Run benchmarks with Ipopt 3.14.17 (#663)

README.md

@@ -93,8 +93,8 @@ Generated by [tools/generate-scalability-results.sh](https://github.com/Sleipnir
 The following thirdparty software was used in the benchmarks:
 
 * CasADi 3.6.7 (autodiff and NLP solver frontend)
-* Ipopt 3.14.16 (NLP solver backend)
-* MUMPS 5.7.0 (linear solver)
+* Ipopt 3.14.17 (NLP solver backend)
+* MUMPS 5.7.3 (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)
-100,41.523,1845.5
-150,66.571,3654.27
-200,96.399,4777.22
-250,134.222,7152.82
-300,178.536,9550.88
+100,47.153,1914.93
+150,64.018,3802.23
+200,96.311,4964.47
+250,131.245,7329.57
+300,174.603,9585.46

cart-pole-scalability-results-sleipnir.csv

@@ -1,6 +1,6 @@
 Samples,Setup time (ms),Solve time (ms)
-100,3.943,587.778
-150,1.201,1775.05
-200,1.601,2690.66
-250,2.472,3877.39
-300,3.11,5177.69
+100,2.002,475.82
+150,1.116,1464.44
+200,1.553,2476.12
+250,2.016,3191.24
+300,3.198,4993

flywheel-scalability-results-casadi.csv

@@ -1,15 +1,15 @@
 Samples,Setup time (ms),Solve time (ms)
-100,2.627,39.004
-200,3.734,32.777
-300,5.5,51.845
-400,7.462,71.102
-500,9.127,92.331
-600,10.9,120.477
-700,12.644,131.438
-800,16.365,145.515
-900,18.325,168.521
-1000,20.555,207.737
-2000,39.378,530.821
-3000,58.111,972.038
-4000,77.53,1487.41
-5000,95.605,2082.94
+100,2.896,25.332
+200,3.603,38.506
+300,5.34,55.479
+400,7.125,76.048
+500,8.748,102.399
+600,10.528,123.726
+700,12.087,145.943
+800,14.18,167.021
+900,17.655,190.359
+1000,19.321,217.394
+2000,36.311,542.894
+3000,55.684,1041.77
+4000,74.973,1566.55
+5000,91.793,2192.74

flywheel-scalability-results-sleipnir.csv

@@ -1,15 +1,15 @@
 Samples,Setup time (ms),Solve time (ms)
-100,0.267,2.18
-200,0.115,4.305
-300,0.166,6.45
-400,0.217,9.12
-500,0.281,12.003
-600,0.359,19.209
-700,0.383,18.082
-800,0.448,21.112
-900,0.63,24.82
-1000,0.566,29.85
-2000,1.544,70.348
-3000,1.945,149.286
-4000,3.692,200.443
-5000,4.021,353.937
+100,0.246,2.175
+200,0.103,4.39
+300,0.157,9.2
+400,0.225,10.752
+500,0.299,15.764
+600,0.365,21.53
+700,0.44,20.887
+800,0.562,24.153
+900,0.523,28.516
+1000,0.615,31.44
+2000,1.515,68.652
+3000,1.943,137.328
+4000,2.887,227.069
+5000,3.902,296.625