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changed: using the new juliaci.yml workflow for test items - #431

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franckgaga wants to merge 31 commits into
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changed: using the new juliaci.yml workflow for test items#431
franckgaga wants to merge 31 commits into
mainfrom
ci_yml

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@franckgaga

@franckgaga franckgaga commented Aug 16, 2026

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The main advantages IMO are the "no boilerplate code" in the yml file and the builtin parallelism.

See here for info: https://discourse.julialang.org/t/two-years-of-test-item-framework-updates/138792#p-643953-test-items-in-ci-5

The complete documentation is here: https://julia-testitems.org/guide/ci

@codecov-commenter

codecov-commenter commented Aug 16, 2026

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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 97.14%. Comparing base (8110429) to head (b0faa51).

Additional details and impacted files
@@            Coverage Diff             @@
##             main     #431      +/-   ##
==========================================
- Coverage   98.39%   97.14%   -1.25%     
==========================================
  Files          29       27       -2     
  Lines        6353     6270      -83     
==========================================
- Hits         6251     6091     -160     
- Misses        102      179      +77     
Flag Coverage Δ
unittests 97.14% <ø> (?)

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@franckgaga franckgaga changed the title changed: using the new juliaci.yml workflow changed: using the new juliaci.yml workflow for test items Aug 20, 2026
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Benchmark Results (Julia v1)

Time benchmarks
main b0faa51... main / b0faa51...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 4.06 ± 0.39 ms 4.05 ± 0.38 ms 1 ± 0.13
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.27 ± 0.69 ms 9.21 ± 0.7 ms 1.01 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.59 ± 0.087 ms 1.58 ± 0.02 ms 1.01 ± 0.056
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 3.99 ± 0.34 ms 4.02 ± 0.35 ms 0.994 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.36 ± 0.32 ms 6.36 ± 0.28 ms 1 ± 0.067
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.65 ± 0.016 ms 1.65 ± 0.016 ms 0.996 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 7.76 ± 1.6 ms 7.77 ± 1.5 ms 0.999 ± 0.28
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.117 ± 0.028 s 0.115 ± 0.022 s 1.02 ± 0.31
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 12 ± 1.9 ms 11.8 ± 1.8 ms 1.02 ± 0.22
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.424 ± 0.011 s 0.425 ± 0.011 s 0.997 ± 0.036
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.906 ± 0.017 s 0.905 ± 0.06 s 1 ± 0.069
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.32 ± 0.01 s 1.31 ± 0.0091 s 1.01 ± 0.01
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.726 ± 0.022 s 0.715 ± 0.0045 s 1.02 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.719 ± 0.011 s 0.713 ± 0.0043 s 1.01 ± 0.017
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.289 ± 0.0053 s 0.285 ± 0.0038 s 1.02 ± 0.023
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.301 ± 0.0063 s 0.306 ± 0.01 s 0.985 ± 0.039
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 0.428 ± 0.0035 s 0.414 ± 0.0034 s 1.03 ± 0.012
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 0.431 ± 0.0037 s 0.424 ± 0.0021 s 1.02 ± 0.01
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.405 ± 0.0015 s 0.402 ± 0.0014 s 1.01 ± 0.0052
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.146 ± 0.00091 s 0.149 ± 0.0014 s 0.982 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.27 ± 0.0029 s 0.271 ± 0.0091 s 0.997 ± 0.035
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.261 ± 0.013 s 0.248 ± 0.002 s 1.05 ± 0.051
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.0663 ± 0.0009 s 0.0657 ± 0.00071 s 1.01 ± 0.018
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.104 ± 0.0025 s 0.103 ± 0.00064 s 1.01 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.275 ± 0.0033 s 0.273 ± 0.01 s 1.01 ± 0.039
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.334 ± 0.0067 s 0.296 ± 0.0061 s 1.13 ± 0.032
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.297 ± 0.0032 s 0.281 ± 0.0048 s 1.06 ± 0.021
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 0.507 ± 0.0088 s 0.484 ± 0.0054 s 1.05 ± 0.022
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 1.39 ± 0.017 s 1.27 ± 0.07 s 1.1 ± 0.062
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.407 ± 0.0021 s 0.392 ± 0.0045 s 1.04 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.152 ± 0.0038 s 0.141 ± 0.0014 s 1.08 ± 0.029
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.274 ± 0.0048 s 0.253 ± 0.0017 s 1.08 ± 0.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.271 ± 0.0067 s 0.24 ± 0.0025 s 1.13 ± 0.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.294 ± 0.0036 s 0.279 ± 0.0058 s 1.06 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.187 ± 0.0035 s 0.189 ± 0.0085 s 0.992 ± 0.048
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.066 ± 0.0012 s 0.0606 ± 0.00075 s 1.09 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.09 ± 0.00098 s 0.09 ± 0.00092 s 0.999 ± 0.015
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0857 ± 0.0073 s 0.088 ± 0.009 s 0.974 ± 0.13
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0612 ± 0.014 s 0.0623 ± 0.012 s 0.983 ± 0.29
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.087 ± 0.0084 s 0.083 ± 0.0058 s 1.05 ± 0.12
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/MultipleShooting 0.0649 ± 0.017 s 0.0647 ± 0.018 s 1 ± 0.39
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.0604 ± 0.0016 s 0.0587 ± 0.0018 s 1.03 ± 0.042
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0725 ± 0.0012 s 0.0759 ± 0.001 s 0.955 ± 0.021
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian, MultipleShooting) 0.0988 ± 0.0019 s 0.0935 ± 0.00093 s 1.06 ± 0.023
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0803 ± 0.0013 s 0.0762 ± 0.0014 s 1.05 ± 0.026
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian, MultipleShooting) 0.0923 ± 0.0014 s 0.088 ± 0.00071 s 1.05 ± 0.018
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0391 ± 0.00047 s 0.0383 ± 0.00045 s 1.02 ± 0.017
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.0374 ± 0.00024 s 0.0379 ± 0.00073 s 0.985 ± 0.02
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Uno/Current form (Hessian) 15 ± 0.43 ms 13.5 ± 0.37 ms 1.11 ± 0.044
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Uno/Current form (Hessian, MultipleShooting) 20.4 ± 0.6 ms 18.4 ± 0.41 ms 1.11 ± 0.041
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.48 ± 0.12 μs 3.81 ± 0.06 μs 0.913 ± 0.035
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.0821 ± 0.0016 ms 0.0816 ± 0.0016 ms 1.01 ± 0.028
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.108 ± 0.0069 ms 0.107 ± 0.0069 ms 1.01 ± 0.092
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 13.8 ± 0.31 μs 14.2 ± 0.36 μs 0.975 ± 0.033
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.138 ± 0.0088 ms 0.14 ± 0.0089 ms 0.985 ± 0.089
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.437 ± 0.11 ms 0.257 ± 0.047 ms 1.7 ± 0.54
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 0.869 ± 0.21 ms 0.867 ± 0.21 ms 1 ± 0.34
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.323 ± 0.027 ms 0.326 ± 0.024 ms 0.993 ± 0.11
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 8.44 ± 0.5 ms 8.26 ± 0.56 ms 1.02 ± 0.092
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 8.48 ± 0.49 ms 8.33 ± 0.54 ms 1.02 ± 0.088
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 8.7 ± 0.85 ms 8.6 ± 0.86 ms 1.01 ± 0.14
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 8.46 ± 0.76 ms 8.45 ± 0.74 ms 1 ± 0.13
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 6.68 ± 0.96 ms 6.9 ± 0.57 ms 0.968 ± 0.16
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 5.86 ± 1.1 ms 6.9 ± 0.94 ms 0.849 ± 0.2
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 5.78 ± 0.37 ms 5.7 ± 0.37 ms 1.01 ± 0.092
UNIT TESTS/SimModel/LinModel/evaloutput 0.11 ± 0.001 μs 0.11 ± 0 μs 1 ± 0.0091
UNIT TESTS/SimModel/LinModel/updatestate! 0.15 ± 0 μs 0.15 ± 0.001 μs 1 ± 0.0067
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.24 ± 0.001 μs 0.25 ± 0.01 μs 0.96 ± 0.039
UNIT TESTS/SimModel/NonLinModel/linearize! 1.4 ± 0.04 μs 1.4 ± 0.04 μs 1 ± 0.04
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.29 ± 0.001 μs 0.3 ± 0.01 μs 0.967 ± 0.032
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.32 ± 0.001 μs 0.33 ± 0.01 μs 0.97 ± 0.03
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.3 ± 0.02 μs 1.28 ± 0.02 μs 1.02 ± 0.022
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.181 ± 0.01 μs 0.19 ± 0.01 μs 0.953 ± 0.073
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 0.932 ± 0.01 μs 0.951 ± 0.011 μs 0.98 ± 0.015
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 2.7 ± 0.05 μs 2.73 ± 0.05 μs 0.989 ± 0.026
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 5.94 ± 0.08 μs 5.83 ± 0.06 μs 1.02 ± 0.017
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.371 ± 0.011 μs 0.18 ± 0.001 μs 2.06 ± 0.062
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.37 ± 0.01 μs 0.401 ± 0.019 μs 0.923 ± 0.05
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.381 ± 0.011 μs 0.34 ± 0.01 μs 1.12 ± 0.046
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.471 ± 0.01 μs 0.471 ± 0.01 μs 1 ± 0.03
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.411 ± 0.019 μs 0.36 ± 0.01 μs 1.14 ± 0.062
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.901 ± 0.02 μs 0.941 ± 0.02 μs 0.957 ± 0.029
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.17 ± 0.001 μs 0.17 ± 0.001 μs 1 ± 0.0083
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.09 ± 0.001 μs 0.09 ± 0.01 μs 1 ± 0.11
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 1.68 ± 0.05 μs 1.69 ± 0.05 μs 0.994 ± 0.042
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.31 ± 0.01 μs 0.18 ± 0.011 μs 1.72 ± 0.12
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.331 ± 0.01 μs 0.331 ± 0.011 μs 1 ± 0.045
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.341 ± 0.011 μs 0.321 ± 0.011 μs 1.06 ± 0.05
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/LinModel 0.281 ± 0.011 ms 0.275 ± 0.011 ms 1.02 ± 0.056
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 0.37 ± 0.068 ms 0.378 ± 0.017 ms 0.979 ± 0.19
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Constant arr. cov. 0.0381 ± 0.0017 s 0.0384 ± 0.024 s 0.991 ± 0.61
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 0.0377 ± 0.0013 s 0.0425 ± 0.0026 s 0.887 ± 0.062
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/MultipleShooting 10 ± 0.56 ms 9.95 ± 0.62 ms 1.01 ± 0.085
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.247 ± 0.012 ms 0.25 ± 0.012 ms 0.987 ± 0.069
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/MultipleShooting 0.573 ± 0.016 ms 0.573 ± 0.016 ms 1 ± 0.039
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 0.0342 ± 0.0017 s 0.0326 ± 0.0015 s 1.05 ± 0.071
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.267 ± 0.013 ms 0.272 ± 0.014 ms 0.982 ± 0.07
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.18 ± 0.001 μs 0.171 ± 0.01 μs 1.05 ± 0.062
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.211 ± 0.01 μs 0.21 ± 0.01 μs 1 ± 0.068
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.27 ± 0.01 μs 0.261 ± 0.01 μs 1.03 ± 0.055
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.22 ± 0.011 μs 0.211 ± 0.02 μs 1.04 ± 0.11
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.631 ± 0.01 μs 0.661 ± 0.03 μs 0.955 ± 0.046
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 2.55 ± 0.05 μs 2.57 ± 0.05 μs 0.992 ± 0.027
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.71 ± 0.09 μs 3.93 ± 0.061 μs 0.946 ± 0.027
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 2.81 ± 0.06 μs 2.82 ± 0.05 μs 0.996 ± 0.028
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 5.31 ± 0.11 μs 5.03 ± 0.069 μs 1.06 ± 0.026
time_to_load 5.51 ± 0.1 s 5.31 ± 0.03 s 1.04 ± 0.02
Memory benchmarks
main b0faa51... main / b0faa51...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.049 M allocs: 1.87 MB 0.049 M allocs: 1.87 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 0.126 M allocs: 3.16 MB 0.126 M allocs: 3.16 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 12.6 k allocs: 0.356 MB 12.6 k allocs: 0.356 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 0.0489 M allocs: 1.86 MB 0.0489 M allocs: 1.86 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 0.0879 M allocs: 2.23 MB 0.0879 M allocs: 2.23 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 12.5 k allocs: 0.35 MB 12.5 k allocs: 0.35 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 0.128 M allocs: 6.72 MB 0.128 M allocs: 6.72 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 5.56 M allocs: 0.293 GB 5.56 M allocs: 0.293 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.157 M allocs: 8.58 MB 0.157 M allocs: 8.58 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.369 M allocs: 25.6 MB 0.369 M allocs: 25.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 2.22 M allocs: 0.246 GB 2.22 M allocs: 0.246 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.371 M allocs: 0.0533 GB 0.371 M allocs: 0.0533 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 2.16 M allocs: 0.212 GB 2.16 M allocs: 0.212 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 2.16 M allocs: 0.212 GB 2.16 M allocs: 0.212 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.32 M allocs: 22.3 MB 0.32 M allocs: 22.3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.686 M allocs: 0.0778 GB 0.686 M allocs: 0.0778 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 1.31 M allocs: 0.117 GB 1.31 M allocs: 0.117 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 1.31 M allocs: 0.117 GB 1.31 M allocs: 0.117 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0736 M allocs: 13.2 MB 0.0736 M allocs: 13.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.0811 M allocs: 17.1 MB 0.0811 M allocs: 17.1 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.334 M allocs: 23.4 MB 0.334 M allocs: 23.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.755 M allocs: 0.0766 GB 0.755 M allocs: 0.0766 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.0941 M allocs: 20.5 MB 0.0941 M allocs: 20.5 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.339 M allocs: 0.0361 GB 0.339 M allocs: 0.0361 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.269 M allocs: 18.5 MB 0.269 M allocs: 18.5 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.871 M allocs: 0.091 GB 0.871 M allocs: 0.091 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.287 M allocs: 27.1 MB 0.287 M allocs: 27.1 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 1.47 M allocs: 0.133 GB 1.47 M allocs: 0.133 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 4.57 M allocs: 0.516 GB 4.57 M allocs: 0.516 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0757 M allocs: 13.6 MB 0.0757 M allocs: 13.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.0811 M allocs: 17.2 MB 0.0811 M allocs: 17.2 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: 0.0817 GB 0.881 M allocs: 0.0817 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.295 M allocs: 28.1 MB 0.295 M allocs: 28.1 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.593 M allocs: 0.0735 GB 0.593 M allocs: 0.0735 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.0937 M allocs: 20.4 MB 0.0937 M allocs: 20.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.334 M allocs: 0.0325 GB 0.334 M allocs: 0.0325 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 1.45 M allocs: 0.225 GB 1.45 M allocs: 0.225 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 1.33 M allocs: 0.146 GB 1.33 M allocs: 0.146 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 1.33 M allocs: 0.222 GB 1.33 M allocs: 0.222 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/MultipleShooting 3.55 M allocs: 0.198 GB 3.55 M allocs: 0.198 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 1.25 M allocs: 0.143 GB 1.25 M allocs: 0.143 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0746 M allocs: 13.3 MB 0.0746 M allocs: 13.3 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian, MultipleShooting) 0.154 M allocs: 21 MB 0.154 M allocs: 21 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0749 M allocs: 13.3 MB 0.0749 M allocs: 13.3 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian, MultipleShooting) 0.149 M allocs: 20.2 MB 0.149 M allocs: 20.2 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0946 M allocs: 16.9 MB 0.0946 M allocs: 16.9 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.0932 M allocs: 16.4 MB 0.0932 M allocs: 16.4 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Uno/Current form (Hessian) 0.0326 M allocs: 5.17 MB 0.0326 M allocs: 5.17 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Uno/Current form (Hessian, MultipleShooting) 0.065 M allocs: 7.21 MB 0.065 M allocs: 7.21 MB 1
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.326 k allocs: 15.6 kB 0.326 k allocs: 15.6 kB 1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 1.62 k allocs: 0.0403 MB 1.62 k allocs: 0.0403 MB 1
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 0.114 k allocs: 2.98 kB 0.114 k allocs: 2.98 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.408 k allocs: 0.0579 MB 0.408 k allocs: 0.0579 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.571 k allocs: 0.077 MB 0.571 k allocs: 0.077 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 1.79 k allocs: 0.105 MB 1.79 k allocs: 0.105 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.256 k allocs: 10.2 kB 0.256 k allocs: 10.2 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 4.76 k allocs: 0.369 MB 4.76 k allocs: 0.369 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 5.34 k allocs: 0.425 MB 5.34 k allocs: 0.425 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 9.59 k allocs: 0.611 MB 9.59 k allocs: 0.611 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 0.0459 M allocs: 4.44 MB 0.0459 M allocs: 4.44 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.957 k allocs: 0.233 MB 0.957 k allocs: 0.233 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 0.957 k allocs: 0.233 MB 0.957 k allocs: 0.233 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 3.42 k allocs: 0.241 MB 3.42 k allocs: 0.241 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 1.42 k allocs: 0.053 MB 1.42 k allocs: 0.053 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 1.42 k allocs: 0.252 MB 1.42 k allocs: 0.252 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Constant arr. cov. 9.17 k allocs: 0.69 MB 9.17 k allocs: 0.687 MB 1.01
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 0.187 M allocs: 0.12 GB 0.187 M allocs: 0.12 GB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/MultipleShooting 19.7 k allocs: 1.01 MB 19.7 k allocs: 1.01 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 1.04 k allocs: 27.8 kB 1.04 k allocs: 27.8 kB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/MultipleShooting 1.91 k allocs: 0.0478 MB 1.91 k allocs: 0.0478 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 8.46 k allocs: 0.517 MB 8.46 k allocs: 0.517 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 1.04 k allocs: 27.8 kB 1.04 k allocs: 27.8 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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