Run benchmarks with Ipopt 3.14.15 (#499)

README.md

@@ -82,7 +82,7 @@ Sleipnir's internals are intended to be readable by those who aren't domain expe
 Generated by [tools/generate-scalability-results.sh](https://github.com/SleipnirGroup/Sleipnir/tree/main/tools/generate-scalability-results.sh) from [benchmarks/scalability](https://github.com/SleipnirGroup/Sleipnir/tree/main/benchmarks/scalability) source on a AMD Ryzen 7 7840U with 64 GB RAM. The following thirdparty software was used in the benchmarks:
 
 * CasADi 3.6.5 (autodiff and NLP solver frontend)
-* Ipopt 3.14.14 (NLP solver backend)
+* Ipopt 3.14.15 (NLP solver backend)
 * MUMPS 5.6.2 (linear solver)
 
 Ipopt uses MUMPS by default because it has free licensing. Commercial linear solvers may be much faster.

cart-pole-scalability-results-casadi.csv

@@ -1,6 +1,6 @@
 Samples,Setup time (ms),Solve time (ms)
-100,44.521,2967.72
-150,72.206,5986.03
-200,106.767,7886.87
-250,146.977,11747.5
-300,191.839,15502
+100,46.736,3082.27
+150,76.413,6163.77
+200,115.065,8106.96
+250,158.815,11980.1
+300,203.278,15746.4

cart-pole-scalability-results-sleipnir.csv

@@ -1,6 +1,6 @@
 Samples,Setup time (ms),Solve time (ms)
-100,1.749,393.2
-150,2.567,1178.14
-200,3.188,1988.87
-250,4.335,2565.22
-300,5.013,3992.08
+100,2.698,425.672
+150,2.333,1257.28
+200,3.562,2071.23
+250,4.745,2721.89
+300,5.89,4527.23

flywheel-scalability-results-casadi.csv

@@ -1,15 +1,15 @@
 Samples,Setup time (ms),Solve time (ms)
-100,2.921,40.957
-200,3.584,36.618
-300,5.399,49.141
-400,7.227,67.766
-500,8.866,86
-600,10.915,107.767
-700,12.51,128.222
-800,14.278,142.356
-900,17.551,158.208
-1000,19.383,182.792
-2000,37.073,458.765
-3000,54.822,844.072
-4000,71.385,1285.4
-5000,93.852,1807.2
+100,2.852,23.81
+200,3.882,35.072
+300,5.625,52.493
+400,7.568,71.563
+500,9.307,91.045
+600,11.332,115.449
+700,13.125,135.273
+800,15.048,152.377
+900,18.48,169.011
+1000,19.194,192.937
+2000,39.087,483.476
+3000,58.936,890.993
+4000,76.806,1358.2
+5000,96.013,1898.92

flywheel-scalability-results-sleipnir.csv

@@ -1,15 +1,15 @@
 Samples,Setup time (ms),Solve time (ms)
-100,0.41,2.176
-200,0.197,4.434
-300,0.364,7.192
-400,0.409,9.251
-500,0.612,11.888
-600,0.777,18.431
-700,0.995,16.604
-800,1.223,19.458
-900,1.467,21.204
-1000,1.529,25.541
-2000,3.546,53.567
-3000,6.373,95.543
-4000,9.679,152.886
-5000,13.784,226.464
+100,0.326,2.623
+200,0.243,5.207
+300,0.347,7.858
+400,0.461,11.084
+500,0.571,18.606
+600,0.901,19.872
+700,0.855,20.777
+800,0.98,23.736
+900,1.009,26.267
+1000,1.166,30.388
+2000,3.105,73.757
+3000,4.495,129.808
+4000,7.64,200.303
+5000,11.852,301.73