###  Pendulum_midpoint  ###

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

Stat                 | iLQR → DIRCOL             | DIRCOL → iLQR            
-------------------------------------------------------------------------------
iLQR runtime (sec)   | 2.40251444                | 0.666589603              
DIRCOL runtime (sec) | 38.385566984              | 20.697192912             
iLQR cost            | 0.056327065528970016      | 0.0590506272905777       
DIRCOL cost          | 0.05633856658988448       | 0.05906407709845608      
iLQR iterations      | 110                       | 24                       
DIRCOL iterations    | 1201                      | 1163                     
Max error            | 0.11620098848075777       | 0.009828766206468664     
Norm error           | 0.9186160478435178        | 0.06837456059447597      
