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Merged
merged 3 commits into from
Nov 9, 2025
Merged

changed: sparse backends default to post-processing #285

merged 3 commits into from
Nov 9, 2025

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@franckgaga
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@franckgaga franckgaga commented Nov 9, 2025 •
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It can help reducing the number of colors in some cases, and the cost is only paid at preparation also. Let's see if some benchmarks are faster.

@franckgaga franckgaga self-assigned this Nov 9, 2025
@franckgaga franckgaga linked an issue Nov 9, 2025 that may be closed by this pull request
Fiddling with the coloring #280
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codecov-commenter commented Nov 9, 2025 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.50%. Comparing base (70ae5d1) to head (a5f25e7).

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #285   +/-   ##
=======================================
  Coverage   98.50%   98.50%           
=======================================
  Files          28       28           
  Lines        4831     4831           
=======================================
  Hits         4759     4759           
  Misses         72       72

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github-actions bot commented Nov 9, 2025 •
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Benchmark Results (Julia v1)

Time benchmarks
main a5f25e7... main / a5f25e7...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.41 ± 0.44 ms 5.38 ± 0.49 ms 1.01 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.322 ± 0.018 s 0.315 ± 0.0061 s 1.02 ± 0.061
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.23 ± 0.014 s 0.229 ± 0.0089 s 1 ± 0.072
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.32 ± 0.54 ms 8.97 ± 0.54 ms 1.04 ± 0.087
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.65 ± 0.08 ms 1.64 ± 0.071 ms 1 ± 0.065
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.34 ± 0.39 ms 5.28 ± 0.54 ms 1.01 ± 0.13
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.28 ± 0.0093 s 0.275 ± 0.008 s 1.02 ± 0.045
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.241 ± 0.0048 s 0.23 ± 0.0019 s 1.05 ± 0.022
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.31 ± 0.38 ms 6.21 ± 0.36 ms 1.02 ± 0.084
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.73 ± 0.079 ms 1.75 ± 0.079 ms 0.987 ± 0.063
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 9.5 ± 1.4 ms 9.52 ± 1.4 ms 0.998 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.307 ± 0.056 s 0.316 ± 0.051 s 0.97 ± 0.24
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.155 ± 0.002 s 0.158 ± 0.0023 s 0.985 ± 0.019
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.111 ± 0.019 s 0.111 ± 0.02 s 1 ± 0.25
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 12.8 ± 1.5 ms 12.5 ± 1.6 ms 1.02 ± 0.18
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.705 ± 0.036 s 0.702 ± 0.045 s 1.01 ± 0.082
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.731 ± 0.025 s 0.727 ± 0.029 s 1.01 ± 0.052
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.78 ± 0.17 s 1.79 ± 0.15 s 0.992 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.565 ± 0.0041 s 0.57 ± 0.017 s 0.991 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.565 ± 0.0037 s 0.583 ± 0.03 s 0.968 ± 0.049
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.361 ± 0.017 s 0.368 ± 0.012 s 0.98 ± 0.056
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.486 ± 0.013 s 0.502 ± 0.013 s 0.967 ± 0.035
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.33 ± 0.012 s 0.337 ± 0.012 s 0.98 ± 0.049
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.141 ± 0.0025 s 0.153 ± 0.0044 s 0.918 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.343 ± 0.0046 s 0.346 ± 0.0045 s 0.992 ± 0.019
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.455 ± 0.022 s 0.458 ± 0.0066 s 0.994 ± 0.05
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.369 ± 0.016 s 0.369 ± 0.012 s 1 ± 0.055
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.491 ± 0.011 s 0.492 ± 0.0071 s 0.999 ± 0.027
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.165 ± 0.0092 s 0.168 ± 0.0055 s 0.983 ± 0.063
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.326 ± 0.01 s 0.326 ± 0.011 s 1 ± 0.047
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.368 ± 0.0044 s 0.364 ± 0.0076 s 1.01 ± 0.024
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.358 ± 0.036 s 0.353 ± 0.029 s 1.01 ± 0.13
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.123 ± 0.0017 s 0.124 ± 0.0022 s 0.996 ± 0.022
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.192 ± 0.02 s 0.209 ± 0.024 s 0.919 ± 0.14
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0415 ± 0.0021 s 0.0401 ± 0.0021 s 1.03 ± 0.075
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0339 ± 0.0093 s 0.0339 ± 0.0089 s 1 ± 0.38
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.173 ± 0.031 s 0.189 ± 0.036 s 0.915 ± 0.24
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.163 ± 0.023 s 0.165 ± 0.023 s 0.985 ± 0.2
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0341 ± 0.0047 s 0.0351 ± 0.0048 s 0.971 ± 0.19
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 27.8 ± 5.4 ms 28.1 ± 6.7 ms 0.991 ± 0.31
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0844 ± 0.0018 s 0.0872 ± 0.0019 s 0.968 ± 0.029
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0825 ± 0.0023 s 0.087 ± 0.0047 s 0.948 ± 0.057
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0635 ± 0.0017 s 0.0688 ± 0.0023 s 0.924 ± 0.04
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0826 ± 0.0024 s 0.0936 ± 0.0056 s 0.883 ± 0.059
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.49 ± 0.011 s 2.52 ± 0.02 s 0.989 ± 0.009
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.44 ± 0.012 s 1.54 ± 0.057 s 0.935 ± 0.036
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 3.63 ± 0.14 μs 3.8 ± 0.04 μs 0.955 ± 0.038
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.107 ± 0.0074 ms 0.104 ± 0.0069 ms 1.03 ± 0.098
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 14.4 ± 0.36 μs 14.9 ± 0.33 μs 0.972 ± 0.033
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.54 ± 0.12 ms 2.57 ± 0.12 ms 0.989 ± 0.067
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.86 ± 0.21 ms 1.87 ± 0.16 ms 0.997 ± 0.14
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.06 ± 0.16 ms 3.09 ± 0.18 ms 0.99 ± 0.078
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.06 ± 0.19 ms 3.1 ± 0.18 ms 0.985 ± 0.084
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.74 ± 0.1 ms 1.75 ± 0.067 ms 0.997 ± 0.07
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.72 ± 0.036 ms 1.75 ± 0.079 ms 0.982 ± 0.049
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.24 ± 0.15 ms 2.17 ± 0.073 ms 1.03 ± 0.076
UNIT TESTS/SimModel/LinModel/evaloutput 0.141 ± 0.01 μs 0.141 ± 0.01 μs 1 ± 0.1
UNIT TESTS/SimModel/LinModel/updatestate! 0.201 ± 0.01 μs 0.21 ± 0.01 μs 0.957 ± 0.066
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.421 ± 0.01 μs 0.431 ± 0.01 μs 0.977 ± 0.032
UNIT TESTS/SimModel/NonLinModel/linearize! 2.05 ± 0.019 μs 2.06 ± 0.02 μs 0.995 ± 0.013
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.481 ± 0 μs 0.491 ± 0.01 μs 0.98 ± 0.02
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.561 ± 0.001 μs 0.551 ± 0.01 μs 1.02 ± 0.019
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.8 ± 0.011 μs 1.82 ± 0.011 μs 0.988 ± 0.0085
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.271 ± 0.001 μs 0.281 ± 0.01 μs 0.964 ± 0.035
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.41 ± 0.01 μs 1.41 ± 0.01 μs 1 ± 0.01
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 3.97 ± 0.059 μs 3.86 ± 0.059 μs 1.03 ± 0.022
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 8.83 ± 0.091 μs 9.27 ± 0.18 μs 0.953 ± 0.021
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.231 ± 0.01 μs 0.24 ± 0.001 μs 0.963 ± 0.042
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.591 ± 0.001 μs 0.581 ± 0.009 μs 1.02 ± 0.016
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.281 ± 0.001 μs 0.281 ± 0.011 μs 1 ± 0.039
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.741 ± 0.01 μs 0.732 ± 0.01 μs 1.01 ± 0.019
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.411 ± 0.01 μs 0.41 ± 0.01 μs 1 ± 0.035
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.931 ± 0.01 μs 0.921 ± 0.01 μs 1.01 ± 0.015
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.261 ± 0.01 μs 0.27 ± 0.01 μs 0.967 ± 0.052
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.131 ± 0.01 μs 0.131 ± 0.01 μs 1 ± 0.11
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.52 ± 0.03 μs 2.51 ± 0.03 μs 1 ± 0.017
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.25 ± 0.011 μs 0.24 ± 0.001 μs 1.04 ± 0.046
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.261 ± 0.01 μs 0.26 ± 0.001 μs 1 ± 0.039
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.36 ± 0.01 μs 0.361 ± 0.01 μs 0.997 ± 0.039
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.73 ± 0.72 ms 3.65 ± 0.23 ms 1.02 ± 0.21
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.491 ± 0.01 μs 0.481 ± 0 μs 1.02 ± 0.021
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.342 ± 0.021 ms 0.329 ± 0.019 ms 1.04 ± 0.088
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.32 ± 0.01 μs 1.32 ± 0.01 μs 1 ± 0.011
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 11.8 ± 11 μs 7.58 ± 2.7 μs 1.55 ± 1.5
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.04 ± 0.14 ms 3.17 ± 0.19 ms 0.957 ± 0.072
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 16.9 ± 0.85 μs 17 ± 0.39 μs 0.993 ± 0.055
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.368 ± 0.03 ms 0.345 ± 0.019 ms 1.07 ± 0.1
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.27 ± 0.001 μs 0.27 ± 0.001 μs 1 ± 0.0052
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.291 ± 0.001 μs 0.29 ± 0.01 μs 1 ± 0.035
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.381 ± 0.001 μs 0.371 ± 0.01 μs 1.03 ± 0.028
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.301 ± 0.001 μs 0.301 ± 0.001 μs 1 ± 0.0047
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.921 ± 0.01 μs 0.922 ± 0.011 μs 0.999 ± 0.016
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.65 ± 0.03 μs 3.64 ± 0.03 μs 1 ± 0.012
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 4.98 ± 0.04 μs 5.01 ± 0.041 μs 0.994 ± 0.011
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.55 ± 0.061 μs 3.52 ± 0.049 μs 1.01 ± 0.022
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.2 ± 0.05 μs 6.16 ± 0.041 μs 1.01 ± 0.011
time_to_load 4.23 ± 0.37 s 3.48 ± 0.019 s 1.21 ± 0.11
Memory benchmarks
main a5f25e7... main / a5f25e7...
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: 5.92 MB 0.107 M allocs: 5.92 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 0.354 M allocs: 20.7 MB 0.354 M allocs: 20.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 2.03 M allocs: 0.15 GB 2.03 M allocs: 0.146 GB 1.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.357 M allocs: 17.2 MB 0.357 M allocs: 17.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 2.35 M allocs: 0.149 GB 2.35 M allocs: 0.146 GB 1.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 2.35 M allocs: 0.149 GB 2.35 M allocs: 0.146 GB 1.02
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.271 M allocs: 15.6 MB 0.271 M allocs: 15.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0988 M allocs: 4.16 MB 0.0988 M allocs: 4.16 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.38 M allocs: 20.6 MB 0.38 M allocs: 20.6 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 0.23 M allocs: 13.2 MB 0.23 M allocs: 13.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 1.75 M allocs: 0.116 GB 1.78 M allocs: 0.12 GB 0.972
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.248 M allocs: 21 MB 0.248 M allocs: 21 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0778 M allocs: 3.26 MB 0.0778 M allocs: 3.26 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.0846 M allocs: 5.34 MB 0.0836 M allocs: 5.27 MB 1.01
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.321 M allocs: 17.3 MB 0.321 M allocs: 17.3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 2.01 M allocs: 0.12 GB 2.01 M allocs: 0.12 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.339 M allocs: 25.3 MB 0.339 M allocs: 25.3 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/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 1.36 M allocs: 0.0836 GB 1.36 M allocs: 0.0836 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.763 M allocs: 0.081 GB 0.762 M allocs: 0.0802 GB 1.01
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.682 M allocs: 0.0585 GB 0.682 M allocs: 0.0585 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.647 M allocs: 0.0785 GB 0.647 M allocs: 0.0785 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.601 M allocs: 0.0562 GB 0.601 M allocs: 0.0562 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.63 M allocs: 0.0764 GB 0.63 M allocs: 0.0764 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.585 M allocs: 0.0553 GB 0.585 M allocs: 0.0553 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.065 M allocs: 11.4 MB 0.065 M allocs: 11.4 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0639 M allocs: 11.2 MB 0.0639 M allocs: 11.2 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0485 M allocs: 8.01 MB 0.0485 M allocs: 8.01 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0642 M allocs: 11.3 MB 0.0642 M allocs: 11.3 MB 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 2.92 k allocs: 0.149 MB 2.92 k allocs: 0.149 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.519 k allocs: 19.6 kB 0.519 k allocs: 19.6 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.16 k allocs: 0.168 MB 3.16 k allocs: 0.168 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.26 k allocs: 0.186 MB 3.26 k allocs: 0.186 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.553 k allocs: 21.2 kB 0.553 k allocs: 21.2 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 0.553 k allocs: 21.2 kB 0.553 k allocs: 21.2 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.27 k allocs: 0.102 MB 2.27 k allocs: 0.102 MB 1
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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
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UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0 allocs: 0 B 0 allocs: 0 B
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UNIT TESTS/StateEstimator/Luenberger/evaloutput 0 allocs: 0 B 0 allocs: 0 B
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UNIT TESTS/StateEstimator/Luenberger/updatestate! 0 allocs: 0 B 0 allocs: 0 B
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UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 7.05 k allocs: 0.443 MB 7.05 k allocs: 0.447 MB 0.992
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 0 allocs: 0 B 0 allocs: 0 B
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UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0 allocs: 0 B 0 allocs: 0 B
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UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0 allocs: 0 B 0 allocs: 0 B
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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

@gdalle
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gdalle commented Nov 9, 2025

Latest DI version dropped with the postprocessing fix for empty hessians

@franckgaga
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franckgaga commented Nov 9, 2025

Not much difference in these cases studies. I will leave it at on, it may helps on more complex sparsity patterns.

@franckgaga franckgaga merged commit b4ad881 into main Nov 9, 2025
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@franckgaga franckgaga deleted the default_postprocess branch November 9, 2025 17:47
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