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Merged
merged 10 commits into from
Sep 4, 2025
Merged

doc: describing the internal of the various prediction and transcription methods #240

merged 10 commits into from
Sep 4, 2025

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franckgaga
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@franckgaga franckgaga commented Sep 4, 2025 •
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Added the prediction and defect equations for all the transcription in Internals -> Predictive Controllers section.

This is mainly for developper (myself 🤣), since it will be helpful for implementing more complex collocation methods.

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codecov-commenter commented Sep 4, 2025 •
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Codecov Report

❌ Patch coverage is 92.30769% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 98.56%. Comparing base (aff625b) to head (bd1b9f6).

Files with missing lines Patch % Lines
src/estimator/mhe/execute.jl 88.88% 1 Missing ⚠️
Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #240   +/-   ##
=======================================
  Coverage   98.56%   98.56%           
=======================================
  Files          26       26           
  Lines        4379     4379           
=======================================
  Hits         4316     4316           
  Misses         63       63

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github-actions bot commented Sep 4, 2025 •
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Benchmark Results (Julia v1)

Time benchmarks
main bd1b9f6... main / bd1b9f6...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 6.87 ± 0.59 ms 6.81 ± 0.55 ms 1.01 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.316 ± 0.0072 s 0.312 ± 0.0042 s 1.01 ± 0.027
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.23 ± 0.014 s 0.226 ± 0.013 s 1.02 ± 0.085
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 8.69 ± 0.57 ms 8.89 ± 0.54 ms 0.977 ± 0.087
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.48 ± 0.094 ms 1.45 ± 0.084 ms 1.02 ± 0.087
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 6.88 ± 0.6 ms 6.8 ± 0.52 ms 1.01 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.28 ± 0.0035 s 0.273 ± 0.0031 s 1.03 ± 0.017
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.23 ± 0.0017 s 0.229 ± 0.0018 s 1.01 ± 0.011
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 5.95 ± 0.43 ms 5.93 ± 0.4 ms 1 ± 0.099
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.59 ± 0.055 ms 1.6 ± 0.055 ms 0.997 ± 0.049
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.22 ± 1.4 ms 8.08 ± 1.4 ms 1.02 ± 0.24
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.352 ± 0.038 s 0.337 ± 0.044 s 1.04 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.157 ± 0.0014 s 0.155 ± 0.0017 s 1.01 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.117 ± 0.0036 s 0.112 ± 0.0025 s 1.04 ± 0.04
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.9 ± 1.6 ms 11.6 ± 1.7 ms 1.03 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 1.93 ± 0.07 s 1.82 ± 0.0078 s 1.06 ± 0.039
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.07 ± 0.047 s 1.99 ± 0.025 s 1.04 ± 0.027
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.85 ± 0.0095 s 1.83 ± 0.0082 s 1.01 ± 0.0069
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.886 ± 0.023 s 0.865 ± 0.0066 s 1.02 ± 0.027
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.504 ± 0.036 s 0.504 ± 0.035 s 0.999 ± 0.1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.828 ± 0.012 s 0.824 ± 0.0033 s 1 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.141 ± 0.0026 s 0.139 ± 0.0015 s 1.01 ± 0.021
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.779 ± 0.014 s 0.773 ± 0.0068 s 1.01 ± 0.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.503 ± 0.037 s 0.497 ± 0.041 s 1.01 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.746 ± 0.0057 s 0.746 ± 0.0062 s 1 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.122 ± 0.0044 s 0.12 ± 0.0038 s 1.02 ± 0.049
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0403 ± 0.0057 s 0.0407 ± 0.0055 s 0.99 ± 0.19
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0361 ± 0.0031 s 0.0336 ± 0.0028 s 1.07 ± 0.13
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.198 ± 0.025 s 0.194 ± 0.023 s 1.02 ± 0.18
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.165 ± 0.042 s 0.161 ± 0.034 s 1.02 ± 0.34
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0351 ± 0.0041 s 0.0367 ± 0.0046 s 0.957 ± 0.16
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 26.9 ± 1.5 ms 26.9 ± 1.5 ms 0.997 ± 0.079
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 14.2 ± 0.26 s 13.8 ± 1.1 s 1.03 ± 0.087
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 4.33 ± 0.3 s 4.14 ± 0.24 s 1.05 ± 0.094
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.03 ± 0.037 s 2 ± 0.035 s 1.02 ± 0.026
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.17 ± 0.011 s 1.17 ± 0.011 s 0.999 ± 0.013
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 2.52 ± 0.06 μs 2.5 ± 0.029 μs 1.01 ± 0.027
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.108 ± 0.0041 ms 0.107 ± 0.0041 ms 1.01 ± 0.055
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 12.6 ± 0.27 μs 12.5 ± 0.27 μs 1.01 ± 0.031
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.85 ± 0.21 ms 2.84 ± 0.22 ms 1 ± 0.11
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.93 ± 0.083 ms 1.91 ± 0.1 ms 1.01 ± 0.069
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 8.72 ± 0.22 ms 8.77 ± 0.16 ms 0.994 ± 0.031
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.93 ± 0.085 ms 1.89 ± 0.085 ms 1.02 ± 0.064
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 3.54 ± 0.14 ms 3.53 ± 0.12 ms 1 ± 0.054
UNIT TESTS/SimModel/LinModel/evaloutput 0.13 ± 0.001 μs 0.131 ± 0.01 μs 0.992 ± 0.076
UNIT TESTS/SimModel/LinModel/updatestate! 0.21 ± 0.001 μs 0.21 ± 0.001 μs 1 ± 0.0067
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.13 ± 0.001 μs 0.13 ± 0.001 μs 1 ± 0.011
UNIT TESTS/SimModel/NonLinModel/linearize! 1.1 ± 0.02 μs 1.16 ± 0.02 μs 0.948 ± 0.024
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.21 ± 0.001 μs 0.21 ± 0.01 μs 1 ± 0.048
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.131 ± 0.01 μs 0.131 ± 0.01 μs 1 ± 0.11
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0.18 ± 0.001 μs 0.19 ± 0.01 μs 0.947 ± 0.05
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 ± 0.03 μs 2.75 ± 0.03 μs 1.01 ± 0.015
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 3.44 ± 0.04 μs 3.4 ± 0.04 μs 1.01 ± 0.017
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.12 ± 0.01 μs 0.12 ± 0 μs 1 ± 0.083
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.13 ± 0.009 μs 0.12 ± 0.01 μs 1.08 ± 0.12
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.19 ± 0.01 μs 0.18 ± 0.001 μs 1.06 ± 0.056
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.18 ± 0.001 μs 0.18 ± 0.001 μs 1 ± 0.0079
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.301 ± 0.011 μs 0.301 ± 0.011 μs 1 ± 0.052
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.31 ± 0.01 μs 0.301 ± 0.001 μs 1.03 ± 0.033
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.14 ± 0.009 μs 0.14 ± 0.01 μs 1 ± 0.096
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.08 ± 0.021 μs 2.04 ± 0.02 μs 1.02 ± 0.014
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.14 ± 0.001 μs 0.14 ± 0.01 μs 1 ± 0.072
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.2 ± 0.001 μs 0.2 ± 0.001 μs 1 ± 0.0071
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.28 ± 0.01 μs 0.281 ± 0.01 μs 0.996 ± 0.05
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.4 ± 4 ms 3.33 ± 4.2 ms 1.02 ± 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 0.315 ± 0.019 ms 0.304 ± 0.016 ms 1.04 ± 0.084
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0.04 ± 0.009 μs 0.04 ± 0 μs 1 ± 0.23
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 5.85 ± 2 μs 5.69 ± 1.8 μs 1.03 ± 0.49
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.07 ± 0.29 ms 3.14 ± 0.27 ms 0.978 ± 0.13
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 13 ± 0.27 μs 12.7 ± 0.34 μs 1.02 ± 0.035
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.316 ± 0.017 ms 0.314 ± 0.017 ms 1.01 ± 0.076
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.14 ± 0 μs 0.14 ± 0.01 μs 1 ± 0.071
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.2 ± 0.001 μs 0.21 ± 0.01 μs 0.952 ± 0.046
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.29 ± 0.01 μs 0.281 ± 0.01 μs 1.03 ± 0.051
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.141 ± 0.01 μs 0.15 ± 0.001 μs 0.94 ± 0.067
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.191 ± 0.01 μs 0.2 ± 0.01 μs 0.955 ± 0.069
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.5 ± 0.031 μs 3.44 ± 0.03 μs 1.02 ± 0.013
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.98 ± 0.04 μs 3.89 ± 0.041 μs 1.02 ± 0.015
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.4 ± 0.071 μs 3.45 ± 0.06 μs 0.985 ± 0.027
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 4.93 ± 0.1 μs 4.65 ± 0.04 μs 1.06 ± 0.024
time_to_load 3.75 ± 0.02 s 3.78 ± 0.031 s 0.991 ± 0.0097
Memory benchmarks
main bd1b9f6... main / bd1b9f6...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0449 M allocs: 1.79 MB 0.0449 M allocs: 1.79 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.183 M allocs: 9.81 MB 0.183 M allocs: 9.81 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.0746 M allocs: 2.81 MB 0.0746 M allocs: 2.81 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 0.0758 M allocs: 1.88 MB 0.0758 M allocs: 1.88 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 7.85 k allocs: 0.243 MB 7.85 k allocs: 0.243 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 0.0448 M allocs: 1.79 MB 0.0448 M allocs: 1.79 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.148 M allocs: 8 MB 0.148 M allocs: 8 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0779 M allocs: 2.88 MB 0.0779 M allocs: 2.88 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 0.0532 M allocs: 1.33 MB 0.0532 M allocs: 1.33 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 7.7 k allocs: 0.237 MB 7.7 k allocs: 0.237 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 0.102 M allocs: 6.46 MB 0.102 M allocs: 6.46 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.64 M allocs: 0.248 GB 4.64 M allocs: 0.248 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.112 M allocs: 6.86 MB 0.112 M allocs: 6.86 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.66 M allocs: 0.252 GB 4.66 M allocs: 0.252 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.113 M allocs: 8.17 MB 0.113 M allocs: 8.17 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/SingleShooting 0.0889 M allocs: 13.8 MB 0.0889 M allocs: 13.8 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 8.09 M allocs: 0.465 GB 8.09 M allocs: 0.465 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.253 M allocs: 0.0559 GB 0.253 M allocs: 0.0559 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.727 M allocs: 0.086 GB 0.727 M allocs: 0.086 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.648 M allocs: 0.0621 GB 0.648 M allocs: 0.0621 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.622 M allocs: 0.0833 GB 0.622 M allocs: 0.0833 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.577 M allocs: 0.0601 GB 0.577 M allocs: 0.0601 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.595 M allocs: 0.0821 GB 0.595 M allocs: 0.0821 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.55 M allocs: 0.0589 GB 0.55 M allocs: 0.0589 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0884 G allocs: 15.9 GB 0.0884 G allocs: 15.9 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 12.9 M allocs: 2.3 GB 12.9 M allocs: 2.3 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 15.1 M allocs: 2.8 GB 15.1 M allocs: 2.8 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 8.83 M allocs: 1.63 GB 8.83 M allocs: 1.63 GB 1
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.994 k allocs: 24.5 kB 0.994 k allocs: 24.5 kB 1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 0.088 k allocs: 2.16 kB 0.088 k allocs: 2.16 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 3 k allocs: 0.196 MB 3 k allocs: 0.196 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.599 k allocs: 0.0556 MB 0.599 k allocs: 0.0556 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 0.104 M allocs: 7.98 MB 0.104 M allocs: 7.98 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.633 k allocs: 0.116 MB 0.633 k allocs: 0.116 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 15.7 k allocs: 1.43 MB 15.7 k allocs: 1.43 MB 1
UNIT TESTS/SimModel/LinModel/evaloutput 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/SimModel/LinModel/updatestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/SimModel/NonLinModel/evaloutput 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/SimModel/NonLinModel/linearize! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/SimModel/NonLinModel/updatestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 0.0734 M allocs: 16 MB 0.0734 M allocs: 16 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 0.996 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 5f3a969 into main Sep 4, 2025
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@franckgaga franckgaga deleted the doc_transcription branch September 4, 2025 23:27
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