###  Cartpole_midpoint  ###

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: midpoint
	 final tolerance: 1.0e-8
	 intermediate tolerance: 0.0001
	 constraint tolerance: 1.0e-6

Stat                 | iLQR → DIRCOL             | DIRCOL → iLQR            
-------------------------------------------------------------------------------
iLQR runtime (sec)   | 11.360019328              | 2.543026022              
DIRCOL runtime (sec) | 105.801125473             | 107.149080278            
iLQR cost            | 1.343445315655657         | 1.3430036394673115       
DIRCOL cost          | 1.343728684387679         | 1.3437286843860976       
iLQR iterations      | 314                       | 41                       
DIRCOL iterations    | 1365                      | 1310                     
Max error            | 0.2761830254494697        | 0.07313846155091941      
Norm error           | 1.8049496101465292        | 0.47293773463577565      
