Skip to content

changed: hessian=true default to dense ForwardDiff for MovingHorizonEstimation#369

Closed
franckgaga wants to merge 1 commit into
mainfrom
mhe_default_hessain_dense
Closed

changed: hessian=true default to dense ForwardDiff for MovingHorizonEstimation#369
franckgaga wants to merge 1 commit into
mainfrom
mhe_default_hessain_dense

Conversation

@franckgaga
Copy link
Copy Markdown
Member

@franckgaga franckgaga commented Jun 4, 2026

Following discussion at #368, I'm testing if the performances of dense ForwardDiff.jl backend is a more appropriate default when hessian=true for the MovingHorizonEstimator. Let's benchmark this.

@codecov-commenter
Copy link
Copy Markdown

codecov-commenter commented Jun 4, 2026 •
edited
Loading

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.57%. Comparing base (5628046) to head (51c8080).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #369   +/-   ##
=======================================
  Coverage   98.57%   98.57%           
=======================================
  Files          27       27           
  Lines        5468     5468           
=======================================
  Hits         5390     5390           
  Misses         78       78

☔ View full report in Codecov by Harness.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:
  • ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

@franckgaga franckgaga changed the title changed: hessian=true to dense ForwardDiff for MovingHorizonEstimation changed: hessian=true default to dense ForwardDiff for MovingHorizonEstimation Jun 4, 2026
@github-actions
Copy link
Copy Markdown

github-actions Bot commented Jun 4, 2026 •
edited
Loading

Benchmark Results (Julia v1)

Time benchmarks
main 51c8080... main / 51c8080...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 4.79 ± 0.24 ms 4.62 ± 0.3 ms 1.04 ± 0.085
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.331 ± 0.006 s 0.326 ± 0.0057 s 1.01 ± 0.025
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.196 ± 0.0031 s 0.195 ± 0.0055 s 1.01 ± 0.032
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 8.2 ± 0.37 ms 8.16 ± 0.32 ms 1 ± 0.06
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.53 ± 0.044 ms 1.52 ± 0.042 ms 1 ± 0.04
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 4.78 ± 0.21 ms 4.6 ± 0.3 ms 1.04 ± 0.082
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.279 ± 0.0087 s 0.279 ± 0.0026 s 0.998 ± 0.032
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.199 ± 0.0028 s 0.198 ± 0.0018 s 1 ± 0.017
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 5.69 ± 0.23 ms 5.57 ± 0.21 ms 1.02 ± 0.057
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.66 ± 0.041 ms 1.6 ± 0.026 ms 1.04 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 9.99 ± 0.9 ms 9.68 ± 0.85 ms 1.03 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.286 ± 0.097 s 0.282 ± 0.096 s 1.01 ± 0.49
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.139 ± 0.0011 s 0.138 ± 0.001 s 1 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.122 ± 0.027 s 0.118 ± 0.026 s 1.03 ± 0.32
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 12.7 ± 0.77 ms 12.2 ± 0.76 ms 1.04 ± 0.09
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.777 ± 0.0087 s 0.774 ± 0.01 s 1 ± 0.017
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.731 ± 0.0062 s 0.734 ± 0.0081 s 0.997 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.38 ± 0.0044 s 1.4 ± 0.0033 s 0.988 ± 0.0039
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.585 ± 0.008 s 0.588 ± 0.013 s 0.994 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.586 ± 0.011 s 0.6 ± 0.0098 s 0.975 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.347 ± 0.0034 s 0.347 ± 0.0032 s 1 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.476 ± 0.0068 s 0.473 ± 0.0052 s 1.01 ± 0.018
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 0.604 ± 0.01 s 0.594 ± 0.0096 s 1.02 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 0.607 ± 0.011 s 0.603 ± 0.012 s 1.01 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.465 ± 0.0024 s 0.461 ± 0.0026 s 1.01 ± 0.0076
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.191 ± 0.0023 s 0.183 ± 0.002 s 1.05 ± 0.017
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.389 ± 0.0062 s 0.381 ± 0.0074 s 1.02 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.429 ± 0.01 s 0.419 ± 0.0078 s 1.02 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.0756 ± 0.00077 s 0.0744 ± 0.00062 s 1.02 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.274 ± 0.0084 s 0.279 ± 0.016 s 0.983 ± 0.063
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.336 ± 0.0039 s 0.341 ± 0.0037 s 0.986 ± 0.016
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.525 ± 0.0099 s 0.52 ± 0.014 s 1.01 ± 0.033
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.371 ± 0.0052 s 0.379 ± 0.0082 s 0.98 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 0.662 ± 0.01 s 0.668 ± 0.014 s 0.992 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 2.15 ± 0.046 s 2.14 ± 0.051 s 1.01 ± 0.032
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.48 ± 0.003 s 0.49 ± 0.0021 s 0.98 ± 0.0074
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.176 ± 0.0019 s 0.17 ± 0.0017 s 1.04 ± 0.015
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.366 ± 0.0041 s 0.369 ± 0.0052 s 0.992 ± 0.018
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.392 ± 0.0059 s 0.406 ± 0.008 s 0.967 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.392 ± 0.0081 s 0.399 ± 0.0087 s 0.982 ± 0.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.293 ± 0.0066 s 0.291 ± 0.0047 s 1.01 ± 0.028
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.0759 ± 0.001 s 0.0774 ± 0.00065 s 0.981 ± 0.016
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.246 ± 0.0053 s 0.25 ± 0.0057 s 0.986 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/OrthogonalCollocation (Hessian) 1.28 ± 0.01 s 1.29 ± 0.011 s 0.997 ± 0.012
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0939 ± 0.0048 s 0.0935 ± 0.007 s 1.01 ± 0.091
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0682 ± 0.0034 s 0.0682 ± 0.0039 s 1 ± 0.077
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.276 ± 0.03 s 0.276 ± 0.04 s 1 ± 0.18
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.22 ± 0.045 s 0.222 ± 0.057 s 0.991 ± 0.32
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0887 ± 0.0075 s 0.0879 ± 0.0063 s 1.01 ± 0.11
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.0599 ± 0.0066 s 0.0621 ± 0.0077 s 0.965 ± 0.16
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.109 ± 0.0028 s 0.106 ± 0.00061 s 1.03 ± 0.027
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.107 ± 0.0006 s 0.106 ± 0.0011 s 1.01 ± 0.012
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0772 ± 0.00038 s 0.0775 ± 0.00049 s 0.996 ± 0.008
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.104 ± 0.00062 s 0.106 ± 0.00097 s 0.986 ± 0.011
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0577 ± 0.0009 s 0.0578 ± 0.0006 s 0.998 ± 0.019
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.0521 ± 0.0005 s 0.0548 ± 0.00068 s 0.951 ± 0.015
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.91 ± 0.042 μs 3.98 ± 0.045 μs 0.982 ± 0.015
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.087 ± 0.0021 ms 0.0875 ± 0.0018 ms 0.995 ± 0.031
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.0975 ± 0.0013 ms 0.0987 ± 0.0013 ms 0.988 ± 0.018
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 13.6 ± 0.2 μs 13.7 ± 0.21 μs 0.999 ± 0.021
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.209 ± 0.019 ms 0.214 ± 0.017 ms 0.975 ± 0.12
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.256 ± 0.015 ms 0.258 ± 0.016 ms 0.993 ± 0.085
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 1.77 ± 0.21 ms 1.73 ± 0.19 ms 1.02 ± 0.17
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.997 ± 0.039 ms 0.998 ± 0.038 ms 0.999 ± 0.055
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 2.8 ± 0.7 ms 2.84 ± 0.72 ms 0.988 ± 0.35
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 2.72 ± 0.18 ms 2.74 ± 0.17 ms 0.993 ± 0.088
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 2.4 ± 0.37 ms 2.3 ± 0.35 ms 1.04 ± 0.23
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 3.58 ± 0.33 ms 3.55 ± 0.35 ms 1.01 ± 0.14
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.31 ± 0.039 ms 1.29 ± 0.036 ms 1.02 ± 0.041
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.3 ± 0.036 ms 1.28 ± 0.034 ms 1.01 ± 0.039
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 1.65 ± 0.072 ms 1.67 ± 0.067 ms 0.987 ± 0.058
UNIT TESTS/SimModel/LinModel/evaloutput 0.116 ± 0.004 μs 0.116 ± 0.004 μs 1 ± 0.049
UNIT TESTS/SimModel/LinModel/updatestate! 0.169 ± 0.007 μs 0.171 ± 0.011 μs 0.988 ± 0.076
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.278 ± 0.006 μs 0.275 ± 0.007 μs 1.01 ± 0.034
UNIT TESTS/SimModel/NonLinModel/linearize! 1.55 ± 0.022 μs 1.51 ± 0.018 μs 1.03 ± 0.019
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.34 ± 0.0053 μs 0.347 ± 0.008 μs 0.98 ± 0.027
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.364 ± 0.005 μs 0.357 ± 0.002 μs 1.02 ± 0.015
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.45 ± 0.034 μs 1.41 ± 0.049 μs 1.03 ± 0.043
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.181 ± 0.001 μs 0.176 ± 0.004 μs 1.03 ± 0.024
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.08 ± 0.018 μs 1.08 ± 0.016 μs 1 ± 0.022
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 3.31 ± 0.048 μs 3.28 ± 0.046 μs 1.01 ± 0.02
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 6.38 ± 0.058 μs 6.37 ± 0.061 μs 1 ± 0.013
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.191 ± 0.007 μs 0.188 ± 0.005 μs 1.02 ± 0.046
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.412 ± 0.004 μs 0.401 ± 0.012 μs 1.03 ± 0.032
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.241 ± 0.006 μs 0.24 ± 0.009 μs 1 ± 0.045
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.543 ± 0.002 μs 0.544 ± 0.001 μs 0.998 ± 0.0041
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.411 ± 0.015 μs 0.419 ± 0.015 μs 0.981 ± 0.05
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 1.09 ± 0.015 μs 1.09 ± 0.017 μs 1 ± 0.021
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.201 ± 0.007 μs 0.199 ± 0.008 μs 1.01 ± 0.054
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.088 ± 0.002 μs 0.09 ± 0.003 μs 0.978 ± 0.039
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.21 ± 0.024 μs 2.26 ± 0.039 μs 0.977 ± 0.02
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.197 ± 0.003 μs 0.195 ± 0.006 μs 1.01 ± 0.035
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.198 ± 0.007 μs 0.193 ± 0.004 μs 1.03 ± 0.042
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.328 ± 0.005 μs 0.312 ± 0.012 μs 1.05 ± 0.043
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/LinModel 0.245 ± 0.013 ms 0.257 ± 0.015 ms 0.951 ± 0.074
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 0.343 ± 0.015 ms 0.355 ± 0.018 ms 0.966 ± 0.065
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 18.9 ± 26 ms 19.1 ± 25 ms 0.993 ± 1.9
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.305 ± 0.005 μs 0.295 ± 0.002 μs 1.03 ± 0.018
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.297 ± 0.013 ms 0.303 ± 0.014 ms 0.978 ± 0.061
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.18 ± 0.015 μs 1.15 ± 0.015 μs 1.03 ± 0.019
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 27.4 ± 2 μs 28.1 ± 2.4 μs 0.976 ± 0.11
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 0.0378 ± 0.0021 s 0.038 ± 0.002 s 0.993 ± 0.075
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 18.1 ± 0.49 μs 18.2 ± 0.58 μs 0.992 ± 0.041
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.311 ± 0.013 ms 0.321 ± 0.015 ms 0.968 ± 0.062
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.206 ± 0.003 μs 0.203 ± 0.006 μs 1.01 ± 0.033
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.208 ± 0.006 μs 0.206 ± 0.007 μs 1.01 ± 0.045
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.349 ± 0.005 μs 0.338 ± 0.011 μs 1.03 ± 0.037
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.267 ± 0.015 μs 0.256 ± 0.005 μs 1.04 ± 0.062
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.736 ± 0.016 μs 0.7 ± 0.018 μs 1.05 ± 0.035
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.47 ± 0.04 μs 3.54 ± 0.041 μs 0.982 ± 0.016
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 4.44 ± 0.041 μs 4.68 ± 0.056 μs 0.949 ± 0.014
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.53 ± 0.047 μs 3.5 ± 0.047 μs 1.01 ± 0.019
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 5.67 ± 0.057 μs 5.74 ± 0.071 μs 0.987 ± 0.016
time_to_load 5.79 ± 0.011 s 5.74 ± 0.013 s 1.01 ± 0.003
Memory benchmarks
main 51c8080... main / 51c8080...
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 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.65 M allocs: 0.251 GB 4.65 M allocs: 0.251 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.117 M allocs: 6.99 MB 0.117 M allocs: 6.99 MB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.69 M allocs: 0.255 GB 4.69 M allocs: 0.255 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.126 M allocs: 7.8 MB 0.126 M allocs: 7.8 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.435 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: 0.137 GB 0.998
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 1.14 M allocs: 0.219 GB 1.13 M allocs: 0.211 GB 1.04
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 0.0692 M allocs: 16.5 MB 0.733
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0683 M allocs: 12.1 MB 0.0684 M allocs: 16.4 MB 0.734
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0521 M allocs: 8.54 MB 0.0516 M allocs: 11.6 MB 0.734
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0685 M allocs: 12.1 MB 0.0685 M allocs: 16.4 MB 0.733
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0902 M allocs: 16 MB 0.0899 M allocs: 21 MB 0.764
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.0851 M allocs: 14.7 MB 0.085 M allocs: 19.1 MB 0.766
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/Current form 0.158 M allocs: 0.115 GB 0.158 M allocs: 0.116 GB 0.992
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/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

@franckgaga
Copy link
Copy Markdown
Member Author

franckgaga commented Jun 4, 2026

Nope not worth it, let's close this PR!

@franckgaga franckgaga closed this Jun 4, 2026
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

benchmark

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

2 participants

@franckgaga @codecov-commenter