Run benchmarks with Ipopt 3.14.16

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 3.14.15 (NLP solver backend)
+* Ipopt 3.14.16 (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)
-100,46.736,3082.27
-150,76.413,6163.77
-200,115.065,8106.96
-250,158.815,11980.1
-300,203.278,15746.4
+100,47.72,3088.15
+150,77.854,6175.69
+200,114.692,8176.97
+250,157.754,11984.8
+300,205.333,15682.4

cart-pole-scalability-results-sleipnir.csv

@@ -1,6 +1,6 @@
 Samples,Setup time (ms),Solve time (ms)
-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
+100,2.558,394.263
+150,2.316,1277.2
+200,3.379,2007.94
+250,4.445,2741.36
+300,7.189,4423.98

flywheel-scalability-results-casadi.csv

@@ -1,15 +1,15 @@
 Samples,Setup time (ms),Solve time (ms)
-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
+100,2.939,23.515
+200,3.877,36.003
+300,5.808,54.779
+400,7.803,73.784
+500,9.506,91.951
+600,11.503,117.461
+700,13.316,130.476
+800,15.215,155.234
+900,19.151,172.177
+1000,20.879,193.57
+2000,39.607,496.884
+3000,58.704,913.504
+4000,78.349,1414.12
+5000,97.775,1956.69

flywheel-scalability-results-sleipnir.csv

@@ -1,15 +1,15 @@
 Samples,Setup time (ms),Solve time (ms)
-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
+100,0.317,3.26
+200,0.234,6.755
+300,0.34,7.482
+400,0.446,10.22
+500,0.576,13.794
+600,0.688,18.652
+700,0.795,19.068
+800,0.906,21.99
+900,1.216,25.897
+1000,1.147,28.901
+2000,2.993,72.357
+3000,5.164,129.113
+4000,7.902,209.395
+5000,11.478,299.105