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added: dispatch on covestim type when inverting P̄ in the MovingHorizonEstimator#375

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franckgaga merged 8 commits into
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mhe_skf_dispatch
Jun 13, 2026
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added: dispatch on covestim type when inverting P̄ in the MovingHorizonEstimator#375
franckgaga merged 8 commits into
mainfrom
mhe_skf_dispatch

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@franckgaga

@franckgaga franckgaga commented Jun 13, 2026 •
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SteadyKalmanFilter is a special case. It does not require any arrival estimation covariance P̄ update and inversion.

@franckgaga franckgaga changed the title added: dispatch on covestim type when updating P̄ in the MovingHorizonEstimator added: dispatch on covestim type when inverting P̄ in the MovingHorizonEstimator Jun 13, 2026
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.57%. Comparing base (52804d8) to head (54b3bd5).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #375   +/-   ##
=======================================
  Coverage   98.57%   98.57%           
=======================================
  Files          27       27           
  Lines        5477     5479    +2     
=======================================
+ Hits         5399     5401    +2     
  Misses         78       78

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@franckgaga franckgaga merged commit 4b02782 into main Jun 13, 2026
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github-actions Bot commented Jun 14, 2026 •
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Benchmark Results (Julia v1)

Time benchmarks
main 54b3bd5... main / 54b3bd5...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 4.69 ± 0.3 ms 4.76 ± 0.31 ms 0.986 ± 0.091
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.317 ± 0.0052 s 0.285 ± 0.0033 s 1.11 ± 0.022
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.194 ± 0.0048 s 0.195 ± 0.0046 s 0.997 ± 0.034
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 8.18 ± 0.35 ms 8.38 ± 0.35 ms 0.976 ± 0.058
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.53 ± 0.046 ms 1.62 ± 0.043 ms 0.945 ± 0.038
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 4.66 ± 0.28 ms 4.73 ± 0.3 ms 0.986 ± 0.086
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.275 ± 0.0074 s 0.247 ± 0.0025 s 1.11 ± 0.032
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.197 ± 0.0025 s 0.196 ± 0.00087 s 1.01 ± 0.013
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 5.62 ± 0.22 ms 5.78 ± 0.25 ms 0.972 ± 0.056
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.65 ± 0.041 ms 1.71 ± 0.028 ms 0.962 ± 0.029
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 9.88 ± 0.89 ms 9.86 ± 0.95 ms 1 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.29 ± 0.096 s 0.272 ± 0.078 s 1.07 ± 0.47
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.141 ± 0.0016 s 0.136 ± 0.0011 s 1.04 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.116 ± 0.027 s 0.108 ± 0.027 s 1.07 ± 0.37
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 12.4 ± 0.68 ms 12.4 ± 0.8 ms 0.998 ± 0.085
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.69 ± 0.011 s 0.704 ± 0.002 s 0.981 ± 0.016
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.709 ± 0.0027 s 0.703 ± 0.0028 s 1.01 ± 0.0056
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.4 ± 0.021 s 1.46 ± 0.094 s 0.957 ± 0.063
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.512 ± 0.0018 s 0.51 ± 0.003 s 1 ± 0.0068
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.51 ± 0.0099 s 0.507 ± 0.0035 s 1.01 ± 0.021
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.353 ± 0.0033 s 0.344 ± 0.001 s 1.03 ± 0.01
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.472 ± 0.0083 s 0.437 ± 0.0065 s 1.08 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 0.569 ± 0.029 s 0.552 ± 0.0032 s 1.03 ± 0.054
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 0.543 ± 0.01 s 0.538 ± 0.0073 s 1.01 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.492 ± 0.0025 s 0.469 ± 0.0019 s 1.05 ± 0.007
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.184 ± 0.0064 s 0.185 ± 0.0009 s 0.997 ± 0.035
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.371 ± 0.011 s 0.352 ± 0.0015 s 1.05 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.38 ± 0.0095 s 0.376 ± 0.0025 s 1.01 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.0835 ± 0.00053 s 0.0759 ± 0.00055 s 1.1 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.261 ± 0.015 s 0.266 ± 0.014 s 0.984 ± 0.076
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.342 ± 0.0034 s 0.332 ± 0.0011 s 1.03 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.469 ± 0.0058 s 0.449 ± 0.0024 s 1.04 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.372 ± 0.0057 s 0.356 ± 0.004 s 1.05 ± 0.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 0.585 ± 0.0037 s 0.591 ± 0.0056 s 0.99 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 1.95 ± 0.048 s 1.89 ± 0.011 s 1.03 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.491 ± 0.0042 s 0.482 ± 0.0024 s 1.02 ± 0.01
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.169 ± 0.00091 s 0.173 ± 0.00079 s 0.974 ± 0.0069
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.336 ± 0.0069 s 0.327 ± 0.0026 s 1.03 ± 0.023
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.353 ± 0.0031 s 0.34 ± 0.0017 s 1.04 ± 0.01
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.36 ± 0.0068 s 0.346 ± 0.0037 s 1.04 ± 0.023
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.292 ± 0.0059 s 0.265 ± 0.00089 s 1.1 ± 0.023
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.0759 ± 0.0011 s 0.0739 ± 0.00042 s 1.03 ± 0.016
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.234 ± 0.0029 s 0.238 ± 0.0013 s 0.985 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/OrthogonalCollocation (Hessian) 1.25 ± 0.015 s 1.24 ± 0.006 s 1 ± 0.013
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0921 ± 0.004 s 0.0807 ± 0.0021 s 1.14 ± 0.058
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0679 ± 0.0032 s 0.0571 ± 0.0016 s 1.19 ± 0.065
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.279 ± 0.036 s 0.239 ± 0.014 s 1.17 ± 0.16
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.216 ± 0.049 s 0.199 ± 0.048 s 1.09 ± 0.36
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0858 ± 0.0072 s 0.0763 ± 0.005 s 1.13 ± 0.12
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.0598 ± 0.0073 s 0.0506 ± 0.006 s 1.18 ± 0.2
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0914 ± 0.00058 s 0.0907 ± 0.00014 s 1.01 ± 0.0065
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0949 ± 0.0011 s 0.0959 ± 0.0055 s 0.989 ± 0.058
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0659 ± 0.00084 s 0.0657 ± 0.00063 s 1 ± 0.016
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0874 ± 0.00044 s 0.0865 ± 0.00056 s 1.01 ± 0.0083
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0551 ± 0.00065 s 0.0543 ± 0.00026 s 1.01 ± 0.013
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.0492 ± 0.00046 s 0.0512 ± 0.00066 s 0.963 ± 0.015
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 4.01 ± 0.032 μs 4.08 ± 0.025 μs 0.982 ± 0.0099
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.0886 ± 0.0021 ms 0.0883 ± 0.0022 ms 1 ± 0.035
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.0985 ± 0.0012 ms 0.101 ± 0.0015 ms 0.973 ± 0.019
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 13.6 ± 0.17 μs 14.2 ± 0.15 μs 0.957 ± 0.015
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.212 ± 0.011 ms 0.212 ± 0.011 ms 0.997 ± 0.073
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.256 ± 0.016 ms 0.254 ± 0.016 ms 1.01 ± 0.089
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 1.59 ± 0.14 ms 1.54 ± 0.15 ms 1.03 ± 0.14
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.99 ± 0.036 ms 0.974 ± 0.036 ms 1.02 ± 0.053
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 2.47 ± 0.7 ms 2.44 ± 0.68 ms 1.02 ± 0.41
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 2.35 ± 0.076 ms 2.37 ± 0.07 ms 0.992 ± 0.043
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 2.21 ± 0.29 ms 2.24 ± 0.3 ms 0.987 ± 0.19
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 3.2 ± 0.19 ms 3.19 ± 0.18 ms 1 ± 0.081
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.29 ± 0.039 ms 1.27 ± 0.034 ms 1.01 ± 0.041
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.28 ± 0.034 ms 1.27 ± 0.033 ms 1.01 ± 0.038
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 1.64 ± 0.28 ms 1.67 ± 0.063 ms 0.987 ± 0.17
UNIT TESTS/SimModel/LinModel/evaloutput 0.122 ± 0.004 μs 0.113 ± 0.005 μs 1.08 ± 0.059
UNIT TESTS/SimModel/LinModel/updatestate! 0.172 ± 0.008 μs 0.172 ± 0.006 μs 1 ± 0.058
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.274 ± 0.01 μs 0.266 ± 0.004 μs 1.03 ± 0.041
UNIT TESTS/SimModel/NonLinModel/linearize! 1.51 ± 0.019 μs 1.5 ± 0.017 μs 1.01 ± 0.017
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.347 ± 0.01 μs 0.341 ± 0.007 μs 1.02 ± 0.036
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.352 ± 0.005 μs 0.361 ± 0.002 μs 0.975 ± 0.015
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.42 ± 0.05 μs 1.49 ± 0.065 μs 0.958 ± 0.054
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.182 ± 0.005 μs 0.173 ± 0.004 μs 1.05 ± 0.038
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.07 ± 0.016 μs 1.04 ± 0.014 μs 1.02 ± 0.021
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 3.24 ± 0.04 μs 3.28 ± 0.041 μs 0.986 ± 0.017
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 6.33 ± 0.05 μs 6.3 ± 0.056 μs 1.01 ± 0.012
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.19 ± 0.006 μs 0.19 ± 0.006 μs 1 ± 0.045
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.405 ± 0.004 μs 0.398 ± 0.002 μs 1.02 ± 0.011
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.246 ± 0.006 μs 0.25 ± 0.01 μs 0.984 ± 0.046
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.547 ± 0.002 μs 0.545 ± 0.002 μs 1 ± 0.0052
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.413 ± 0.015 μs 0.408 ± 0.013 μs 1.01 ± 0.049
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 1.1 ± 0.015 μs 1.13 ± 0.017 μs 0.971 ± 0.02
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.194 ± 0.008 μs 0.196 ± 0.007 μs 0.99 ± 0.054
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.091 ± 0.002 μs 0.094 ± 0.001 μs 0.968 ± 0.024
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.23 ± 0.045 μs 2.28 ± 0.028 μs 0.976 ± 0.023
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.195 ± 0.006 μs 0.19 ± 0.006 μs 1.03 ± 0.045
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.194 ± 0.007 μs 0.195 ± 0.005 μs 0.995 ± 0.044
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.318 ± 0.01 μs 0.316 ± 0.004 μs 1.01 ± 0.034
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/LinModel 0.254 ± 0.014 ms 0.249 ± 0.012 ms 1.02 ± 0.074
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 0.348 ± 0.015 ms 0.335 ± 0.014 ms 1.04 ± 0.062
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Constant arr. cov. 0.036 ± 0.0015 s 0.0368 ± 0.0015 s 0.98 ± 0.058
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 0.0411 ± 0.0021 s 0.0361 ± 0.0012 s 1.14 ± 0.069
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.303 ± 0.006 μs 0.291 ± 0.001 μs 1.04 ± 0.021
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.297 ± 0.014 ms 0.285 ± 0.013 ms 1.04 ± 0.068
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.15 ± 0.016 μs 1.15 ± 0.014 μs 1 ± 0.018
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Constant arr. cov. 19.1 ± 1.5 μs 10.7 ± 1.2 μs 1.78 ± 0.24
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 26.3 ± 2.1 μs 26.7 ± 2.1 μs 0.987 ± 0.11
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 0.0339 ± 0.0014 s 0.0332 ± 0.0011 s 1.02 ± 0.055
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 17 ± 0.38 μs 17.6 ± 0.4 μs 0.967 ± 0.031
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.295 ± 0.013 ms 0.298 ± 0.012 ms 0.99 ± 0.059
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.205 ± 0.003 μs 0.21 ± 0.003 μs 0.976 ± 0.02
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.203 ± 0.005 μs 0.21 ± 0.006 μs 0.967 ± 0.036
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.338 ± 0.002 μs 0.352 ± 0.009 μs 0.96 ± 0.025
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.27 ± 0.013 μs 0.256 ± 0.013 μs 1.05 ± 0.074
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.711 ± 0.021 μs 0.714 ± 0.016 μs 0.996 ± 0.037
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.44 ± 0.028 μs 3.39 ± 0.035 μs 1.02 ± 0.013
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 4.44 ± 0.044 μs 4.46 ± 0.043 μs 0.996 ± 0.014
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.52 ± 0.043 μs 3.58 ± 0.045 μs 0.985 ± 0.017
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 5.62 ± 0.063 μs 5.6 ± 0.058 μs 1 ± 0.015
time_to_load 5.51 ± 0.059 s 5.6 ± 0.051 s 0.983 ± 0.014
Memory benchmarks
main 54b3bd5... main / 54b3bd5...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0469 M allocs: 1.85 MB 0.0469 M allocs: 1.85 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.166 M allocs: 9.51 MB 0.166 M allocs: 9.51 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.058 M allocs: 2.99 MB 0.058 M allocs: 2.99 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 7.84 k allocs: 0.249 MB 7.84 k allocs: 0.249 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 0.0468 M allocs: 1.84 MB 0.0468 M allocs: 1.84 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.131 M allocs: 7.68 MB 0.131 M allocs: 7.68 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0601 M allocs: 3.08 MB 0.0601 M allocs: 3.08 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 0.0531 M allocs: 1.39 MB 0.0531 M allocs: 1.39 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 7.69 k allocs: 0.243 MB 7.69 k allocs: 0.243 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 0.119 M allocs: 6.37 MB 0.119 M allocs: 6.37 MB 0.999
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 0.117 M allocs: 6.99 MB 0.117 M allocs: 7 MB 0.999
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 0.435 M allocs: 30.3 MB 0.435 M allocs: 30.3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 1.04 M allocs: 0.114 GB 1.04 M allocs: 0.114 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.255 M allocs: 0.0347 GB 0.255 M allocs: 0.0347 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.02 M allocs: 0.0978 GB 1.02 M allocs: 0.0978 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 1.02 M allocs: 0.0978 GB 1.02 M allocs: 0.0978 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.32 M allocs: 22.2 MB 0.32 M allocs: 22.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.686 M allocs: 0.0776 GB 0.686 M allocs: 0.0776 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 1.32 M allocs: 0.118 GB 1.32 M allocs: 0.118 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 1.32 M allocs: 0.118 GB 1.32 M allocs: 0.118 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0736 M allocs: 13 MB 0.0736 M allocs: 13 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.0811 M allocs: 16.8 MB 0.0811 M allocs: 16.8 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.334 M allocs: 23.3 MB 0.334 M allocs: 23.3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.755 M allocs: 0.0765 GB 0.755 M allocs: 0.0765 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.0941 M allocs: 20.2 MB 0.0941 M allocs: 20.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.309 M allocs: 0.0328 GB 0.309 M allocs: 0.0328 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.269 M allocs: 18.4 MB 0.269 M allocs: 18.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.871 M allocs: 0.0907 GB 0.871 M allocs: 0.0907 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.287 M allocs: 27 MB 0.287 M allocs: 27 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 1.47 M allocs: 0.132 GB 1.47 M allocs: 0.132 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 6.04 M allocs: 0.741 GB 6.04 M allocs: 0.741 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0757 M allocs: 13.4 MB 0.0757 M allocs: 13.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.0811 M allocs: 16.8 MB 0.0811 M allocs: 16.8 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.276 M allocs: 19 MB 0.276 M allocs: 19 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.881 M allocs: 0.0815 GB 0.881 M allocs: 0.0815 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.295 M allocs: 28 MB 0.295 M allocs: 28 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.583 M allocs: 0.0723 GB 0.583 M allocs: 0.0723 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.0937 M allocs: 20.1 MB 0.0937 M allocs: 20.1 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.305 M allocs: 30.4 MB 0.305 M allocs: 30.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/OrthogonalCollocation (Hessian) 2.13 M allocs: 0.243 GB 2.13 M allocs: 0.243 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 1.25 M allocs: 0.213 GB 1.25 M allocs: 0.213 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 1.16 M allocs: 0.136 GB 1.16 M allocs: 0.136 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 1.14 M allocs: 0.217 GB 1.13 M allocs: 0.211 GB 1.03
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 1.08 M allocs: 0.134 GB 1.08 M allocs: 0.134 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 1.12 M allocs: 0.209 GB 1.12 M allocs: 0.209 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 1.06 M allocs: 0.133 GB 1.06 M allocs: 0.133 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.069 M allocs: 12.1 MB 0.069 M allocs: 12.1 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0683 M allocs: 12.1 MB 0.0683 M allocs: 12.1 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0521 M allocs: 8.54 MB 0.0521 M allocs: 8.54 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0685 M allocs: 12.1 MB 0.0685 M allocs: 12.1 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0902 M allocs: 16 MB 0.0902 M allocs: 16 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.0851 M allocs: 14.7 MB 0.0851 M allocs: 14.7 MB 1
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.327 k allocs: 15.8 kB 0.327 k allocs: 15.8 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 0.482 k allocs: 0.0604 MB 0.482 k allocs: 0.0604 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.614 k allocs: 0.0785 MB 0.614 k allocs: 0.0785 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 1.89 k allocs: 0.11 MB 1.89 k allocs: 0.11 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.431 k allocs: 18.1 kB 0.431 k allocs: 18.1 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 2.29 k allocs: 0.143 MB 2.29 k allocs: 0.143 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 2.88 k allocs: 0.198 MB 2.88 k allocs: 0.198 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 3.78 k allocs: 0.22 MB 3.78 k allocs: 0.22 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 7.62 k allocs: 0.681 MB 7.62 k allocs: 0.681 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.333 k allocs: 0.0473 MB 0.333 k allocs: 0.0473 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 0.333 k allocs: 0.0473 MB 0.333 k allocs: 0.0473 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 1.45 k allocs: 0.0898 MB 1.45 k allocs: 0.0898 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 1.01 k allocs: 0.0405 MB 1.01 k allocs: 0.0405 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 1.27 k allocs: 0.167 MB 1.27 k allocs: 0.167 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Constant arr. cov. 0.158 M allocs: 0.116 GB 0.158 M allocs: 0.119 GB 0.97
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 0.158 M allocs: 0.119 GB 0.158 M allocs: 0.116 GB 1.03
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.977 k allocs: 25.3 kB 0.977 k allocs: 25.3 kB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Constant arr. cov. 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 7.08 k allocs: 0.451 MB 7.08 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 0.977 k allocs: 25.3 kB 0.977 k allocs: 25.3 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