Merge branch 'main' into getinfo_deriv

Author: franckgaga

.github/workflows/CI.yml

@@ -34,7 +34,7 @@ jobs:
       - name: Set JULIA_DEBUG environment variable if applicable
         if: ${{ runner.debug == '1' }}
         run: echo "JULIA_DEBUG=ModelPredictiveControl" >> $GITHUB_ENV
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
       - uses: julia-actions/setup-julia@v2
         with:
           version: ${{ matrix.version }}

.github/workflows/DocCleanup.yml

@@ -9,7 +9,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout gh-pages branch
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
         with:
           ref: gh-pages
 

.github/workflows/documentation.yml

@@ -13,7 +13,7 @@ jobs:
       contents: write
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
       - uses: julia-actions/setup-julia@v2
         with:
           version: '1'

benchmark/2_bench_state_estim.jl

@@ -172,6 +172,12 @@ UNIT_ESTIM["MovingHorizonEstimator"]["updatestate!"]["LinModel"]["Prediction for
         setup=preparestate!($mhe_lin_pred, $y, $d),
         samples=samples, evals=evals, seconds=seconds,
     )
+UNIT_ESTIM["MovingHorizonEstimator"]["getinfo!"]["LinModel"] =
+    @benchmarkable(
+        getinfo($mhe_lin_curr),
+        setup=preparestate!($mhe_lin_curr, $y, $d),
+        samples=samples, evals=evals, seconds=seconds,
+    )
 UNIT_ESTIM["MovingHorizonEstimator"]["preparestate!"]["NonLinModel"]["Current form"] =
     @benchmarkable(
         preparestate!($mhe_nonlin_curr, $y, $d),
@@ -193,7 +199,13 @@ UNIT_ESTIM["MovingHorizonEstimator"]["updatestate!"]["NonLinModel"]["Prediction
         updatestate!($mhe_nonlin_pred, $u, $y, $d),
         setup=preparestate!($mhe_nonlin_pred, $y, $d),
         samples=samples, evals=evals, seconds=seconds,
-    ) 
+    )
+UNIT_ESTIM["MovingHorizonEstimator"]["getinfo!"]["NonLinModel"] =
+    @benchmarkable(
+        getinfo($mhe_nonlin_curr),
+        setup=preparestate!($mhe_nonlin_curr, $y, $d),
+        samples=samples, evals=evals, seconds=seconds,
+    )
 
 ## ----------------------------------------------------------------------------------------
 ## ----------------- CASE STUDIES ---------------------------------------------------------

benchmark/3_bench_predictive_control.jl

@@ -25,6 +25,12 @@ UNIT_MPC["LinMPC"]["moveinput!"]["MultipleShooting"] =
         setup=preparestate!($linmpc_ms, $y, $d),
         samples=samples, evals=evals, seconds=seconds
     )
+UNIT_MPC["LinMPC"]["getinfo!"] =
+    @benchmarkable(
+        getinfo($linmpc_ss),
+        setup=(preparestate!($linmpc_ss, $y, $d); moveinput!($linmpc_ss, $y, $d)),
+        samples=samples, evals=evals, seconds=seconds
+    )
 
 empc = ExplicitMPC(linmodel, Mwt=[1, 1], Nwt=[0.1, 0.1], Lwt=[0.1, 0.1], Hp=10)
 
@@ -76,6 +82,12 @@ UNIT_MPC["NonLinMPC"]["moveinput!"]["LinModel"]["MultipleShooting"] =
         setup=preparestate!($nmpc_lin_ms, $y, $d),
         samples=samples, evals=evals, seconds=seconds
     )
+UNIT_MPC["NonLinMPC"]["getinfo!"]["LinModel"] =
+    @benchmarkable(
+        getinfo($nmpc_lin_ss),
+        setup=(preparestate!($nmpc_lin_ss, $y, $d); moveinput!($nmpc_lin_ss, $y, $d)),
+        samples=samples, evals=evals, seconds=seconds
+    )
 UNIT_MPC["NonLinMPC"]["moveinput!"]["NonLinModel"]["SingleShooting"] =
     @benchmarkable(
         moveinput!($nmpc_nonlin_ss, $y, $d),
@@ -106,6 +118,12 @@ UNIT_MPC["NonLinMPC"]["moveinput!"]["NonLinModel"]["TrapezoidalCollocation"] =
         setup=preparestate!($nmpc_nonlin_tc, $y_c, $d_c),
         samples=samples, evals=evals, seconds=seconds
     )
+UNIT_MPC["NonLinMPC"]["getinfo!"]["NonLinModel"] =
+    @benchmarkable(
+        getinfo($nmpc_nonlin_ss),
+        setup=(preparestate!($nmpc_nonlin_ss, $y, $d); moveinput!($nmpc_nonlin_ss, $y, $d)),
+        samples=samples, evals=evals, seconds=seconds
+    )
 
 ## ----------------------------------------------------------------------------------------
 ## ---------------------- CASE STUDIES ----------------------------------------------------