###  Pendulum (Constrained)_midpoint  ###

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

Stat                 | iLQR → DIRCOL             | DIRCOL → iLQR            
-------------------------------------------------------------------------------
iLQR runtime (sec)   | 3.202971971               | 0.664020657              
DIRCOL runtime (sec) | 45.696879511              | 29.821603566             
iLQR cost            | 0.2900299314060702        | 0.29003075641515497      
DIRCOL cost          | 0.29080760668610606       | 0.2908076066811141       
iLQR iterations      | 267                       | 40                       
DIRCOL iterations    | 580                       | 1003                     
Max error            | 0.0954482900835556        | 0.06467556371061711      
Norm error           | 0.5463886450084762        | 0.38405852331280516      
