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bench: re-enabling Uno solver#316

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uno_bench_enable
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bench: re-enabling Uno solver#316
franckgaga wants to merge 1 commit intomainfrom
uno_bench_enable

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@franckgaga franckgaga commented Feb 7, 2026

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codecov-commenter commented Feb 7, 2026 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.38%. Comparing base (7295588) to head (ddb5238).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #316   +/-   ##
=======================================
  Coverage   98.38%   98.38%           
=======================================
  Files          29       29           
  Lines        5388     5388           
=======================================
  Hits         5301     5301           
  Misses         87       87

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Benchmark Results (Julia v1)

Time benchmarks
main ddb5238... main / ddb5238...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.4 ± 0.46 ms 5.36 ± 0.41 ms 1.01 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.311 ± 0.0078 s 0.315 ± 0.0052 s 0.986 ± 0.029
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.23 ± 0.013 s 0.226 ± 0.0079 s 1.02 ± 0.069
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.19 ± 0.5 ms 9.6 ± 0.49 ms 0.957 ± 0.072
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.77 ± 0.031 ms 1.76 ± 0.029 ms 1 ± 0.024
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.35 ± 0.43 ms 5.29 ± 0.42 ms 1.01 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.279 ± 0.0099 s 0.272 ± 0.0027 s 1.02 ± 0.038
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.244 ± 0.009 s 0.23 ± 0.0023 s 1.06 ± 0.04
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.4 ± 0.38 ms 6.37 ± 0.34 ms 1 ± 0.079
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.87 ± 0.039 ms 1.85 ± 0.033 ms 1.01 ± 0.028
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 9.87 ± 1.4 ms 9.89 ± 1.5 ms 0.997 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.315 ± 0.086 s 0.312 ± 0.081 s 1.01 ± 0.38
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.157 ± 0.0042 s 0.157 ± 0.004 s 1 ± 0.037
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.0996 ± 0.023 s 0.104 ± 0.024 s 0.959 ± 0.31
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 13 ± 1.4 ms 13.1 ± 1.4 ms 0.993 ± 0.15
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.694 ± 0.023 s 0.688 ± 0.031 s 1.01 ± 0.056
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.676 ± 0.054 s 0.682 ± 0.058 s 0.991 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.72 ± 0.057 s 1.7 ± 0.072 s 1.01 ± 0.054
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.497 ± 0.069 s 0.5 ± 0.068 s 0.995 ± 0.19
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.495 ± 0.071 s 0.496 ± 0.068 s 0.999 ± 0.2
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.352 ± 0.007 s 0.355 ± 0.0057 s 0.99 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.445 ± 0.047 s 0.45 ± 0.055 s 0.987 ± 0.16
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.481 ± 0.0074 s 0.486 ± 0.0097 s 0.989 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.165 ± 0.0044 s 0.166 ± 0.0048 s 0.99 ± 0.039
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.329 ± 0.0079 s 0.328 ± 0.0067 s 1 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.406 ± 0.055 s 0.4 ± 0.055 s 1.02 ± 0.2
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.15 ± 0.015 s 0.152 ± 0.016 s 0.987 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.34 ± 0.0035 s 0.341 ± 0.0022 s 0.998 ± 0.012
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.402 ± 0.037 s 0.402 ± 0.04 s 1 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.363 ± 0.01 s 0.363 ± 0.0097 s 1 ± 0.039
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.488 ± 0.0086 s 0.489 ± 0.0091 s 0.997 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.167 ± 0.0055 s 0.166 ± 0.0039 s 1.01 ± 0.041
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.324 ± 0.011 s 0.32 ± 0.0054 s 1.01 ± 0.038
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.297 ± 0.014 s 0.302 ± 0.034 s 0.982 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.355 ± 0.017 s 0.364 ± 0.0098 s 0.975 ± 0.054
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.129 ± 0.011 s 0.13 ± 0.013 s 0.987 ± 0.13
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0421 ± 0.0022 s 0.0431 ± 0.0017 s 0.976 ± 0.063
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0347 ± 0.011 s 0.0368 ± 0.01 s 0.944 ± 0.4
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.17 ± 0.044 s 0.177 ± 0.041 s 0.959 ± 0.33
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.166 ± 0.026 s 0.158 ± 0.025 s 1.05 ± 0.23
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0352 ± 0.0018 s 0.038 ± 0.005 s 0.926 ± 0.13
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 28.4 ± 7.5 ms 31.1 ± 7.8 ms 0.915 ± 0.33
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0807 ± 0.0012 s 0.0859 ± 0.0023 s 0.94 ± 0.029
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0775 ± 0.0013 s 0.087 ± 0.0033 s 0.891 ± 0.037
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0634 ± 0.0023 s 0.0756 ± 0.0022 s 0.84 ± 0.039
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0826 ± 0.0049 s 0.0923 ± 0.0052 s 0.894 ± 0.073
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.47 ± 0.014 s 2.58 ± 0.026 s 0.958 ± 0.011
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.47 ± 0.012 s 1.52 ± 0.011 s 0.971 ± 0.011
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.84 ± 0.04 μs 4.11 ± 0.1 μs 0.934 ± 0.025
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.11 ± 0.0025 ms 0.111 ± 0.0023 ms 0.991 ± 0.031
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.105 ± 0.0015 ms 0.106 ± 0.0018 ms 0.995 ± 0.022
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 15.8 ± 0.35 μs 16.3 ± 0.37 μs 0.971 ± 0.031
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.201 ± 0.012 ms 0.202 ± 0.013 ms 0.996 ± 0.088
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.235 ± 0.017 ms 0.243 ± 0.016 ms 0.968 ± 0.095
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.53 ± 0.22 ms 2.55 ± 0.23 ms 0.993 ± 0.12
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.72 ± 0.057 ms 1.75 ± 0.11 ms 0.982 ± 0.071
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.07 ± 0.11 ms 3.06 ± 0.12 ms 1 ± 0.055
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.28 ± 0.086 ms 3.24 ± 0.15 ms 1.01 ± 0.054
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.75 ± 0.045 ms 1.74 ± 0.057 ms 1.01 ± 0.042
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.75 ± 0.043 ms 1.73 ± 0.05 ms 1.01 ± 0.038
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.25 ± 0.085 ms 2.22 ± 0.14 ms 1.01 ± 0.074
UNIT TESTS/SimModel/LinModel/evaloutput 0.161 ± 0.01 μs 0.141 ± 0.01 μs 1.14 ± 0.11
UNIT TESTS/SimModel/LinModel/updatestate! 0.23 ± 0.019 μs 0.21 ± 0.01 μs 1.1 ± 0.1
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.421 ± 0.001 μs 0.421 ± 0.009 μs 1 ± 0.022
UNIT TESTS/SimModel/NonLinModel/linearize! 2.01 ± 0.03 μs 2.11 ± 0.011 μs 0.953 ± 0.015
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.481 ± 0.01 μs 0.481 ± 0.009 μs 1 ± 0.028
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.551 ± 0.001 μs 0.561 ± 0.01 μs 0.982 ± 0.018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.8 ± 0.02 μs 1.8 ± 0.011 μs 1 ± 0.013
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.271 ± 0.001 μs 0.28 ± 0.01 μs 0.968 ± 0.035
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.42 ± 0.01 μs 1.4 ± 0.01 μs 1.01 ± 0.01
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 3.92 ± 0.051 μs 4.11 ± 0.081 μs 0.954 ± 0.023
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 8.93 ± 0.1 μs 9.13 ± 0.1 μs 0.978 ± 0.015
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.231 ± 0.01 μs 0.25 ± 0.011 μs 0.924 ± 0.057
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.571 ± 0.001 μs 0.581 ± 0.02 μs 0.983 ± 0.034
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.281 ± 0.001 μs 0.291 ± 0.001 μs 0.966 ± 0.0048
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.741 ± 0.01 μs 0.751 ± 0.011 μs 0.987 ± 0.02
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.41 ± 0.01 μs 0.411 ± 0.001 μs 0.998 ± 0.024
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.912 ± 0.001 μs 0.912 ± 0.01 μs 1 ± 0.011
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.261 ± 0.001 μs 0.261 ± 0.001 μs 1 ± 0.0054
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.131 ± 0.01 μs 0.13 ± 0.01 μs 1.01 ± 0.11
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.5 ± 0.021 μs 2.52 ± 0.03 μs 0.992 ± 0.014
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.241 ± 0.01 μs 0.24 ± 0.001 μs 1 ± 0.042
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.251 ± 0.01 μs 0.26 ± 0.01 μs 0.965 ± 0.053
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.351 ± 0.01 μs 0.35 ± 0.01 μs 1 ± 0.04
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/LinModel 0.203 ± 0.021 ms 0.206 ± 0.021 ms 0.989 ± 0.14
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 0.351 ± 0.018 ms 0.351 ± 0.018 ms 1 ± 0.072
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.87 ± 0.3 ms 3.72 ± 0.22 ms 1.04 ± 0.1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.481 ± 0 μs 0.481 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.331 ± 0.018 ms 0.318 ± 0.018 ms 1.04 ± 0.082
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.32 ± 0.01 μs 1.32 ± 0.01 μs 1 ± 0.011
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 8.18 ± 3.1 μs 7.91 ± 2.6 μs 1.03 ± 0.51
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.33 ± 0.19 ms 3.21 ± 0.16 ms 1.04 ± 0.078
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 17.1 ± 0.37 μs 16.7 ± 0.35 μs 1.03 ± 0.031
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.357 ± 0.019 ms 0.332 ± 0.018 ms 1.08 ± 0.081
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.27 ± 0.01 μs 0.27 ± 0.001 μs 1 ± 0.037
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.281 ± 0.011 μs 0.3 ± 0.01 μs 0.937 ± 0.048
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.381 ± 0.011 μs 0.391 ± 0.01 μs 0.974 ± 0.038
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.3 ± 0.01 μs 0.301 ± 0.011 μs 0.997 ± 0.049
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.912 ± 0.02 μs 0.931 ± 0.01 μs 0.98 ± 0.024
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.67 ± 0.071 μs 4.21 ± 0.11 μs 0.871 ± 0.028
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 5.14 ± 0.03 μs 4.98 ± 0.059 μs 1.03 ± 0.014
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.46 ± 0.04 μs 3.58 ± 0.08 μs 0.966 ± 0.024
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.53 ± 0.11 μs 6.26 ± 0.041 μs 1.04 ± 0.019
time_to_load 5.37 ± 0.016 s 5.67 ± 0.013 s 0.947 ± 0.0036
Memory benchmarks
main ddb5238... main / ddb5238...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0424 M allocs: 1.71 MB 0.0424 M allocs: 1.71 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 0.0423 M allocs: 1.7 MB 0.0423 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 0.115 M allocs: 6.25 MB 0.114 M allocs: 6.25 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.65 M allocs: 0.251 GB 4.65 M allocs: 0.251 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.115 M allocs: 6.67 MB 0.115 M allocs: 6.67 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.69 M allocs: 0.255 GB 4.69 M allocs: 0.255 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.126 M allocs: 7.8 MB 0.126 M allocs: 7.8 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: 0.0792 GB 0.862 M allocs: 0.0792 GB 1
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: 0.0791 GB 1.18 M allocs: 0.0791 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 1.18 M allocs: 0.0791 GB 1.18 M allocs: 0.0791 GB 1
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) 0.633 M allocs: 0.0604 GB 0.633 M allocs: 0.0604 GB 1
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: 5.08 MB 0.0772 M allocs: 5.08 MB 1
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) 1.07 M allocs: 0.0796 GB 1.07 M allocs: 0.0796 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.297 M allocs: 0.067 GB 0.297 M allocs: 0.067 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: 0.0543 GB 0.647 M allocs: 0.0543 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.244 M allocs: 20.7 MB 0.244 M allocs: 20.7 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: 5.04 MB 0.0768 M allocs: 5.04 MB 1
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: 0.0548 GB 0.879 M allocs: 0.0548 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.335 M allocs: 25.1 MB 0.335 M allocs: 25.1 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.255 M allocs: 0.0577 GB 0.255 M allocs: 0.0577 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 0.646 M allocs: 0.0785 GB 0.646 M allocs: 0.0785 GB 1
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: 11.5 MB 0.0649 M allocs: 11.5 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0639 M allocs: 11.3 MB 0.0639 M allocs: 11.3 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0485 M allocs: 8.05 MB 0.0485 M allocs: 8.05 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0642 M allocs: 11.3 MB 0.0642 M allocs: 11.3 MB 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/getinfo! 0.322 k allocs: 15.6 kB 0.322 k allocs: 15.6 kB 1
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/getinfo!/LinModel 0.563 k allocs: 0.0588 MB 0.563 k allocs: 0.0588 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.606 k allocs: 0.0776 MB 0.606 k allocs: 0.0776 MB 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/getinfo!/LinModel 1.03 k allocs: 0.0393 MB 1.03 k allocs: 0.0393 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 1.24 k allocs: 0.203 MB 1.24 k allocs: 0.203 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 0.0754 M allocs: 14.6 MB 0.0754 M allocs: 14.6 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.972 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 2 allocs: 0.0469 kB 2 allocs: 0.0469 kB 1
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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@franckgaga @codecov-commenter