Merge f54c47a into b3c8b0f

Author: franckgaga

.github/workflows/Benchmark.yml

@@ -31,7 +31,7 @@ jobs:
             ${{ runner.os }}-test-
             ${{ runner.os }}-
       - name: Install dependencies
-        run: julia -e 'using Pkg; pkg"add JSON PkgBenchmark BenchmarkCI@0.1"'
+        run: julia -e 'using Pkg; Pkg.add(["JSON", "PkgBenchmark", "BenchmarkCI"])'
       - name: Run benchmarks
         run: julia benchmark/run_benchmarks.jl
         env:

benchmark/Project.toml

@@ -1,5 +1,6 @@
 [deps]
 BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
+ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
 DAQP = "c47d62df-3981-49c8-9651-128b1cd08617"
 FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
 Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"

benchmark/benchmarks.jl

@@ -1,8 +1,30 @@
 using BenchmarkTools
-using Random
+
+using ModelPredictiveControl, ControlSystemsBase
+Ts = 400.0
+sys = [ tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1]);
+        tf(-0.74,[800.0,1])   tf(0.74,[800.0,1])    tf(-0.74,[800.0,1])   ] 
+linmodel = setop!(LinModel(sys, Ts, i_d=[3]), uop=[10,50], yop=[50,30], dop=[5])
+u, d = [10, 50], [5]
 
 const SUITE = BenchmarkGroup()
 
+## ================== SimModel benchmarks =========================================
+SUITE["SimModel"]["allocation"] = BenchmarkGroup(["allocation"])
+SUITE["SimModel"]["allocation"]["updatestate!"] = @benchmarkable(
+    updatestate!($linmodel, $u, $d),
+    samples=1
+)
+SUITE["SimModel"]["allocation"]["evaloutput"] = @benchmarkable(
+    evaloutput($linmodel, $d),
+    samples=1
+)
+
+## ================== StateEstimator benchmarks ================================
+
+
+
+#=
 SUITE["utf8"] = BenchmarkGroup(["string", "unicode"])
 teststr = String(join(rand(MersenneTwister(1), 'a':'d', 10^4)))
 SUITE["utf8"]["replace"] = @benchmarkable replace($teststr, "a" => "b")
@@ -16,10 +38,4 @@ for f in (sin, cos, tan)
         SUITE["trigonometry"]["circular"][string(f), x] = @benchmarkable ($f)($x)
     end
 end
-
-SUITE["trigonometry"]["hyperbolic"] = BenchmarkGroup()
-for f in (sin, cos, tan)
-    for x in (0.0, pi)
-        SUITE["trigonometry"]["hyperbolic"][string(f), x] = @benchmarkable ($f)($x)
-    end
-end
+=#