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added: RandomOrder in default sparse Jacobian and Hessian backends #286

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Merged
merged 5 commits into from
Nov 16, 2025
Merged

added: RandomOrder in default sparse Jacobian and Hessian backends #286

merged 5 commits into from
Nov 16, 2025

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@franckgaga
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@franckgaga franckgaga commented Nov 15, 2025 •
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This significantly improve the efficiency of hessian! for the economic MPC on the pendulum.

This PR introduce a new dependency, the StableRNGs package to ensure reproducibility across the Julia version. The package is very lightweight, so I think it is worth it.

The new default backend for sparse Jacobians and Hessians is thus:

AutoSparse(
    AutoForwardDiff(); 
    sparsity_detector  = TracerSparsityDetector(), 
    coloring_algorithm = GreedyColoringAlgorithm(
        (
            NaturalOrder(),
            LargestFirst(),
            SmallestLast(),
            IncidenceDegree(),
            DynamicLargestFirst(),
            RandomOrder(StableRNG(0), 0)
        ), 
    postprocessing = true
    )
)

@franckgaga
added: RandomOrder and StableRNGs dep.
e6729fe 
This significantly improve the efficiency of `hessian!` for the economic MPC on the pendulum.
@franckgaga
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@franckgaga franckgaga changed the title added: RandomOrder in default sparse Hessian backend added: RandomOrder in default sparse Jacobian and Hessian backends Nov 15, 2025
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github-actions bot commented Nov 16, 2025 •
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Benchmark Results (Julia v1)

Time benchmarks
main d9aa841... main / d9aa841...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.78 ± 0.5 ms 5.3 ± 0.53 ms 1.09 ± 0.14
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.312 ± 0.0019 s 0.313 ± 0.004 s 0.999 ± 0.014
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.228 ± 0.007 s 0.228 ± 0.0086 s 1 ± 0.049
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.11 ± 0.45 ms 8.91 ± 0.44 ms 1.02 ± 0.072
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.78 ± 0.078 ms 1.69 ± 0.069 ms 1.05 ± 0.063
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.69 ± 0.44 ms 5.25 ± 0.51 ms 1.08 ± 0.13
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.278 ± 0.0068 s 0.273 ± 0.0033 s 1.02 ± 0.028
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.242 ± 0.00072 s 0.231 ± 0.0013 s 1.05 ± 0.0065
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.35 ± 0.38 ms 6.19 ± 0.32 ms 1.03 ± 0.081
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.87 ± 0.084 ms 1.78 ± 0.079 ms 1.05 ± 0.066
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 9.77 ± 1.4 ms 9.4 ± 1.4 ms 1.04 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.313 ± 0.05 s 0.313 ± 0.046 s 1 ± 0.22
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.156 ± 0.0019 s 0.155 ± 0.001 s 1.01 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.114 ± 0.017 s 0.111 ± 0.019 s 1.04 ± 0.24
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 13 ± 1.5 ms 12.7 ± 1.6 ms 1.02 ± 0.17
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.678 ± 0.015 s 0.68 ± 0.026 s 0.997 ± 0.044
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.679 ± 0.024 s 0.687 ± 0.0048 s 0.988 ± 0.035
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.68 ± 0.016 s 1.68 ± 0.055 s 1 ± 0.034
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.505 ± 0.04 s 0.518 ± 0.044 s 0.975 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.489 ± 0.042 s 0.506 ± 0.044 s 0.965 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.344 ± 0.0065 s 0.345 ± 0.0065 s 0.998 ± 0.027
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.966 ± 0.016 s 0.409 ± 0.033 s 2.36 ± 0.2
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.482 ± 0.0075 s 0.482 ± 0.0087 s 1 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.165 ± 0.0045 s 0.165 ± 0.0051 s 1 ± 0.041
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.321 ± 0.0062 s 0.321 ± 0.0055 s 1 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 1.21 ± 0.01 s 0.452 ± 0.022 s 2.68 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.148 ± 0.003 s 0.145 ± 0.0018 s 1.02 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.337 ± 0.0091 s 0.336 ± 0.011 s 1 ± 0.042
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.413 ± 0.026 s 0.41 ± 0.024 s 1.01 ± 0.087
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.361 ± 0.017 s 0.355 ± 0.0079 s 1.02 ± 0.054
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.481 ± 0.0086 s 0.48 ± 0.012 s 1 ± 0.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.165 ± 0.0065 s 0.165 ± 0.0063 s 0.998 ± 0.055
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.315 ± 0.0061 s 0.315 ± 0.0065 s 1 ± 0.028
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.291 ± 0.038 s 0.291 ± 0.035 s 0.999 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.35 ± 0.017 s 0.343 ± 0.015 s 1.02 ± 0.065
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.13 ± 0.0016 s 0.127 ± 0.0013 s 1.02 ± 0.017
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.198 ± 0.021 s 0.193 ± 0.02 s 1.02 ± 0.15
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0402 ± 0.0013 s 0.0403 ± 0.0011 s 0.998 ± 0.043
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0344 ± 0.0094 s 0.0342 ± 0.0093 s 1.01 ± 0.39
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.17 ± 0.045 s 0.186 ± 0.043 s 0.916 ± 0.32
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.164 ± 0.026 s 0.156 ± 0.029 s 1.05 ± 0.25
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0347 ± 0.002 s 0.0349 ± 0.003 s 0.994 ± 0.1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 28.1 ± 6.8 ms 28.2 ± 6.5 ms 0.996 ± 0.33
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0835 ± 0.0013 s 0.0889 ± 0.0016 s 0.94 ± 0.023
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.081 ± 0.0015 s 0.0865 ± 0.0016 s 0.937 ± 0.024
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0638 ± 0.002 s 0.0661 ± 0.0023 s 0.964 ± 0.045
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0852 ± 0.0036 s 0.0864 ± 0.0026 s 0.987 ± 0.051
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.55 ± 0.026 s 2.58 ± 0.02 s 0.988 ± 0.013
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.5 ± 0.013 s 1.5 ± 0.0089 s 1 ± 0.011
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.83 ± 0.03 μs 3.78 ± 0.05 μs 1.01 ± 0.016
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.105 ± 0.0064 ms 0.104 ± 0.0065 ms 1 ± 0.087
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 15.2 ± 0.34 μs 14.7 ± 0.35 μs 1.04 ± 0.034
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.58 ± 0.18 ms 2.55 ± 0.17 ms 1.01 ± 0.099
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.87 ± 0.2 ms 1.85 ± 0.21 ms 1.01 ± 0.16
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.06 ± 0.089 ms 3.03 ± 0.13 ms 1.01 ± 0.053
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.04 ± 0.093 ms 3.02 ± 0.064 ms 1 ± 0.037
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.92 ± 0.077 ms 1.9 ± 0.21 ms 1.01 ± 0.12
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.8 ± 0.058 ms 1.77 ± 0.087 ms 1.02 ± 0.06
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.18 ± 0.086 ms 2.16 ± 0.082 ms 1.01 ± 0.055
UNIT TESTS/SimModel/LinModel/evaloutput 0.16 ± 0.01 μs 0.18 ± 0.011 μs 0.889 ± 0.078
UNIT TESTS/SimModel/LinModel/updatestate! 0.201 ± 0.01 μs 0.23 ± 0.001 μs 0.874 ± 0.044
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.421 ± 0 μs 0.421 ± 0.01 μs 1 ± 0.024
UNIT TESTS/SimModel/NonLinModel/linearize! 2.05 ± 0.02 μs 2.05 ± 0.019 μs 1 ± 0.013
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.491 ± 0.001 μs 0.481 ± 0.01 μs 1.02 ± 0.021
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.551 ± 0.01 μs 0.571 ± 0.002 μs 0.965 ± 0.018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.8 ± 0.011 μs 1.84 ± 0.011 μs 0.978 ± 0.0083
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.27 ± 0.01 μs 0.27 ± 0.01 μs 1 ± 0.052
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.41 ± 0.001 μs 1.42 ± 0.011 μs 0.993 ± 0.0077
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 4 ± 0.06 μs 4.08 ± 0.09 μs 0.98 ± 0.026
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 9.12 ± 0.08 μs 8.77 ± 0.1 μs 1.04 ± 0.015
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.24 ± 0.001 μs 0.24 ± 0.011 μs 1 ± 0.046
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.571 ± 0.01 μs 0.581 ± 0 μs 0.983 ± 0.017
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.281 ± 0.001 μs 0.281 ± 0.01 μs 1 ± 0.036
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.742 ± 0.01 μs 0.731 ± 0.001 μs 1.02 ± 0.014
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.411 ± 0.01 μs 0.421 ± 0.01 μs 0.976 ± 0.033
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.942 ± 0.01 μs 0.921 ± 0.01 μs 1.02 ± 0.016
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.261 ± 0.001 μs 0.261 ± 0.01 μs 1 ± 0.039
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.141 ± 0.01 μs 0.14 ± 0 μs 1.01 ± 0.071
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.56 ± 0.03 μs 2.6 ± 0.04 μs 0.981 ± 0.019
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.24 ± 0.001 μs 0.241 ± 0.001 μs 0.996 ± 0.0059
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.251 ± 0.01 μs 0.27 ± 0.001 μs 0.93 ± 0.037
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.351 ± 0.01 μs 0.351 ± 0.01 μs 1 ± 0.04
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.73 ± 0.21 ms 3.67 ± 0.23 ms 1.02 ± 0.085
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.481 ± 0 μs 0.481 ± 0.01 μs 1 ± 0.021
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.327 ± 0.019 ms 0.33 ± 0.019 ms 0.993 ± 0.081
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.32 ± 0.01 μs 1.32 ± 0.019 μs 1 ± 0.016
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 7.46 ± 2.8 μs 7.83 ± 2.8 μs 0.953 ± 0.49
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.3 ± 0.17 ms 3.23 ± 0.17 ms 1.02 ± 0.074
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 17 ± 0.33 μs 17 ± 0.36 μs 1 ± 0.029
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.344 ± 0.019 ms 0.335 ± 0.02 ms 1.03 ± 0.083
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.27 ± 0.011 μs 0.27 ± 0.001 μs 1 ± 0.041
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.281 ± 0.011 μs 0.291 ± 0.01 μs 0.966 ± 0.05
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.39 ± 0.01 μs 0.371 ± 0.001 μs 1.05 ± 0.027
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.301 ± 0.001 μs 0.301 ± 0.001 μs 1 ± 0.0047
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.912 ± 0.01 μs 0.932 ± 0.011 μs 0.979 ± 0.016
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.66 ± 0.02 μs 3.63 ± 0.021 μs 1.01 ± 0.008
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 5.01 ± 0.04 μs 4.96 ± 0.039 μs 1.01 ± 0.011
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.56 ± 0.079 μs 3.47 ± 0.03 μs 1.03 ± 0.024
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.2 ± 0.05 μs 6.46 ± 0.081 μs 0.96 ± 0.014
time_to_load 3.54 ± 0.026 s 3.52 ± 0.042 s 1 ± 0.014
Memory benchmarks
main d9aa841... main / d9aa841...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0424 M allocs: 1.7 MB 0.0424 M allocs: 1.7 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.162 M allocs: 8.9 MB 0.162 M allocs: 8.9 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.0536 M allocs: 2.38 MB 0.0536 M allocs: 2.38 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 0.0758 M allocs: 1.95 MB 0.0758 M allocs: 1.95 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 7.85 k allocs: 0.249 MB 7.85 k allocs: 0.249 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 0.0422 M allocs: 1.7 MB 0.0422 M allocs: 1.7 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.127 M allocs: 7.07 MB 0.127 M allocs: 7.07 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0553 M allocs: 2.42 MB 0.0553 M allocs: 2.42 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 0.0532 M allocs: 1.39 MB 0.0532 M allocs: 1.39 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 7.7 k allocs: 0.243 MB 7.7 k allocs: 0.243 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 0.107 M allocs: 5.91 MB 0.107 M allocs: 5.91 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.65 M allocs: 0.25 GB 4.65 M allocs: 0.25 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.108 M allocs: 6.34 MB 0.108 M allocs: 6.34 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.68 M allocs: 0.254 GB 4.68 M allocs: 0.254 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.119 M allocs: 7.46 MB 0.119 M allocs: 7.46 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.351 M allocs: 19.7 MB 0.351 M allocs: 19.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.862 M allocs: 0.0789 GB 0.862 M allocs: 0.0789 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.353 M allocs: 16.7 MB 0.353 M allocs: 16.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.18 M allocs: 0.0787 GB 1.18 M allocs: 0.0789 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 1.18 M allocs: 0.0787 GB 1.18 M allocs: 0.0789 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.267 M allocs: 14.7 MB 0.267 M allocs: 14.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.657 M allocs: 0.161 GB 0.552 M allocs: 0.0505 GB 3.19
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0951 M allocs: 3.9 MB 0.0951 M allocs: 3.9 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.0772 M allocs: 4.91 MB 0.0772 M allocs: 4.95 MB 0.992
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.376 M allocs: 19.7 MB 0.376 M allocs: 19.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 1.8 M allocs: 0.344 GB 1.18 M allocs: 0.0881 GB 3.9
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.297 M allocs: 0.0649 GB 0.297 M allocs: 0.0649 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.226 M allocs: 12.2 MB 0.226 M allocs: 12.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.647 M allocs: 0.0541 GB 0.647 M allocs: 0.0541 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.244 M allocs: 20.1 MB 0.244 M allocs: 20.1 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0741 M allocs: 3 MB 0.0741 M allocs: 3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.0768 M allocs: 4.87 MB 0.0768 M allocs: 4.91 MB 0.992
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.317 M allocs: 16.4 MB 0.317 M allocs: 16.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.879 M allocs: 0.0547 GB 0.879 M allocs: 0.0547 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.335 M allocs: 24.4 MB 0.335 M allocs: 24.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.255 M allocs: 0.056 GB 0.255 M allocs: 0.056 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 1.36 M allocs: 0.0836 GB 1.36 M allocs: 0.0836 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.762 M allocs: 0.0802 GB 0.762 M allocs: 0.0802 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.682 M allocs: 0.0585 GB 0.682 M allocs: 0.0585 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.647 M allocs: 0.0801 GB 0.646 M allocs: 0.0785 GB 1.02
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.601 M allocs: 0.0562 GB 0.601 M allocs: 0.0562 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.63 M allocs: 0.0764 GB 0.63 M allocs: 0.0764 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.585 M allocs: 0.0553 GB 0.585 M allocs: 0.0553 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0649 M allocs: 11.4 MB 0.0649 M allocs: 11.5 MB 0.995
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0639 M allocs: 11.2 MB 0.0639 M allocs: 11.3 MB 0.995
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0485 M allocs: 8.01 MB 0.0485 M allocs: 8.05 MB 0.995
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0642 M allocs: 11.3 MB 0.0642 M allocs: 11.3 MB 0.995
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 15.2 M allocs: 2.8 GB 15.2 M allocs: 2.8 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 8.88 M allocs: 1.63 GB 8.88 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: 25.5 kB 0.994 k allocs: 25.5 kB 1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 0.088 k allocs: 2.23 kB 0.088 k allocs: 2.23 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.4 k allocs: 0.107 MB 2.4 k allocs: 0.107 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.37 k allocs: 13.1 kB 0.37 k allocs: 13.1 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 2.64 k allocs: 0.126 MB 2.64 k allocs: 0.126 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.15 k allocs: 0.158 MB 3.15 k allocs: 0.158 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.404 k allocs: 14.7 kB 0.404 k allocs: 14.7 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 0.404 k allocs: 14.7 kB 0.404 k allocs: 14.7 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.01 k allocs: 0.0858 MB 2.01 k allocs: 0.0858 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/preparestate!/LinModel/Current form 0.0754 M allocs: 14.6 MB 0.0754 M allocs: 14.7 MB 0.994
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.972 k allocs: 25.4 kB 0.972 k allocs: 25.4 kB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 7.05 k allocs: 0.443 MB 7.05 k allocs: 0.443 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.972 k allocs: 25.4 kB 0.972 k allocs: 25.4 kB 1
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
time_to_load 0.149 k allocs: 11.2 kB 0.149 k allocs: 11.2 kB 1

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codecov-commenter commented Nov 16, 2025

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.50%. Comparing base (3c46387) to head (d9aa841).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #286   +/-   ##
=======================================
  Coverage   98.50%   98.50%           
=======================================
  Files          28       28           
  Lines        4831     4831           
=======================================
  Hits         4759     4759           
  Misses         72       72

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@franckgaga franckgaga merged commit 3b14da7 into main Nov 16, 2025
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@franckgaga franckgaga deleted the random_order branch November 16, 2025 13:51
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@franckgaga @codecov-commenter