Hi guys,

first of all thank you very much for sharing such a useful tool!

I wanted to ask you how I should interpret the timing output. On one example I got:

time_tot: 0.00452284 # total cpu time previous call

time_lin: 0.000916956 # cpu time for linearization

time_sim: 0.0007608240000000002 # cpu time for integrator

time_sim_ad: 0.0007382460000000001 # cpu time for integrator contribution of external function calls

time_sim_la: 0.0 # cpu time for integrator contribution of linear algebra

time_qp: 0.003321902 # cpu time qp solution

time_qp_solver_call: 0.003229635 # cpu time inside qp solver (without converting the QP)

time_qp_xcond: 8.934899999999999e-05

time_reg: 2.93e-07 # cpu time regularization

Since many of these times are not even approximately the sum of the others, I am not sure what they refer to. I also reported some comments I found in the python interface. However, what is the difference between the integrator and linearization time?

Does linearization mean integrator + system dynamics linearization + cost linearization + constraint linearization + Lagrangian Hessian computation?

Does time_sim_ad mean integrator minus the system dynamics linearization (and, eventually, Hessian computation)?