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added: slightly improve the speed of precompilation#311

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franckgaga merged 2 commits intomainfrom
improve_precompile
Feb 6, 2026
Merged

added: slightly improve the speed of precompilation#311
franckgaga merged 2 commits intomainfrom
improve_precompile

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@franckgaga franckgaga commented Feb 5, 2026

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codecov-commenter commented Feb 5, 2026 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.35%. Comparing base (40bbb53) to head (f62d591).
⚠️ Report is 4 commits behind head on main.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #311      +/-   ##
==========================================
+ Coverage   98.33%   98.35%   +0.02%     
==========================================
  Files          29       29              
  Lines        5155     5228      +73     
==========================================
+ Hits         5069     5142      +73     
  Misses         86       86

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github-actions bot commented Feb 5, 2026

Benchmark Results (Julia v1)

Time benchmarks
main f62d591... main / f62d591...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 5.63 ± 0.4 ms 5.76 ± 0.48 ms 0.978 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.319 ± 0.0051 s 0.32 ± 0.0039 s 0.997 ± 0.02
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.231 ± 0.0095 s 0.23 ± 0.0038 s 1 ± 0.044
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 9.12 ± 0.49 ms 9.13 ± 0.45 ms 0.998 ± 0.072
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.73 ± 0.049 ms 1.76 ± 0.029 ms 0.98 ± 0.032
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 5.58 ± 0.4 ms 5.6 ± 0.47 ms 0.997 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.276 ± 0.0053 s 0.273 ± 0.0031 s 1.01 ± 0.022
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.235 ± 0.0053 s 0.232 ± 0.0021 s 1.01 ± 0.025
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 6.28 ± 0.39 ms 6.35 ± 0.39 ms 0.99 ± 0.087
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 1.79 ± 0.026 ms 1.91 ± 0.043 ms 0.937 ± 0.025
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 9.98 ± 1.4 ms 9.96 ± 1.4 ms 1 ± 0.2
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.315 ± 0.087 s 0.307 ± 0.075 s 1.02 ± 0.38
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.161 ± 0.0019 s 0.157 ± 0.0022 s 1.02 ± 0.019
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.103 ± 0.024 s 0.101 ± 0.022 s 1.02 ± 0.33
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 13.3 ± 1.4 ms 13.2 ± 1.4 ms 1 ± 0.15
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.692 ± 0.023 s 0.693 ± 0.017 s 0.999 ± 0.041
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.716 ± 0.065 s 0.671 ± 0.049 s 1.07 ± 0.12
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.7 ± 0.057 s 1.71 ± 0.043 s 0.997 ± 0.042
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.524 ± 0.076 s 0.494 ± 0.054 s 1.06 ± 0.19
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.517 ± 0.072 s 0.495 ± 0.058 s 1.04 ± 0.19
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.357 ± 0.0047 s 0.354 ± 0.0049 s 1.01 ± 0.019
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.447 ± 0.053 s 0.456 ± 0.044 s 0.98 ± 0.15
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.485 ± 0.011 s 0.486 ± 0.0097 s 0.998 ± 0.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.167 ± 0.0035 s 0.166 ± 0.0035 s 1 ± 0.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.33 ± 0.0085 s 0.334 ± 0.0081 s 0.987 ± 0.035
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.402 ± 0.054 s 0.392 ± 0.051 s 1.03 ± 0.19
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting 0.15 ± 0.017 s 0.149 ± 0.016 s 1.01 ± 0.16
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.344 ± 0.0061 s 0.343 ± 0.0045 s 1.01 ± 0.022
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.407 ± 0.042 s 0.399 ± 0.038 s 1.02 ± 0.14
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.366 ± 0.015 s 0.36 ± 0.012 s 1.02 ± 0.055
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.491 ± 0.01 s 0.488 ± 0.011 s 1.01 ± 0.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.168 ± 0.0056 s 0.167 ± 0.0033 s 1 ± 0.039
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.32 ± 0.0068 s 0.319 ± 0.0049 s 1 ± 0.026
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.303 ± 0.017 s 0.299 ± 0.02 s 1.01 ± 0.087
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.359 ± 0.014 s 0.359 ± 0.0095 s 1 ± 0.047
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting 0.128 ± 0.011 s 0.129 ± 0.011 s 0.994 ± 0.12
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0414 ± 0.0017 s 0.0403 ± 0.0012 s 1.03 ± 0.053
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0349 ± 0.0099 s 0.0333 ± 0.01 s 1.05 ± 0.43
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.178 ± 0.038 s 0.182 ± 0.046 s 0.981 ± 0.32
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.162 ± 0.028 s 0.157 ± 0.028 s 1.03 ± 0.26
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0361 ± 0.0013 s 0.0332 ± 0.0019 s 1.09 ± 0.072
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 28.5 ± 6.8 ms 26.9 ± 6.5 ms 1.06 ± 0.36
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0879 ± 0.003 s 0.0831 ± 0.0034 s 1.06 ± 0.056
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0884 ± 0.004 s 0.084 ± 0.0037 s 1.05 ± 0.066
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0686 ± 0.0049 s 0.0676 ± 0.0014 s 1.02 ± 0.076
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0948 ± 0.0038 s 0.0876 ± 0.0033 s 1.08 ± 0.06
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form 2.48 ± 0.031 s 2.51 ± 0.022 s 0.989 ± 0.015
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form 1.49 ± 0.0082 s 1.49 ± 0.026 s 0.997 ± 0.018
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 4.17 ± 0.02 μs 4.05 ± 0.03 μs 1.03 ± 0.0091
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.11 ± 0.0023 ms 0.11 ± 0.0039 ms 0.993 ± 0.041
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.109 ± 0.0017 ms 0.108 ± 0.0024 ms 1.01 ± 0.028
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 15.2 ± 0.35 μs 15.5 ± 0.37 μs 0.986 ± 0.033
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.201 ± 0.013 ms 0.208 ± 0.021 ms 0.969 ± 0.12
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.242 ± 0.018 ms 0.263 ± 0.034 ms 0.92 ± 0.14
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.58 ± 0.22 ms 2.6 ± 0.22 ms 0.995 ± 0.12
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.75 ± 0.11 ms 1.8 ± 0.11 ms 0.974 ± 0.085
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 3.09 ± 0.12 ms 3.14 ± 0.15 ms 0.984 ± 0.061
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.27 ± 0.19 ms 3.35 ± 0.18 ms 0.978 ± 0.077
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.74 ± 0.064 ms 1.77 ± 0.07 ms 0.985 ± 0.053
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.74 ± 0.05 ms 1.76 ± 0.06 ms 0.986 ± 0.044
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.22 ± 0.14 ms 2.25 ± 0.14 ms 0.985 ± 0.088
UNIT TESTS/SimModel/LinModel/evaloutput 0.141 ± 0.01 μs 0.14 ± 0.001 μs 1.01 ± 0.072
UNIT TESTS/SimModel/LinModel/updatestate! 0.21 ± 0.001 μs 0.201 ± 0.01 μs 1.04 ± 0.052
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.421 ± 0.01 μs 0.421 ± 0.01 μs 1 ± 0.034
UNIT TESTS/SimModel/NonLinModel/linearize! 2.06 ± 0.02 μs 2.08 ± 0.029 μs 0.99 ± 0.017
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.491 ± 0.001 μs 0.491 ± 0.001 μs 1 ± 0.0029
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.561 ± 0.01 μs 0.561 ± 0.01 μs 1 ± 0.025
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.84 ± 0.02 μs 1.83 ± 0.02 μs 1.01 ± 0.015
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.271 ± 0.01 μs 0.261 ± 0.01 μs 1.04 ± 0.055
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.42 ± 0.01 μs 1.41 ± 0.01 μs 1.01 ± 0.01
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 4.05 ± 0.05 μs 3.92 ± 0.07 μs 1.03 ± 0.022
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 8.89 ± 0.13 μs 8.78 ± 0.1 μs 1.01 ± 0.019
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.24 ± 0.001 μs 0.24 ± 0.01 μs 1 ± 0.042
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.581 ± 0.019 μs 0.591 ± 0.01 μs 0.983 ± 0.036
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.281 ± 0.01 μs 0.281 ± 0.01 μs 1 ± 0.05
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.732 ± 0.01 μs 0.741 ± 0.01 μs 0.988 ± 0.019
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.401 ± 0.01 μs 0.41 ± 0.01 μs 0.978 ± 0.034
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 0.912 ± 0.01 μs 0.912 ± 0.001 μs 1 ± 0.011
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.261 ± 0.01 μs 0.26 ± 0.001 μs 1 ± 0.039
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.13 ± 0 μs 0.13 ± 0.001 μs 1 ± 0.0077
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.55 ± 0.09 μs 2.56 ± 0.031 μs 1 ± 0.037
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.25 ± 0.011 μs 0.25 ± 0.01 μs 1 ± 0.059
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.261 ± 0.001 μs 0.26 ± 0.001 μs 1 ± 0.0054
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.35 ± 0.01 μs 0.37 ± 0.01 μs 0.946 ± 0.037
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/LinModel 0.201 ± 0.023 ms 0.214 ± 0.027 ms 0.943 ± 0.16
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 0.348 ± 0.018 ms 0.352 ± 0.019 ms 0.99 ± 0.074
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 3.64 ± 0.22 ms 3.59 ± 0.26 ms 1.01 ± 0.096
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.481 ± 0 μs 0.501 ± 0.009 μs 0.96 ± 0.017
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.323 ± 0.019 ms 0.314 ± 0.018 ms 1.03 ± 0.083
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.33 ± 0.011 μs 1.32 ± 0.01 μs 1.01 ± 0.011
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 8.25 ± 3.1 μs 10.7 ± 4.9 μs 0.77 ± 0.45
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 3.22 ± 0.19 ms 3.16 ± 0.19 ms 1.02 ± 0.087
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 16.8 ± 0.36 μs 17.1 ± 0.91 μs 0.984 ± 0.057
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.345 ± 0.019 ms 0.327 ± 0.018 ms 1.06 ± 0.083
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.27 ± 0.01 μs 0.28 ± 0.01 μs 0.964 ± 0.05
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.29 ± 0.01 μs 0.281 ± 0.01 μs 1.03 ± 0.051
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.38 ± 0.01 μs 0.391 ± 0.01 μs 0.972 ± 0.036
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.301 ± 0.001 μs 0.301 ± 0.01 μs 1 ± 0.033
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.922 ± 0.001 μs 0.902 ± 0.01 μs 1.02 ± 0.011
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.56 ± 0.029 μs 3.64 ± 0.02 μs 0.978 ± 0.0096
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 4.9 ± 0.03 μs 4.91 ± 0.05 μs 0.998 ± 0.012
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.53 ± 0.049 μs 3.49 ± 0.04 μs 1.01 ± 0.018
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.34 ± 0.059 μs 6.27 ± 0.05 μs 1.01 ± 0.012
time_to_load 5.72 ± 0.0084 s 5.45 ± 0.079 s 1.05 ± 0.015
Memory benchmarks
main f62d591... main / f62d591...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0424 M allocs: 1.71 MB 0.0424 M allocs: 1.71 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.162 M allocs: 8.9 MB 0.162 M allocs: 8.9 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.0536 M allocs: 2.38 MB 0.0536 M allocs: 2.38 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 0.0423 M allocs: 1.7 MB 0.0423 M allocs: 1.7 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.127 M allocs: 7.07 MB 0.127 M allocs: 7.07 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0553 M allocs: 2.42 MB 0.0553 M allocs: 2.42 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 0.113 M allocs: 6.14 MB 0.113 M allocs: 6.14 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 0.113 M allocs: 6.56 MB 0.113 M allocs: 6.56 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 0.124 M allocs: 7.69 MB 0.124 M allocs: 7.69 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.351 M allocs: 19.7 MB 0.351 M allocs: 19.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.862 M allocs: 0.0789 GB 0.862 M allocs: 0.0789 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.353 M allocs: 16.7 MB 0.353 M allocs: 16.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.18 M allocs: 0.0789 GB 1.18 M allocs: 0.0789 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 1.18 M allocs: 0.0789 GB 1.18 M allocs: 0.0789 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.267 M allocs: 14.7 MB 0.267 M allocs: 14.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.633 M allocs: 0.0602 GB 0.633 M allocs: 0.0602 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0951 M allocs: 3.9 MB 0.0951 M allocs: 3.9 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.0772 M allocs: 4.95 MB 0.0772 M allocs: 4.95 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.376 M allocs: 19.7 MB 0.376 M allocs: 19.7 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 1.07 M allocs: 0.0794 GB 1.07 M allocs: 0.0794 GB 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 0.226 M allocs: 12.2 MB 0.226 M allocs: 12.2 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.647 M allocs: 0.0541 GB 0.647 M allocs: 0.0541 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.244 M allocs: 20.1 MB 0.244 M allocs: 20.1 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0741 M allocs: 3 MB 0.0741 M allocs: 3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.0768 M allocs: 4.91 MB 0.0768 M allocs: 4.91 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.317 M allocs: 16.4 MB 0.317 M allocs: 16.4 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.879 M allocs: 0.0547 GB 0.879 M allocs: 0.0547 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.335 M allocs: 24.4 MB 0.335 M allocs: 24.4 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/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.762 M allocs: 0.0802 GB 0.762 M allocs: 0.0802 GB 1
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 0.646 M allocs: 0.0785 GB 0.646 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 0.0649 M allocs: 11.5 MB 0.0649 M allocs: 11.5 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0639 M allocs: 11.3 MB 0.0639 M allocs: 11.3 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0485 M allocs: 8.05 MB 0.0485 M allocs: 8.05 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/getinfo! 0.322 k allocs: 15.6 kB 0.322 k allocs: 15.6 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 0.563 k allocs: 0.0579 MB 0.563 k allocs: 0.0579 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.606 k allocs: 0.0769 MB 0.606 k allocs: 0.0769 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 2.4 k allocs: 0.107 MB 2.4 k allocs: 0.107 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.37 k allocs: 13.1 kB 0.37 k allocs: 13.1 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 2.64 k allocs: 0.126 MB 2.64 k allocs: 0.126 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 3.15 k allocs: 0.158 MB 3.15 k allocs: 0.158 MB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.404 k allocs: 14.7 kB 0.404 k allocs: 14.7 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 0.404 k allocs: 14.7 kB 0.404 k allocs: 14.7 kB 1
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 2.01 k allocs: 0.0858 MB 2.01 k allocs: 0.0858 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 1.03 k allocs: 0.0393 MB 1.03 k allocs: 0.0393 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 1.24 k allocs: 0.203 MB 1.24 k allocs: 0.203 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 0.0754 M allocs: 14.7 MB 0.0754 M allocs: 14.6 MB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0 allocs: 0 B 0 allocs: 0 B
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.972 k allocs: 25.4 kB 0.972 k allocs: 25.4 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 7.05 k allocs: 0.443 MB 7.05 k allocs: 0.443 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 0.972 k allocs: 25.4 kB 0.972 k allocs: 25.4 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 franckgaga merged commit faba5ee into main Feb 6, 2026
5 of 6 checks passed
@franckgaga franckgaga deleted the improve_precompile branch February 6, 2026 02:08
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@franckgaga @codecov-commenter