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Box constraints scale off ipopt#381

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box_constraints_scale_off_ipopt
Closed

Box constraints scale off ipopt#381
franckgaga wants to merge 10 commits into
mainfrom
box_constraints_scale_off_ipopt

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@franckgaga

@franckgaga franckgaga commented Jun 18, 2026

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codecov-commenter commented Jun 18, 2026

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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.60%. Comparing base (ed09542) to head (1c5433e).

Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #381      +/-   ##
==========================================
+ Coverage   98.58%   98.60%   +0.01%     
==========================================
  Files          27       27              
  Lines        5512     5582      +70     
==========================================
+ Hits         5434     5504      +70     
  Misses         78       78

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github-actions Bot commented Jun 19, 2026 •
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Benchmark Results (Julia v1)

Time benchmarks
main cf13b92... main / cf13b92...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 4.86 ± 0.47 ms 5.16 ± 0.45 ms 0.941 ± 0.12
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.326 ± 0.0064 s 0.402 ± 0.0023 s 0.809 ± 0.016
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.233 ± 0.015 s 0.285 ± 0.0022 s 0.819 ± 0.055
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 12 ± 0.78 ms 12.2 ± 0.79 ms 0.985 ± 0.09
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 1.95 ± 0.1 ms 1.95 ± 0.1 ms 0.999 ± 0.075
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 4.88 ± 0.37 ms 5.12 ± 0.47 ms 0.954 ± 0.11
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.279 ± 0.002 s 0.351 ± 0.005 s 0.794 ± 0.013
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.231 ± 0.0035 s 0.268 ± 0.0047 s 0.861 ± 0.02
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 8.27 ± 0.62 ms 8.39 ± 0.36 ms 0.985 ± 0.085
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 2.15 ± 0.1 ms 2.16 ± 0.11 ms 0.992 ± 0.068
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 10 ± 1.7 ms 10.1 ± 1.6 ms 0.995 ± 0.23
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/MultipleShooting 0.33 ± 0.1 s 0.364 ± 0.14 s 0.905 ± 0.45
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/Ipopt/SingleShooting 0.157 ± 0.00078 s 0.16 ± 0.0011 s 0.982 ± 0.0085
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/MultipleShooting 0.141 ± 0.032 s 0.133 ± 0.034 s 1.06 ± 0.36
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 15.2 ± 2.3 ms 15.5 ± 2.4 ms 0.982 ± 0.21
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.706 ± 0.0035 s 0.668 ± 0.0013 s 1.06 ± 0.0056
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 0.682 ± 0.0036 s 1.01 ± 0.0023 s 0.676 ± 0.0039
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 1.77 ± 0.0048 s 2.07 ± 0.0033 s 0.857 ± 0.0027
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 0.507 ± 0.0027 s 0.793 ± 0.0039 s 0.639 ± 0.0047
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 0.505 ± 0.0023 s 0.791 ± 0.003 s 0.639 ± 0.0038
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.361 ± 0.0055 s 0.367 ± 0.0015 s 0.984 ± 0.016
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.477 ± 0.013 s 0.453 ± 0.0048 s 1.05 ± 0.031
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 0.552 ± 0.0039 s 0.551 ± 0.0018 s 1 ± 0.0078
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 0.569 ± 0.0087 s 0.559 ± 0.0016 s 1.02 ± 0.016
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.529 ± 0.0058 s 0.54 ± 0.004 s 0.979 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.19 ± 0.0018 s 0.192 ± 0.00077 s 0.99 ± 0.01
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.349 ± 0.0046 s 0.344 ± 0.00081 s 1.01 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.357 ± 0.0035 s 0.349 ± 0.0013 s 1.02 ± 0.011
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.0808 ± 0.00069 s 0.0829 ± 0.00072 s 0.975 ± 0.012
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.217 ± 0.013 s 0.214 ± 0.013 s 1.02 ± 0.087
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.346 ± 0.0032 s 0.346 ± 0.00079 s 1 ± 0.0095
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.381 ± 0.0029 s 0.39 ± 0.0041 s 0.978 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.367 ± 0.0036 s 0.373 ± 0.0026 s 0.982 ± 0.012
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 0.605 ± 0.0055 s 0.625 ± 0.0035 s 0.967 ± 0.01
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 1.9 ± 0.078 s 1.97 ± 0.091 s 0.964 ± 0.06
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.506 ± 0.0015 s 0.515 ± 0.0012 s 0.984 ± 0.0037
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.181 ± 0.0014 s 0.185 ± 0.00097 s 0.979 ± 0.0093
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.331 ± 0.0021 s 0.342 ± 0.0024 s 0.969 ± 0.0091
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.303 ± 0.0042 s 0.307 ± 0.0029 s 0.984 ± 0.016
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.367 ± 0.0042 s 0.371 ± 0.0029 s 0.988 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.256 ± 0.0029 s 0.259 ± 0.0021 s 0.987 ± 0.014
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.0792 ± 0.0011 s 0.0767 ± 0.00095 s 1.03 ± 0.019
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.193 ± 0.0013 s 0.197 ± 0.0023 s 0.977 ± 0.013
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/OrthogonalCollocation (Hessian) 1.32 ± 0.015 s 1.36 ± 0.0098 s 0.97 ± 0.013
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Current form 0.0816 ± 0.0024 s 0.0884 ± 0.0072 s 0.923 ± 0.08
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/DAQP/Prediction form 0.0594 ± 0.002 s 0.0638 ± 0.0023 s 0.931 ± 0.046
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 0.259 ± 0.014 s 0.274 ± 0.036 s 0.944 ± 0.13
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Prediction form 0.221 ± 0.062 s 0.22 ± 0.06 s 1.01 ± 0.39
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Current form 0.0756 ± 0.0057 s 0.0815 ± 0.0057 s 0.927 ± 0.095
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 0.0544 ± 0.006 s 0.0552 ± 0.0069 s 0.985 ± 0.16
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0948 ± 0.00027 s 0.0966 ± 0.00074 s 0.982 ± 0.008
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0947 ± 0.00049 s 0.0956 ± 0.00042 s 0.99 ± 0.0067
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0701 ± 0.00023 s 0.07 ± 0.00026 s 1 ± 0.005
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0918 ± 0.0002 s 0.0934 ± 0.00058 s 0.983 ± 0.0064
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0495 ± 0.00024 s 0.05 ± 0.00056 s 0.991 ± 0.012
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.045 ± 0.00028 s 0.0455 ± 0.00071 s 0.988 ± 0.017
UNIT TESTS/PredictiveController/ExplicitMPC/moveinput! 4.57 ± 0.22 μs 4.43 ± 0.04 μs 1.03 ± 0.051
UNIT TESTS/PredictiveController/LinMPC/getinfo! 0.0953 ± 0.002 ms 0.0986 ± 0.0018 ms 0.966 ± 0.027
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.112 ± 0.0014 ms 0.146 ± 0.01 ms 0.768 ± 0.053
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 15.8 ± 0.29 μs 17 ± 0.36 μs 0.929 ± 0.026
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.2 ± 0.019 ms 0.171 ± 0.012 ms 1.17 ± 0.14
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.242 ± 0.021 ms 0.283 ± 0.025 ms 0.854 ± 0.11
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 1.59 ± 0.27 ms 1.16 ± 0.24 ms 1.37 ± 0.37
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 1.03 ± 0.024 ms 0.479 ± 0.027 ms 2.16 ± 0.13
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 2.66 ± 0.76 ms 10.5 ± 0.37 ms 0.254 ± 0.073
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 2.41 ± 0.17 ms 10.5 ± 0.35 ms 0.228 ± 0.018
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 2.26 ± 0.18 ms 11.3 ± 1.3 ms 0.2 ± 0.028
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 3.21 ± 0.17 ms 13.7 ± 1.2 ms 0.234 ± 0.024
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 1.32 ± 0.034 ms 7.63 ± 0.52 ms 0.174 ± 0.013
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 1.32 ± 0.031 ms 7.46 ± 0.29 ms 0.178 ± 0.008
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 1.7 ± 0.082 ms 7.43 ± 0.57 ms 0.229 ± 0.021
UNIT TESTS/SimModel/LinModel/evaloutput 0.14 ± 0.009 μs 0.171 ± 0.01 μs 0.819 ± 0.071
UNIT TESTS/SimModel/LinModel/updatestate! 0.19 ± 0.001 μs 0.231 ± 0.01 μs 0.823 ± 0.036
UNIT TESTS/SimModel/NonLinModel/evaloutput 0.331 ± 0.01 μs 0.321 ± 0.001 μs 1.03 ± 0.031
UNIT TESTS/SimModel/NonLinModel/linearize! 1.83 ± 0.04 μs 1.85 ± 0.05 μs 0.989 ± 0.034
UNIT TESTS/SimModel/NonLinModel/updatestate! 0.381 ± 0.011 μs 0.401 ± 0.001 μs 0.95 ± 0.028
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/LinModel 0.471 ± 0.02 μs 0.461 ± 0.01 μs 1.02 ± 0.049
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/evaloutput/NonLinModel 1.67 ± 0.021 μs 1.67 ± 0.011 μs 1 ± 0.014
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/LinModel 0.631 ± 0.01 μs 0.631 ± 0.01 μs 1 ± 0.022
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/preparestate!/NonLinModel 1.26 ± 0.01 μs 1.26 ± 0.011 μs 1 ± 0.012
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/LinModel 4.1 ± 0.07 μs 4.17 ± 0.059 μs 0.983 ± 0.022
UNIT TESTS/StateEstimator/ExtendedKalmanFilter/updatestate!/NonLinModel 8.01 ± 0.09 μs 8.05 ± 0.08 μs 0.995 ± 0.015
UNIT TESTS/StateEstimator/InternalModel/evaloutput/LinModel 0.23 ± 0.001 μs 0.24 ± 0.001 μs 0.958 ± 0.0058
UNIT TESTS/StateEstimator/InternalModel/evaloutput/NonLinModel 0.481 ± 0.01 μs 0.481 ± 0.001 μs 1 ± 0.021
UNIT TESTS/StateEstimator/InternalModel/preparestate!/LinModel 0.401 ± 0.011 μs 0.561 ± 0.01 μs 0.715 ± 0.023
UNIT TESTS/StateEstimator/InternalModel/preparestate!/NonLinModel 0.611 ± 0.01 μs 0.611 ± 0.01 μs 1 ± 0.023
UNIT TESTS/StateEstimator/InternalModel/updatestate!/LinModel 0.712 ± 0.01 μs 0.641 ± 0.01 μs 1.11 ± 0.023
UNIT TESTS/StateEstimator/InternalModel/updatestate!/NonLinModel 1.14 ± 0.02 μs 1.18 ± 0.03 μs 0.966 ± 0.03
UNIT TESTS/StateEstimator/KalmanFilter/evaloutput 0.25 ± 0.009 μs 0.511 ± 0.02 μs 0.489 ± 0.026
UNIT TESTS/StateEstimator/KalmanFilter/preparestate! 0.15 ± 0 μs 0.14 ± 0 μs 1.07 ± 0
UNIT TESTS/StateEstimator/KalmanFilter/updatestate! 2.6 ± 0.05 μs 2.81 ± 0.06 μs 0.925 ± 0.027
UNIT TESTS/StateEstimator/Luenberger/evaloutput 0.22 ± 0.001 μs 0.301 ± 0.01 μs 0.731 ± 0.025
UNIT TESTS/StateEstimator/Luenberger/preparestate! 0.24 ± 0.001 μs 0.23 ± 0.001 μs 1.04 ± 0.0063
UNIT TESTS/StateEstimator/Luenberger/updatestate! 0.32 ± 0.01 μs 0.36 ± 0.011 μs 0.889 ± 0.039
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/LinModel 0.287 ± 0.023 ms 0.28 ± 0.038 ms 1.02 ± 0.16
UNIT TESTS/StateEstimator/MovingHorizonEstimator/getinfo!/NonLinModel 0.37 ± 0.019 ms 0.385 ± 0.021 ms 0.963 ± 0.071
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Constant arr. cov. 0.0349 ± 0.0018 s 17.7 ± 25 ms 1.98 ± 2.8
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 0.0354 ± 0.0018 s 17.9 ± 24 ms 1.98 ± 2.7
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Prediction form 0.421 ± 0.001 μs 0.42 ± 0.01 μs 1 ± 0.024
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Current form 0.318 ± 0.019 ms 0.337 ± 0.02 ms 0.943 ± 0.078
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/NonLinModel/Prediction form 1.32 ± 0.01 μs 1.34 ± 0.02 μs 0.985 ± 0.016
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Constant arr. cov. 13.5 ± 1.8 μs 13.5 ± 2 μs 1 ± 0.2
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Current form 0.0372 ± 0.0054 ms 0.0363 ± 0.0056 ms 1.03 ± 0.22
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/LinModel/Prediction form 0.033 ± 0.0022 s 0.0355 ± 0.0018 s 0.931 ± 0.078
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Current form 18 ± 0.59 μs 18.9 ± 0.6 μs 0.952 ± 0.043
UNIT TESTS/StateEstimator/MovingHorizonEstimator/updatestate!/NonLinModel/Prediction form 0.326 ± 0.019 ms 0.345 ± 0.02 ms 0.946 ± 0.077
UNIT TESTS/StateEstimator/SteadyKalmanFilter/evaloutput 0.441 ± 0.011 μs 0.52 ± 0.011 μs 0.848 ± 0.028
UNIT TESTS/StateEstimator/SteadyKalmanFilter/preparestate! 0.3 ± 0.01 μs 0.261 ± 0.001 μs 1.15 ± 0.039
UNIT TESTS/StateEstimator/SteadyKalmanFilter/updatestate! 0.391 ± 0.019 μs 0.541 ± 0.02 μs 0.723 ± 0.044
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/LinModel 0.29 ± 0.011 μs 0.311 ± 0.01 μs 0.932 ± 0.046
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/evaloutput/NonLinModel 0.851 ± 0.011 μs 0.861 ± 0.019 μs 0.988 ± 0.025
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/LinModel 3.74 ± 0.071 μs 3.67 ± 0.06 μs 1.02 ± 0.026
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/preparestate!/NonLinModel 5.03 ± 0.051 μs 5.07 ± 0.061 μs 0.992 ± 0.016
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/LinModel 3.7 ± 0.05 μs 3.72 ± 0.071 μs 0.994 ± 0.023
UNIT TESTS/StateEstimator/UnscentedKalmanFilter/updatestate!/NonLinModel 6.5 ± 0.1 μs 6.46 ± 0.08 μs 1.01 ± 0.02
time_to_load 6.25 ± 0.13 s 6.08 ± 0.026 s 1.03 ± 0.021
Memory benchmarks
main cf13b92... main / cf13b92...
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/DAQP/SingleShooting 0.0469 M allocs: 1.85 MB 0.0489 M allocs: 1.86 MB 0.993
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/MultipleShooting 0.166 M allocs: 9.51 MB 0.177 M allocs: 9.89 MB 0.961
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/Ipopt/SingleShooting 0.058 M allocs: 2.99 MB 0.0678 M allocs: 3.36 MB 0.889
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/MultipleShooting 0.126 M allocs: 3.16 MB 0.126 M allocs: 3.16 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/With feedforward/OSQP/SingleShooting 12.9 k allocs: 0.361 MB 12.6 k allocs: 0.356 MB 1.01
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/DAQP/SingleShooting 0.0468 M allocs: 1.84 MB 0.0487 M allocs: 1.85 MB 0.993
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/MultipleShooting 0.131 M allocs: 7.68 MB 0.142 M allocs: 8.06 MB 0.952
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/Ipopt/SingleShooting 0.0601 M allocs: 3.08 MB 0.0679 M allocs: 3.37 MB 0.915
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/MultipleShooting 0.0882 M allocs: 2.23 MB 0.0879 M allocs: 2.23 MB 1
CASE STUDIES/PredictiveController/CSTR/LinMPC/Without feedforward/OSQP/SingleShooting 12.8 k allocs: 0.355 MB 12.5 k allocs: 0.35 MB 1.01
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/DAQP/SingleShooting 0.119 M allocs: 6.37 MB 0.118 M allocs: 6.36 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 4.76 M allocs: 0.257 GB 4.75 M allocs: 0.257 GB 1
CASE STUDIES/PredictiveController/Pendulum/LinMPC/Successive linearization/OSQP/SingleShooting 0.149 M allocs: 8.5 MB 0.148 M allocs: 8.22 MB 1.03
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting 0.435 M allocs: 30.3 MB 0.497 M allocs: 0.0341 GB 0.869
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/MultipleShooting (Hessian) 1.04 M allocs: 0.114 GB 1.61 M allocs: 0.178 GB 0.642
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/SingleShooting 0.359 M allocs: 0.0504 GB 0.587 M allocs: 0.0865 GB 0.582
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation 1.02 M allocs: 0.0978 GB 1.61 M allocs: 0.157 GB 0.625
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Custom constraints/Ipopt/TrapezoidalCollocation (Hessian) 1.02 M allocs: 0.0978 GB 1.61 M allocs: 0.157 GB 0.625
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting 0.316 M allocs: 22 MB 0.316 M allocs: 22 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/MultipleShooting (Hessian) 0.741 M allocs: 0.0843 GB 0.741 M allocs: 0.0843 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation 1.33 M allocs: 0.119 GB 1.33 M allocs: 0.119 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/OrthogonalCollocation (Hessian) 1.33 M allocs: 0.119 GB 1.33 M allocs: 0.119 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting 0.0965 M allocs: 17.6 MB 0.0965 M allocs: 17.6 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/SingleShooting (Hessian) 0.0812 M allocs: 16.8 MB 0.0812 M allocs: 16.9 MB 0.993
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation 0.314 M allocs: 21.8 MB 0.314 M allocs: 21.9 MB 0.996
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Ipopt/TrapezoidalCollocation (Hessian) 0.757 M allocs: 0.0765 GB 0.757 M allocs: 0.0765 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/MadNLP/SingleShooting (Hessian) 0.0926 M allocs: 19.8 MB 0.0926 M allocs: 20 MB 0.994
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Economic/Uno/MultipleShooting (Hessian) 0.309 M allocs: 0.0328 GB 0.309 M allocs: 0.0328 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting 0.277 M allocs: 19 MB 0.277 M allocs: 19 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (Hessian) 0.709 M allocs: 0.0738 GB 0.709 M allocs: 0.0739 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/MultipleShooting (threaded) 0.296 M allocs: 28 MB 0.296 M allocs: 28 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation 1.43 M allocs: 0.128 GB 1.43 M allocs: 0.128 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/OrthogonalCollocation (Hessian) 5.12 M allocs: 0.601 GB 5.12 M allocs: 0.601 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting 0.0754 M allocs: 13.3 MB 0.0754 M allocs: 13.3 MB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/SingleShooting (Hessian) 0.0808 M allocs: 16.8 MB 0.0808 M allocs: 16.9 MB 0.993
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation 0.276 M allocs: 19 MB 0.276 M allocs: 19 MB 0.996
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (Hessian) 0.72 M allocs: 0.0656 GB 0.72 M allocs: 0.0656 GB 1
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Ipopt/TrapezoidalCollocation (threaded) 0.295 M allocs: 28 MB 0.295 M allocs: 28.1 MB 0.997
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/MultipleShooting (Hessian) 0.587 M allocs: 0.0728 GB 0.587 M allocs: 0.0728 GB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/MadNLP/SingleShooting (Hessian) 0.0927 M allocs: 19.9 MB 0.0927 M allocs: 20 MB 0.994
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/MultipleShooting (Hessian) 0.305 M allocs: 30.4 MB 0.305 M allocs: 30.4 MB 0.999
CASE STUDIES/PredictiveController/Pendulum/NonLinMPC/Noneconomic/Uno/OrthogonalCollocation (Hessian) 2.13 M allocs: 0.243 GB 2.13 M allocs: 0.243 GB 0.999
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: 0.136 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/Ipopt/Current form 1.13 M allocs: 0.211 GB 1.13 M allocs: 0.211 GB 1
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 1.13 M allocs: 0.21 GB 1.13 M allocs: 0.21 GB 1
CASE STUDIES/StateEstimator/CSTR/MovingHorizonEstimator/OSQP/Prediction form 1.07 M allocs: 0.134 GB 1.07 M allocs: 0.134 GB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form 0.0691 M allocs: 12.1 MB 0.0691 M allocs: 12.1 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Current form (Hessian) 0.0682 M allocs: 12 MB 0.0682 M allocs: 12 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form 0.0521 M allocs: 8.54 MB 0.0521 M allocs: 8.54 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/Ipopt/Prediction form (Hessian) 0.0684 M allocs: 12.1 MB 0.0684 M allocs: 12.1 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Current form (Hessian) 0.0902 M allocs: 16 MB 0.0902 M allocs: 16 MB 1
CASE STUDIES/StateEstimator/Pendulum/MovingHorizonEstimator/MadNLP/Prediction form (Hessian) 0.0851 M allocs: 14.7 MB 0.0851 M allocs: 14.7 MB 1
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 0.326 k allocs: 15.6 kB 1.01
UNIT TESTS/PredictiveController/LinMPC/moveinput!/MultipleShooting 0.994 k allocs: 25.5 kB 1.62 k allocs: 0.0403 MB 0.618
UNIT TESTS/PredictiveController/LinMPC/moveinput!/SingleShooting 0.088 k allocs: 2.23 kB 0.114 k allocs: 2.98 kB 0.749
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/LinModel 0.482 k allocs: 0.0604 MB 0.408 k allocs: 0.0579 MB 1.04
UNIT TESTS/PredictiveController/NonLinMPC/getinfo!/NonLinModel 0.614 k allocs: 0.0785 MB 0.571 k allocs: 0.077 MB 1.02
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/MultipleShooting 1.89 k allocs: 0.11 MB 1.79 k allocs: 0.105 MB 1.05
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/LinModel/SingleShooting 0.431 k allocs: 18.1 kB 0.254 k allocs: 10.1 kB 1.79
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShooting 2.29 k allocs: 0.143 MB 7.9 k allocs: 0.652 MB 0.219
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/MultipleShootingHessian 2.88 k allocs: 0.198 MB 8.48 k allocs: 0.707 MB 0.28
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocation 3.78 k allocs: 0.22 MB 16.9 k allocs: 1.1 MB 0.2
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/OrthogonalCollocationHessian 7.62 k allocs: 0.681 MB 0.056 M allocs: 5.43 MB 0.126
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShooting 0.333 k allocs: 0.0473 MB 0.957 k allocs: 0.233 MB 0.203
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/SingleShootingHessian 0.333 k allocs: 0.0473 MB 0.957 k allocs: 0.233 MB 0.203
UNIT TESTS/PredictiveController/NonLinMPC/moveinput!/NonLinModel/TrapezoidalCollocation 1.45 k allocs: 0.0898 MB 5.94 k allocs: 0.432 MB 0.208
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/Constant arr. cov. 0.158 M allocs: 0.117 GB 0.158 M allocs: 0.117 GB 1
UNIT TESTS/StateEstimator/MovingHorizonEstimator/preparestate!/LinModel/Current form 0.158 M allocs: 0.115 GB 0.158 M allocs: 0.114 GB 1.01
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/Constant arr. cov. 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
changed: not necessary to set bounds at each time step
cf13b92 
I just modify them on `setconstraint!` calls
@franckgaga franckgaga closed this Jun 19, 2026
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@franckgaga @codecov-commenter