###  Cartpole_rk3_foh  ###

Model Props
-----------
	 n: 4
	 m: 1
	 inplace dynamics?: true

Objective
----------
	 tf: 2.0
	 x0: [0.0, 0.0, 0.0, 0.0]
	 xf: [0.5, 3.14159, 0.0, 0.0]
	 Q: [0.01, 0.01, 0.01, 0.01]
	 R: [0.01]

Solver Settings
-----------------
	 dt: 0.01
	 N: 201
	 integration: rk3_foh
	 final tolerance: 1.0e-8
	 intermediate tolerance: 0.0001
	 constraint tolerance: 1.0e-6

Stat                 | iLQR → DIRCOL             | DIRCOL → iLQR            
-------------------------------------------------------------------------------
iLQR runtime (sec)   | 6.224216827               | 6.45690381               
DIRCOL runtime (sec) | 181.560488623             | 179.806502857            
iLQR cost            | 1.3427835168951454        | 1.3427835197809292       
DIRCOL cost          | 1.3429420170356001        | 1.3429420170348338       
iLQR iterations      | 79                        | 99                       
DIRCOL iterations    | 1377                      | 1323                     
Max error            | 0.008297743124805912      | 0.00838898341897032      
Norm error           | 0.06064341260118077       | 0.06118321462882014      
