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