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Merged
merged 20 commits into from
Oct 17, 2025
Merged

Experimentation: testing Ipopt._VectorNonlinearOracle #229

merged 20 commits into from
Oct 17, 2025
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Benchmark Results (Julia v1)

Time benchmarks
main 65693cf... main / 65693cf...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 6.49 ± 0.55 ms 4.82 ± 0.49 ms 1.35 ± 0.18
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.325 ± 0.0075 s 0.324 ± 0.0074 s 1 ± 0.033
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.23 ± 0.017 s 0.23 ± 0.018 s 1 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 10.4 ± 0.59 ms 9.53 ± 0.64 ms 1.09 ± 0.096
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.83 ± 0.067 ms 1.65 ± 0.072 ms 1.11 ± 0.063
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 6.46 ± 0.58 ms 4.77 ± 0.48 ms 1.35 ± 0.18
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.287 ± 0.0032 s 0.285 ± 0.002 s 1.01 ± 0.013
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.244 ± 0.0016 s 0.243 ± 0.0088 s 1.01 ± 0.037
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 7.46 ± 0.46 ms 6.57 ± 0.51 ms 1.14 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.95 ± 0.071 ms 1.82 ± 0.082 ms 1.07 ± 0.062
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 10.4 ± 2.1 ms 8.57 ± 1.9 ms 1.22 ± 0.37
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.336 ± 0.056 s 0.34 ± 0.041 s 0.989 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.163 ± 0.001 s 0.162 ± 0.0017 s 1 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.116 ± 0.025 s 0.126 ± 0.022 s 0.922 ± 0.25
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 12.9 ± 2.2 ms 11.7 ± 2.2 ms 1.1 ± 0.28
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 1.96 ± 0.013 s 0.724 ± 0.04 s 2.7 ± 0.15
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.28 ± 0.013 s 1.83 ± 0.012 s 1.24 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.97 ± 0.079 s 0.725 ± 0.04 s 2.72 ± 0.19
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.966 ± 0.015 s 0.374 ± 0.02 s 2.58 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.512 ± 0.037 s 0.541 ± 0.034 s 0.945 ± 0.09
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.928 ± 0.014 s 0.347 ± 0.026 s 2.68 ± 0.2
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.169 ± 0.0077 s 0.143 ± 0.0074 s 1.18 ± 0.081
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.865 ± 0.0059 s 0.36 ± 0.01 s 2.41 ± 0.072
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.887 ± 0.019 s 0.395 ± 0.031 s 2.25 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.508 ± 0.043 s 0.538 ± 0.042 s 0.945 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.821 ± 0.0045 s 0.343 ± 0.01 s 2.39 ± 0.073
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.856 ± 0.011 s 0.394 ± 0.026 s 2.17 ± 0.15
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.145 ± 0.0026 s 0.121 ± 0.0076 s 1.2 ± 0.079
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0432 ± 0.0012 s 0.0412 ± 0.0015 s 1.05 ± 0.048
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0373 ± 0.011 s 0.0355 ± 0.0099 s 1.05 ± 0.42
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.174 ± 0.048 s 0.196 ± 0.039 s 0.891 ± 0.31
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.171 ± 0.027 s 0.167 ± 0.032 s 1.03 ± 0.25
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0377 ± 0.005 s 0.0363 ± 0.0059 s 1.04 ± 0.22
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.0317 ± 0.0089 s 29.7 ± 0.91 ms 1.07 ± 0.3
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 16 ± 0.065 s 16.9 ± 0.58 s 0.948 ± 0.033
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 4.31 ± 0.2 s 4.34 ± 0.013 s 0.993 ± 0.046
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.9 ± 0.0088 s 2.48 ± 0.028 s 1.17 ± 0.014
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.72 ± 0.012 s 1.46 ± 0.011 s 1.18 ± 0.012
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.83 ± 0.03 μs 4.26 ± 0.021 μs 0.899 ± 0.0083
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.109 ± 0.008 ms 0.11 ± 0.0077 ms 0.994 ± 0.1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 14.1 ± 0.28 μs 14.6 ± 0.29 μs 0.968 ± 0.027
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.77 ± 0.23 ms 2.74 ± 0.24 ms 1.01 ± 0.12
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.97 ± 0.11 ms 2.03 ± 0.27 ms 0.97 ± 0.14
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 9.75 ± 0.25 ms 3.36 ± 0.14 ms 2.9 ± 0.14
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.9 ± 0.096 ms 1.89 ± 0.09 ms 1.01 ± 0.07
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 3.49 ± 0.065 ms 2.38 ± 0.14 ms 1.46 ± 0.092
UNIT TESTS/SimModel/LinModel/evaloutput 0.141 ± 0.01 μs 0.181 ± 0.01 μs 0.779 ± 0.07
UNIT TESTS/SimModel/LinModel/updatestate! 0.201 ± 0.01 μs 0.241 ± 0.01 μs 0.834 ± 0.054
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.39 ± 0.011 μs 0.361 ± 0.01 μs 1.08 ± 0.043
UNIT TESTS/SimModel/NonLinModel/linearize! 1.98 ± 0.03 μs 2.11 ± 0.03 μs 0.938 ± 0.019
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.45 ± 0.011 μs 0.43 ± 0.011 μs 1.05 ± 0.037
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.531 ± 0.02 μs 0.531 ± 0.02 μs 1 ± 0.053
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.75 ± 0.03 μs 1.78 ± 0.021 μs 0.983 ± 0.02
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.511 ± 0.01 μs 0.271 ± 0.01 μs 1.89 ± 0.079
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.29 ± 0.01 μs 1.29 ± 0.02 μs 1 ± 0.017
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 4.2 ± 0.06 μs 4.04 ± 0.05 μs 1.04 ± 0.02
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 8.04 ± 0.07 μs 8.21 ± 0.089 μs 0.979 ± 0.014
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.351 ± 0.001 μs 0.24 ± 0.01 μs 1.46 ± 0.061
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.521 ± 0.01 μs 0.491 ± 0.01 μs 1.06 ± 0.03
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.32 ± 0.02 μs 0.301 ± 0.01 μs 1.06 ± 0.075
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.681 ± 0.02 μs 0.701 ± 0.02 μs 0.971 ± 0.04
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.561 ± 0.019 μs 0.53 ± 0.01 μs 1.06 ± 0.041
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.891 ± 0.019 μs 0.881 ± 0.02 μs 1.01 ± 0.031
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.41 ± 0.01 μs 0.39 ± 0.01 μs 1.05 ± 0.037
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.121 ± 0.01 μs 0.121 ± 0.01 μs 1 ± 0.12
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.85 ± 0.05 μs 2.76 ± 0.05 μs 1.03 ± 0.026
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.24 ± 0.01 μs 0.24 ± 0.019 μs 1 ± 0.089
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.27 ± 0.001 μs 0.281 ± 0.01 μs 0.961 ± 0.034
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.371 ± 0.011 μs 0.381 ± 0.011 μs 0.974 ± 0.04
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.54 ± 0.12 ms 3.53 ± 0.22 ms 1 ± 0.073
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.42 ± 0.01 μs 0.411 ± 0.01 μs 1.02 ± 0.035
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.326 ± 0.019 ms 0.318 ± 0.019 ms 1.03 ± 0.087
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.23 ± 0.01 μs 1.21 ± 0.01 μs 1.02 ± 0.012
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 10.4 ± 2.7 μs 10.6 ± 3 μs 0.983 ± 0.37
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.18 ± 0.16 ms 3.12 ± 0.2 ms 1.02 ± 0.083
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 18.1 ± 0.5 μs 17.7 ± 0.59 μs 1.02 ± 0.044
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.334 ± 0.019 ms 0.325 ± 0.02 ms 1.03 ± 0.086
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.34 ± 0.01 μs 0.261 ± 0.01 μs 1.3 ± 0.063
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.431 ± 0.011 μs 0.39 ± 0.01 μs 1.11 ± 0.04
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.581 ± 0.02 μs 0.43 ± 0.01 μs 1.35 ± 0.056
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.29 ± 0.02 μs 0.291 ± 0.01 μs 0.997 ± 0.077
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.841 ± 0.02 μs 0.851 ± 0.019 μs 0.988 ± 0.032
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.91 ± 0.05 μs 3.98 ± 0.05 μs 0.982 ± 0.018
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 5 ± 0.041 μs 5 ± 0.041 μs 1 ± 0.012
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.79 ± 0.059 μs 3.81 ± 0.05 μs 0.997 ± 0.02
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.78 ± 0.09 μs 6.77 ± 0.08 μs 1 ± 0.018
time_to_load 3.76 ± 0.0074 s 3.9 ± 0.025 s 0.964 ± 0.0064
Memory benchmarks
main 65693cf... main / 65693cf...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0449 M allocs: 1.8 MB 0.0449 M allocs: 1.8 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.163 M allocs: 9.58 MB 0.162 M allocs: 9.54 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.0543 M allocs: 2.51 MB 0.053 M allocs: 2.47 MB 1.02
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 0.0448 M allocs: 1.79 MB 0.0448 M allocs: 1.79 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.128 M allocs: 7.75 MB 0.127 M allocs: 7.71 MB 1.01
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.056 M allocs: 2.55 MB 0.0547 M allocs: 2.51 MB 1.02
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 0.109 M allocs: 6.62 MB 0.109 M allocs: 6.62 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 0.108 M allocs: 6.85 MB 0.107 M allocs: 6.83 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.68 M allocs: 0.255 GB 4.68 M allocs: 0.255 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.12 M allocs: 8.33 MB 0.12 M allocs: 8.33 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 16.9 M allocs: 0.955 GB 0.353 M allocs: 27.7 MB 35.3
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.63 M allocs: 0.705 GB 0.357 M allocs: 0.0515 GB 13.7
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 17.7 M allocs: 0.998 GB 0.536 M allocs: 0.0356 GB 28
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 10 M allocs: 0.574 GB 0.28 M allocs: 21.7 MB 27.1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0961 M allocs: 18 MB 0.136 M allocs: 20.3 MB 0.886
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 10.3 M allocs: 0.589 GB 0.406 M allocs: 27.4 MB 22.1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.296 M allocs: 0.0649 GB 0.296 M allocs: 0.0649 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 7.95 M allocs: 0.458 GB 0.237 M allocs: 18.2 MB 25.8
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 7.96 M allocs: 0.466 GB 0.26 M allocs: 28 MB 17.1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0757 M allocs: 13.6 MB 0.107 M allocs: 15.4 MB 0.884
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 8.09 M allocs: 0.465 GB 0.341 M allocs: 22.9 MB 20.8
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 8.1 M allocs: 0.473 GB 0.364 M allocs: 0.0321 GB 14.7
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/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.759 M allocs: 0.0872 GB 0.759 M allocs: 0.0872 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.679 M allocs: 0.0634 GB 0.679 M allocs: 0.0634 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.643 M allocs: 0.0852 GB 0.642 M allocs: 0.0844 GB 1.01
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.598 M allocs: 0.0612 GB 0.598 M allocs: 0.0612 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.626 M allocs: 0.0834 GB 0.626 M allocs: 0.0834 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.582 M allocs: 0.0602 GB 0.582 M allocs: 0.0602 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0873 G allocs: 15.9 GB 0.0873 G allocs: 15.9 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 12.7 M allocs: 2.3 GB 12.7 M allocs: 2.3 GB 1
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 2.91 k allocs: 0.195 MB 2.97 k allocs: 0.199 MB 0.983
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.509 k allocs: 0.0543 MB 0.564 k allocs: 0.059 MB 0.92
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 0.104 M allocs: 7.98 MB 3.2 k allocs: 0.277 MB 28.9
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.543 k allocs: 0.114 MB 0.631 k allocs: 0.121 MB 0.948
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 15.6 k allocs: 1.43 MB 2.73 k allocs: 0.178 MB 8.05
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 0.0752 M allocs: 16 MB 0.0752 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 0.973 k allocs: 25.4 kB 0.973 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 7.01 k allocs: 0.465 MB 7.01 k allocs: 0.465 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 0.973 k allocs: 25.4 kB 0.973 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 0.151 k allocs: 11.5 kB 0.151 k allocs: 11.5 kB 1

@franckgaga franckgaga mentioned this pull request Jul 24, 2025
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codecov-commenter commented Oct 16, 2025 •
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Codecov Report

❌ Patch coverage is 87.23404% with 18 lines in your changes missing coverage. Please review.
✅ Project coverage is 94.31%. Comparing base (2ff9476) to head (65693cf).

Files with missing lines Patch % Lines
src/controller/nonlinmpc.jl 85.60% 18 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #229      +/-   ##
==========================================
- Coverage   98.45%   94.31%   -4.15%     
==========================================
  Files          26       26              
  Lines        4465     4554      +89     
==========================================
- Hits         4396     4295     -101     
- Misses         69      259     +190

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@franckgaga franckgaga merged commit 5389a4a into main Oct 17, 2025
6 of 12 checks passed
@franckgaga franckgaga deleted the Ipopt_VectorNonlinearOracle branch October 17, 2025 04:12
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