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Merged
merged 13 commits into from
Jul 15, 2025
Merged

bench: adding some PredictiveController benchmarks #222

merged 13 commits into from
Jul 15, 2025

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github-actions bot commented Jul 13, 2025 •
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Benchmark Results (Julia v1)

Time benchmarks
main bd3a48e... main / bd3a48e...
PredictiveController/allocation/ExplicitMPC_moveinput! 25.8 μs 25.7 μs 1.01
SimModel/allocation/LinModel_evaloutput 5.42 μs 5.64 μs 0.961
SimModel/allocation/LinModel_updatestate! 6.43 μs 6.57 μs 0.979
SimModel/allocation/NonLinModel_evaloutput 6.39 μs 5.55 μs 1.15
SimModel/allocation/NonLinModel_linearize! 21.8 μs 22 μs 0.991
SimModel/allocation/NonLinModel_updatestate! 6.69 μs 7.42 μs 0.902
StateEstimator/allocation/ExtendedKalmanFilter_preparestate! 1.33 μs 1.47 μs 0.906
StateEstimator/allocation/ExtendedKalmanFilter_updatestate! 0.0417 ms 0.0528 ms 0.79
StateEstimator/allocation/InternalModel_preparestate! 7.27 μs 23.9 μs 0.304
StateEstimator/allocation/InternalModel_updatestate! 4.5 μs 4.33 μs 1.04
StateEstimator/allocation/KalmanFilter_preparestate! 1.57 μs 1.51 μs 1.04
StateEstimator/allocation/KalmanFilter_updatestate! 0.0518 ms 0.0509 ms 1.02
StateEstimator/allocation/Luenberger_updatestate! 7.15 μs 7.43 μs 0.962
StateEstimator/allocation/SteadyKalmanFilter_evaloutput 4.33 μs 5.28 μs 0.82
StateEstimator/allocation/SteadyKalmanFilter_preparestate! 6.06 μs 5.53 μs 1.1
StateEstimator/allocation/SteadyKalmanFilter_updatestate! 7.74 μs 7.32 μs 1.06
StateEstimator/allocation/UnscentedKalmanFilter_evaloutput 2.19 μs 1.93 μs 1.13
StateEstimator/allocation/UnscentedKalmanFilter_preparestate! 0.0346 ms 0.0367 ms 0.943
StateEstimator/allocation/UnscentedKalmanFilter_updatestate! 13.9 μs 13.8 μs 1.01
time_to_load 3.73 ± 0.024 s 3.73 ± 0.011 s 0.999 ± 0.007
Memory benchmarks
main bd3a48e... main / bd3a48e...
PredictiveController/allocation/ExplicitMPC_moveinput! 0 allocs: 0 B 0 allocs: 0 B
SimModel/allocation/LinModel_evaloutput 0 allocs: 0 B 0 allocs: 0 B
SimModel/allocation/LinModel_updatestate! 0 allocs: 0 B 0 allocs: 0 B
SimModel/allocation/NonLinModel_evaloutput 0 allocs: 0 B 0 allocs: 0 B
SimModel/allocation/NonLinModel_linearize! 0 allocs: 0 B 0 allocs: 0 B
SimModel/allocation/NonLinModel_updatestate! 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/ExtendedKalmanFilter_preparestate! 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/ExtendedKalmanFilter_updatestate! 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/InternalModel_preparestate! 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/InternalModel_updatestate! 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/KalmanFilter_preparestate! 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/KalmanFilter_updatestate! 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/Luenberger_updatestate! 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/SteadyKalmanFilter_evaloutput 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/SteadyKalmanFilter_preparestate! 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/SteadyKalmanFilter_updatestate! 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/UnscentedKalmanFilter_evaloutput 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/UnscentedKalmanFilter_preparestate! 0 allocs: 0 B 0 allocs: 0 B
StateEstimator/allocation/UnscentedKalmanFilter_updatestate! 0 allocs: 0 B 0 allocs: 0 B
time_to_load 0.159 k allocs: 11.2 kB 0.159 k allocs: 11.2 kB 1

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codecov-commenter commented Jul 13, 2025 •
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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 98.61%. Comparing base (a964b3b) to head (4a81758).
Report is 2 commits behind head on main.

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #222   +/-   ##
=======================================
  Coverage   98.61%   98.61%           
=======================================
  Files          26       26           
  Lines        4327     4327           
=======================================
  Hits         4267     4267           
  Misses         60       60

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@franckgaga franckgaga merged commit ebf2a42 into main Jul 15, 2025
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Merging to test the bench in a new PR

@franckgaga franckgaga deleted the new_bench branch July 15, 2025 21:47
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