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added: lastu keyword argument to moveinput!#274

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franckgaga merged 3 commits into
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lastu_arg
Oct 26, 2025
Merged

added: lastu keyword argument to moveinput!#274
franckgaga merged 3 commits into
mainfrom
lastu_arg

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@franckgaga

@franckgaga franckgaga commented Oct 26, 2025 •
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Its default value is to recuperate the value automatically stored at mpc.lastu0, or more precisely:

lastu = (mpc.buffer.u .= mpc.lastu0 .+ mpc.estim.model.uop)

to avoid wasteful allocations in handling the operating point. I think it's cleaner this way since:

  1. The $\mathbf{u}(k-1)$ value can be customized by the user. This value is used to compute $\mathbf{\Delta u}(k)$.
  2. The default behavior is explicitly documented in moveinput! docstring. It was a bit too much implicit before this PR.

This PR is inspired by LinearMPC.jl API, see darnstrom/LinearMPC.jl#27.

@franckgaga
added: lastu argument to moveinput!
4bd074d 
It's default is to recuperate the value automatically stored in `mpc.lastu0`.
@franckgaga
doc: new signature for initpred!
10c43d5
@franckgaga franckgaga changed the title added: lastu argument to moveinput! added: lastu keyword argument to moveinput! Oct 26, 2025
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.45%. Comparing base (a93a568) to head (ed07620).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #274   +/-   ##
=======================================
  Coverage   98.45%   98.45%           
=======================================
  Files          28       28           
  Lines        4657     4659    +2     
=======================================
+ Hits         4585     4587    +2     
  Misses         72       72

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Benchmark Results (Julia v1)

Time benchmarks
main ed07620... main / ed07620...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.29 ± 0.55 ms 5.35 ± 0.56 ms 0.988 ± 0.15
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.311 ± 0.0043 s 0.318 ± 0.0037 s 0.977 ± 0.018
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.224 ± 0.014 s 0.231 ± 0.017 s 0.971 ± 0.093
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.22 ± 0.55 ms 8.8 ± 0.58 ms 1.05 ± 0.093
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.63 ± 0.063 ms 1.6 ± 0.093 ms 1.02 ± 0.071
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.28 ± 0.51 ms 5.28 ± 0.53 ms 1 ± 0.14
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.277 ± 0.0066 s 0.284 ± 0.0034 s 0.973 ± 0.026
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.238 ± 0.0061 s 0.246 ± 0.0014 s 0.969 ± 0.026
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.38 ± 0.43 ms 6.21 ± 0.44 ms 1.03 ± 0.1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.75 ± 0.076 ms 1.74 ± 0.078 ms 1.01 ± 0.063
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.74 ± 1.5 ms 9.33 ± 1.4 ms 0.937 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.312 ± 0.032 s 0.322 ± 0.033 s 0.968 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.157 ± 0.0017 s 0.162 ± 0.002 s 0.97 ± 0.016
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.0973 ± 0.011 s 0.106 ± 0.0059 s 0.914 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.6 ± 1.6 ms 12 ± 1.5 ms 0.966 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.697 ± 0.039 s 0.719 ± 0.04 s 0.969 ± 0.077
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.83 ± 0.025 s 1.88 ± 0.014 s 0.973 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.704 ± 0.043 s 0.717 ± 0.042 s 0.981 ± 0.084
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.358 ± 0.016 s 0.364 ± 0.016 s 0.985 ± 0.061
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.522 ± 0.034 s 0.54 ± 0.034 s 0.967 ± 0.088
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.331 ± 0.016 s 0.341 ± 0.015 s 0.971 ± 0.063
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.152 ± 0.0058 s 0.15 ± 0.0059 s 1.01 ± 0.055
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.348 ± 0.015 s 0.345 ± 0.015 s 1.01 ± 0.061
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.369 ± 0.032 s 0.368 ± 0.03 s 1 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.518 ± 0.039 s 0.525 ± 0.047 s 0.987 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.329 ± 0.012 s 0.333 ± 0.0092 s 0.99 ± 0.046
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.36 ± 0.028 s 0.362 ± 0.026 s 0.994 ± 0.11
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.13 ± 0.0069 s 0.128 ± 0.0064 s 1.02 ± 0.075
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.039 ± 0.0037 s 0.0407 ± 0.00097 s 0.958 ± 0.093
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0325 ± 0.0074 s 0.034 ± 0.0088 s 0.957 ± 0.33
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.179 ± 0.027 s 0.189 ± 0.036 s 0.947 ± 0.23
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.159 ± 0.024 s 0.164 ± 0.023 s 0.966 ± 0.2
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0328 ± 0.0042 s 0.0347 ± 0.0046 s 0.944 ± 0.17
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 26.7 ± 5.1 ms 27.8 ± 6 ms 0.958 ± 0.28
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 9.13 ± 0.48 s 9.92 ± 0.05 s 0.92 ± 0.049
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 3.57 ± 0.01 s 3.65 ± 0.014 s 0.979 ± 0.0046
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.41 ± 0.014 s 2.58 ± 0.014 s 0.932 ± 0.0076
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.47 ± 0.029 s 1.52 ± 0.012 s 0.965 ± 0.021
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.64 ± 0.03 μs 3.77 ± 0.03 μs 0.965 ± 0.011
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.114 ± 0.0079 ms 0.11 ± 0.0078 ms 1.03 ± 0.1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 15.6 ± 0.39 μs 15.1 ± 0.45 μs 1.03 ± 0.04
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.63 ± 0.24 ms 2.68 ± 0.24 ms 0.981 ± 0.13
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.96 ± 0.25 ms 2 ± 0.25 ms 0.982 ± 0.18
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.1 ± 0.13 ms 3.15 ± 0.13 ms 0.986 ± 0.059
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.8 ± 0.097 ms 1.84 ± 0.1 ms 0.977 ± 0.075
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.23 ± 0.14 ms 2.27 ± 0.15 ms 0.982 ± 0.089
UNIT TESTS/SimModel/LinModel/evaloutput 0.14 ± 0.001 μs 0.15 ± 0.01 μs 0.933 ± 0.063
UNIT TESTS/SimModel/LinModel/updatestate! 0.201 ± 0.01 μs 0.22 ± 0.01 μs 0.914 ± 0.062
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.421 ± 0.01 μs 0.421 ± 0.01 μs 1 ± 0.034
UNIT TESTS/SimModel/NonLinModel/linearize! 2.05 ± 0.02 μs 2.06 ± 0.02 μs 0.995 ± 0.014
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.491 ± 0.01 μs 0.491 ± 0.01 μs 1 ± 0.029
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.551 ± 0.001 μs 0.561 ± 0 μs 0.982 ± 0.0018
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.82 ± 0.011 μs 1.82 ± 0.02 μs 1 ± 0.013
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.29 ± 0.01 μs 0.29 ± 0.01 μs 1 ± 0.049
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.42 ± 0.001 μs 1.41 ± 0.001 μs 1.01 ± 0.001
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 4.14 ± 0.1 μs 4.02 ± 0.091 μs 1.03 ± 0.034
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 8.89 ± 0.14 μs 9.23 ± 0.13 μs 0.963 ± 0.02
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.241 ± 0.001 μs 0.24 ± 0.001 μs 1 ± 0.0059
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.601 ± 0 μs 0.581 ± 0.01 μs 1.03 ± 0.018
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.281 ± 0.01 μs 0.291 ± 0.011 μs 0.966 ± 0.05
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.751 ± 0.01 μs 0.741 ± 0.01 μs 1.01 ± 0.019
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.411 ± 0.001 μs 0.411 ± 0.009 μs 1 ± 0.022
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.932 ± 0.001 μs 0.941 ± 0.01 μs 0.99 ± 0.011
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.261 ± 0.01 μs 0.28 ± 0.01 μs 0.932 ± 0.049
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.14 ± 0.001 μs 0.14 ± 0.001 μs 1 ± 0.01
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.54 ± 0.03 μs 2.58 ± 0.04 μs 0.988 ± 0.019
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.25 ± 0.01 μs 0.25 ± 0.001 μs 1 ± 0.04
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.26 ± 0.001 μs 0.26 ± 0.011 μs 1 ± 0.042
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.361 ± 0.01 μs 0.361 ± 0.001 μs 1 ± 0.028
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.54 ± 0.22 ms 3.47 ± 0.24 ms 1.02 ± 0.094
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.481 ± 0 μs 0.491 ± 0 μs 0.98 ± 0
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.332 ± 0.019 ms 0.32 ± 0.021 ms 1.04 ± 0.092
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.31 ± 0.01 μs 1.32 ± 0.01 μs 0.992 ± 0.011
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 9.16 ± 3.6 μs 8.32 ± 3.4 μs 1.1 ± 0.62
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.06 ± 0.23 ms 3.05 ± 0.16 ms 1 ± 0.092
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 17.2 ± 1 μs 16.8 ± 0.52 μs 1.02 ± 0.068
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.341 ± 0.02 ms 0.324 ± 0.021 ms 1.05 ± 0.091
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.27 ± 0.001 μs 0.27 ± 0.001 μs 1 ± 0.0052
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.29 ± 0.01 μs 0.29 ± 0.01 μs 1 ± 0.049
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.38 ± 0.01 μs 0.401 ± 0.001 μs 0.948 ± 0.025
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.301 ± 0.001 μs 0.3 ± 0.01 μs 1 ± 0.034
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.912 ± 0.01 μs 0.912 ± 0.02 μs 1 ± 0.025
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.64 ± 0.04 μs 3.68 ± 0.04 μs 0.989 ± 0.015
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 5.02 ± 0.06 μs 5.19 ± 0.05 μs 0.967 ± 0.015
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.5 ± 0.039 μs 3.64 ± 0.079 μs 0.961 ± 0.023
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.23 ± 0.041 μs 6.36 ± 0.08 μs 0.979 ± 0.014
time_to_load 3.56 ± 0.042 s 3.65 ± 0.11 s 0.976 ± 0.031
Memory benchmarks
main ed07620... main / ed07620...
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: 9.02 MB 0.162 M allocs: 9.02 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.0538 M allocs: 2.4 MB 0.0538 M allocs: 2.4 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: 7.19 MB 0.127 M allocs: 7.19 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0555 M allocs: 2.44 MB 0.0555 M allocs: 2.44 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 0.353 M allocs: 27.4 MB 0.353 M allocs: 27.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.351 M allocs: 0.0509 GB 0.351 M allocs: 0.0509 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.536 M allocs: 0.0354 GB 0.536 M allocs: 0.0354 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.27 M allocs: 20.9 MB 0.27 M allocs: 20.9 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0962 M allocs: 18 MB 0.0962 M allocs: 18 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.38 M allocs: 25.9 MB 0.38 M allocs: 25.9 MB 1
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 0.229 M allocs: 17.5 MB 0.229 M allocs: 17.5 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.247 M allocs: 25.4 MB 0.247 M allocs: 25.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0758 M allocs: 13.6 MB 0.0758 M allocs: 13.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.32 M allocs: 21.6 MB 0.32 M allocs: 21.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.338 M allocs: 29.6 MB 0.338 M allocs: 29.6 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/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.762 M allocs: 0.0804 GB 0.762 M allocs: 0.0804 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.682 M allocs: 0.0587 GB 0.682 M allocs: 0.0587 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.647 M allocs: 0.0787 GB 0.647 M allocs: 0.0787 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.601 M allocs: 0.0564 GB 0.601 M allocs: 0.0564 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.63 M allocs: 0.0766 GB 0.63 M allocs: 0.0766 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.585 M allocs: 0.0555 GB 0.585 M allocs: 0.0555 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 14.4 M allocs: 2.56 GB 14.4 M allocs: 2.56 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 2.16 M allocs: 0.371 GB 2.16 M allocs: 0.371 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: 0.192 MB 2.91 k allocs: 0.192 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.511 k allocs: 0.0542 MB 0.511 k allocs: 0.0542 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.15 k allocs: 0.27 MB 3.15 k allocs: 0.27 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.545 k allocs: 0.114 MB 0.545 k allocs: 0.114 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.27 k allocs: 0.16 MB 2.27 k allocs: 0.16 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: 14.6 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 0.973 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 7.04 k allocs: 0.445 MB 7.04 k allocs: 0.445 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 0.149 k allocs: 11.2 kB 0.149 k allocs: 11.2 kB 1

@franckgaga franckgaga merged commit b9f325f into main Oct 26, 2025
5 checks passed
@franckgaga franckgaga deleted the lastu_arg branch October 26, 2025 21:22
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