###  Pendulum_rk3_foh  ###

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

Objective
----------
	 tf: 3.0
	 x0: [0.0, 0.0]
	 xf: [3.14159, 0.0]
	 Q: [0.001, 0.001]
	 R: [0.01]

Solver Settings
-----------------
	 dt: 0.01
	 N: 301
	 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)   | 3.134683                  | 1.659148249              
DIRCOL runtime (sec) | 33.663264777              | 22.494358891             
iLQR cost            | 0.14030243761278446       | 0.05902656237679708      
DIRCOL cost          | 0.1403091832460199        | 0.059026132883495716     
iLQR iterations      | 59                        | 28                       
DIRCOL iterations    | 1187                      | 1147                     
Max error            | 0.0024060111367716353     | 0.006001418828294192     
Norm error           | 0.02254662040342973       | 0.043631279990631135     
