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Merged
merged 2 commits into from
Jul 15, 2025
Merged

bench: add OSQP and Random as dependencies #224

merged 2 commits into from
Jul 15, 2025

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@franckgaga franckgaga changed the title bench: some modifications bench: add OSQP and Random as dependencies Jul 15, 2025
@franckgaga franckgaga merged commit 6e5618a into main Jul 15, 2025
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@franckgaga franckgaga deleted the bench_cont branch July 15, 2025 22:10
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Benchmark Results (Julia v1)

Time benchmarks
main b7444c2... main / b7444c2...
case studies/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 6.85 ± 0.59 ms 6.83 ± 0.6 ms 1 ± 0.12
case studies/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.322 ± 0.0022 s 0.322 ± 0.0016 s 1 ± 0.0084
case studies/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.235 ± 0.00072 s 0.233 ± 0.00076 s 1.01 ± 0.0045
case studies/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 8.77 ± 0.71 ms 9.01 ± 0.64 ms 0.974 ± 0.1
case studies/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.43 ± 0.013 ms 1.43 ± 0.015 ms 0.998 ± 0.014
case studies/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 6.85 ± 0.77 ms 6.85 ± 0.79 ms 1 ± 0.16
case studies/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.286 ± 0.0012 s 0.287 ± 0.0015 s 0.998 ± 0.0068
case studies/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.249 ± 0.0012 s 0.248 ± 0.00065 s 1 ± 0.0054
case studies/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 5.97 ± 0.56 ms 5.98 ± 0.59 ms 0.999 ± 0.14
case studies/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.6 ± 0.044 ms 1.57 ± 0.044 ms 1.02 ± 0.04
case studies/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 8.2 ± 0.67 ms 8.13 ± 0.7 ms 1.01 ± 0.12
case studies/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.333 ± 0.01 s 0.33 ± 0.0055 s 1.01 ± 0.035
case studies/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.16 ± 0.0022 s 0.16 ± 0.0018 s 1 ± 0.018
case studies/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.111 ± 0.0017 s 0.112 ± 0.0013 s 0.994 ± 0.019
case studies/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 11.9 ± 1.4 ms 11.7 ± 1.3 ms 1.01 ± 0.16
case studies/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 1.8 ± 0.01 s 1.87 ± 0.013 s 0.961 ± 0.0087
case studies/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2 ± 0.023 s 2.01 ± 0.016 s 0.992 ± 0.014
case studies/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.879 ± 0.0055 s 0.889 ± 0.023 s 0.99 ± 0.026
case studies/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.509 ± 0.036 s 0.512 ± 0.033 s 0.995 ± 0.096
case studies/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.139 ± 0.0033 s 0.14 ± 0.0031 s 0.993 ± 0.032
case studies/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.79 ± 0.006 s 0.784 ± 0.014 s 1.01 ± 0.019
case studies/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.497 ± 0.034 s 0.498 ± 0.038 s 0.998 ± 0.1
case studies/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.119 ± 0.0015 s 0.12 ± 0.00091 s 0.99 ± 0.014
case studies/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.192 ± 0.0021 s 0.205 ± 0.0073 s 0.939 ± 0.035
case studies/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.165 ± 0.0026 s 0.174 ± 0.0018 s 0.95 ± 0.018
case studies/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.437 ± 0.0029 s 0.454 ± 0.0063 s 0.962 ± 0.015
case studies/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.417 ± 0.014 s 0.424 ± 0.0048 s 0.984 ± 0.035
case studies/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.181 ± 0.0017 s 0.193 ± 0.0029 s 0.935 ± 0.017
case studies/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.155 ± 0.002 s 0.166 ± 0.0024 s 0.931 ± 0.018
unit tests/PredictiveController/ExplicitMPC/moveinput! 2.54 ± 0.031 μs 2.54 ± 0.02 μs 1 ± 0.014
unit tests/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.103 ± 0.0012 ms 0.102 ± 0.0012 ms 1 ± 0.017
unit tests/PredictiveController/LinMPC/moveinput!/SingleShooting 12.8 ± 0.78 μs 12.6 ± 0.57 μs 1.01 ± 0.077
unit tests/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.65 ± 0.16 ms 2.68 ± 0.25 ms 0.989 ± 0.11
unit tests/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.83 ± 0.053 ms 1.83 ± 0.041 ms 0.998 ± 0.037
unit tests/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 8.53 ± 0.18 ms 8.85 ± 0.16 ms 0.964 ± 0.027
unit tests/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.85 ± 0.051 ms 1.86 ± 0.055 ms 0.992 ± 0.04
unit tests/SimModel/LinModel/evaloutput 0.13 ± 0.001 μs 0.13 ± 0.001 μs 1 ± 0.011
unit tests/SimModel/LinModel/updatestate! 0.211 ± 0.001 μs 0.21 ± 0.001 μs 1 ± 0.0068
unit tests/SimModel/NonLinModel/evaloutput 0.131 ± 0.01 μs 0.14 ± 0.01 μs 0.936 ± 0.098
unit tests/SimModel/NonLinModel/linearize! 1.12 ± 0.021 μs 1.13 ± 0.02 μs 0.991 ± 0.026
unit tests/SimModel/NonLinModel/updatestate! 0.211 ± 0.01 μs 0.21 ± 0.001 μs 1 ± 0.048
unit tests/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.13 ± 0.01 μs 0.14 ± 0.009 μs 0.929 ± 0.093
unit tests/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 0.19 ± 0.01 μs 0.19 ± 0.01 μs 1 ± 0.074
unit tests/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.04 ± 0.009 μs 0.04 ± 0.01 μs 1 ± 0.34
unit tests/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
unit tests/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 2.75 ± 0.03 μs 2.73 ± 0.03 μs 1.01 ± 0.016
unit tests/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 3.98 ± 0.099 μs 3.39 ± 0.039 μs 1.17 ± 0.032
unit tests/StateEstimator/InternalModel/evaloutput/LinModel 0.12 ± 0.01 μs 0.12 ± 0.009 μs 1 ± 0.11
unit tests/StateEstimator/InternalModel/evaloutput/NonLinModel 0.111 ± 0.01 μs 0.12 ± 0.01 μs 0.925 ± 0.11
unit tests/StateEstimator/InternalModel/preparestate!/LinModel 0.181 ± 0.01 μs 0.181 ± 0.01 μs 1 ± 0.078
unit tests/StateEstimator/InternalModel/preparestate!/NonLinModel 0.19 ± 0.01 μs 0.18 ± 0.001 μs 1.06 ± 0.056
unit tests/StateEstimator/InternalModel/updatestate!/LinModel 0.311 ± 0.001 μs 0.301 ± 0.011 μs 1.03 ± 0.038
unit tests/StateEstimator/InternalModel/updatestate!/NonLinModel 0.301 ± 0.01 μs 0.3 ± 0.001 μs 1 ± 0.034
unit tests/StateEstimator/KalmanFilter/evaloutput 0.14 ± 0.01 μs 0.14 ± 0.01 μs 1 ± 0.1
unit tests/StateEstimator/KalmanFilter/preparestate! 0.04 ± 0 μs 0.04 ± 0.009 μs 1 ± 0.23
unit tests/StateEstimator/KalmanFilter/updatestate! 2.07 ± 0.02 μs 2.07 ± 0.03 μs 1 ± 0.017
unit tests/StateEstimator/Luenberger/evaloutput 0.14 ± 0 μs 0.14 ± 0.001 μs 1 ± 0.0071
unit tests/StateEstimator/Luenberger/preparestate! 0.21 ± 0.01 μs 0.211 ± 0.01 μs 0.995 ± 0.067
unit tests/StateEstimator/Luenberger/updatestate! 0.28 ± 0.01 μs 0.281 ± 0.001 μs 0.996 ± 0.036
unit tests/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.37 ± 3.5 ms 3.45 ± 3.6 ms 0.975 ± 1.4
unit tests/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
unit tests/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.315 ± 0.019 ms 0.317 ± 0.018 ms 0.993 ± 0.082
unit tests/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 0.04 ± 0 μs 0.04 ± 0 μs 1 ± 0
unit tests/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 5.24 ± 1.7 μs 6.01 ± 1.9 μs 0.872 ± 0.4
unit tests/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.15 ± 1.9 ms 3.2 ± 3.1 ms 0.984 ± 1.1
unit tests/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 13.3 ± 0.25 μs 13.2 ± 0.33 μs 1.01 ± 0.031
unit tests/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.33 ± 0.019 ms 0.348 ± 0.018 ms 0.949 ± 0.075
unit tests/StateEstimator/SteadyKalmanFilter/evaloutput 0.14 ± 0.001 μs 0.141 ± 0.01 μs 0.993 ± 0.071
unit tests/StateEstimator/SteadyKalmanFilter/preparestate! 0.2 ± 0.001 μs 0.21 ± 0.01 μs 0.952 ± 0.046
unit tests/StateEstimator/SteadyKalmanFilter/updatestate! 0.29 ± 0.01 μs 0.271 ± 0.011 μs 1.07 ± 0.057
unit tests/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.15 ± 0.01 μs 0.141 ± 0.01 μs 1.06 ± 0.1
unit tests/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.191 ± 0.01 μs 0.191 ± 0.01 μs 1 ± 0.074
unit tests/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.43 ± 0.021 μs 3.42 ± 0.03 μs 1 ± 0.011
unit tests/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 3.98 ± 0.08 μs 3.89 ± 0.031 μs 1.02 ± 0.022
unit tests/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.28 ± 0.06 μs 3.29 ± 0.079 μs 0.997 ± 0.03
unit tests/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 4.79 ± 0.11 μs 4.73 ± 0.07 μs 1.01 ± 0.028
time_to_load 3.77 ± 0.0078 s 3.75 ± 0.037 s 1 ± 0.01
Memory benchmarks
main b7444c2... main / b7444c2...
case studies/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0449 M allocs: 1.79 MB 0.0449 M allocs: 1.79 MB 1
case studies/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.183 M allocs: 9.81 MB 0.183 M allocs: 9.81 MB 1
case studies/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.0746 M allocs: 2.81 MB 0.0746 M allocs: 2.81 MB 1
case studies/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 0.0758 M allocs: 1.88 MB 0.0758 M allocs: 1.88 MB 1
case studies/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 7.85 k allocs: 0.243 MB 7.85 k allocs: 0.243 MB 1
case studies/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 0.0448 M allocs: 1.79 MB 0.0448 M allocs: 1.79 MB 1
case studies/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.148 M allocs: 8 MB 0.148 M allocs: 8 MB 1
case studies/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0779 M allocs: 2.88 MB 0.0779 M allocs: 2.88 MB 1
case studies/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 0.0532 M allocs: 1.33 MB 0.0532 M allocs: 1.33 MB 1
case studies/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 7.7 k allocs: 0.237 MB 7.7 k allocs: 0.237 MB 1
case studies/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 0.102 M allocs: 6.46 MB 0.102 M allocs: 6.46 MB 1
case studies/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 4.64 M allocs: 0.248 GB 4.64 M allocs: 0.248 GB 1
case studies/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.112 M allocs: 6.86 MB 0.112 M allocs: 6.86 MB 1
case studies/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 4.66 M allocs: 0.252 GB 4.66 M allocs: 0.252 GB 1
case studies/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.113 M allocs: 8.17 MB 0.113 M allocs: 8.17 MB 1
case studies/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 16.9 M allocs: 0.975 GB 16.9 M allocs: 0.975 GB 1
case studies/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 2.68 M allocs: 0.724 GB 2.68 M allocs: 0.724 GB 1
case studies/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 10 M allocs: 0.586 GB 10 M allocs: 0.586 GB 1
case studies/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.111 M allocs: 19.2 MB 0.111 M allocs: 19.2 MB 1
case studies/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.293 M allocs: 0.0659 GB 0.293 M allocs: 0.0659 GB 1
case studies/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 7.95 M allocs: 0.468 GB 7.95 M allocs: 0.468 GB 1
case studies/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0889 M allocs: 14.5 MB 0.0889 M allocs: 14.5 MB 1
case studies/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.253 M allocs: 0.0569 GB 0.253 M allocs: 0.0569 GB 1
case studies/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 3.09 M allocs: 0.649 GB 3.09 M allocs: 0.647 GB 1
case studies/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 2.89 M allocs: 0.548 GB 2.89 M allocs: 0.53 GB 1.04
case studies/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 2.56 M allocs: 0.634 GB 2.56 M allocs: 0.637 GB 0.995
case studies/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 2.44 M allocs: 0.543 GB 2.44 M allocs: 0.534 GB 1.02
case studies/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 2.53 M allocs: 0.633 GB 2.53 M allocs: 0.633 GB 1
case studies/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 2.41 M allocs: 0.535 GB 2.41 M allocs: 0.538 GB 0.995
unit tests/PredictiveController/ExplicitMPC/moveinput! 0 allocs: 0 B 0 allocs: 0 B
unit tests/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.994 k allocs: 24.5 kB 0.994 k allocs: 24.5 kB 1
unit tests/PredictiveController/LinMPC/moveinput!/SingleShooting 0.088 k allocs: 2.16 kB 0.088 k allocs: 2.16 kB 1
unit tests/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 3 k allocs: 0.196 MB 3 k allocs: 0.196 MB 1
unit tests/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.599 k allocs: 0.0556 MB 0.599 k allocs: 0.0556 MB 1
unit tests/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 0.104 M allocs: 7.93 MB 0.104 M allocs: 7.93 MB 1
unit tests/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.633 k allocs: 0.115 MB 0.633 k allocs: 0.115 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 0 allocs: 0 B 0 allocs: 0 B
unit tests/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 0 allocs: 0 B 0 allocs: 0 B
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! 0 allocs: 0 B 0 allocs: 0 B
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/preparestate!/LinModel/Current form 0.0734 M allocs: 15.9 MB 0.0734 M allocs: 16 MB 0.997
unit tests/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0 allocs: 0 B 0 allocs: 0 B
unit tests/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.997 k allocs: 24.8 kB 0.997 k allocs: 24.8 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 0 allocs: 0 B 0 allocs: 0 B
unit tests/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 6.7 k allocs: 0.451 MB 6.7 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 0.997 k allocs: 24.7 kB 0.997 k allocs: 24.7 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 0.159 k allocs: 11.2 kB 0.159 k allocs: 11.2 kB 1

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