###  Pendulum (Constrained)_rk3_foh  ###

Model Props
-----------
	 n: 2
	 m: 1
	 inplace dynamics?: true

Objective
----------
	 tf: 5.0
	 x0: [0.0, 0.0]
	 xf: [3.14159, 0.0]
	 Q: [0.001, 0.001]
	 R: [0.1]

Solver Settings
-----------------
	 dt: 0.030120481927710843
	 N: 167
	 integration: rk3_foh
	 final tolerance: 1.0e-8
	 intermediate tolerance: 1.0e-6
	 constraint tolerance: 1.0e-8

Stat                 | iLQR → DIRCOL             | DIRCOL → iLQR            
-------------------------------------------------------------------------------
iLQR runtime (sec)   | 3.061342379               | 0.625933726              
DIRCOL runtime (sec) | 42.118690216              | 92.596975997             
iLQR cost            | 0.29030626432920026       | 0.2903046894096502       
DIRCOL cost          | 0.2901106889488483        | 0.29011068894917896      
iLQR iterations      | 103                       | 25                       
DIRCOL iterations    | 528                       | 1012                     
Max error            | 0.07229312220675777       | 0.006016006948087682     
Norm error           | 0.46214923518581735       | 0.037022518382025776     
