{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/316","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/316/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/316/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/316/events","html_url":"https://github.com/RobotLocomotion/drake/issues/316","id":40615775,"number":316,"title":"add support for IPOPT in optimization problem","user":{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars.githubusercontent.com/u/6314000?v=3","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/priority:%20trivial","name":"priority: trivial","color":"e99695"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/team:%20optimization","name":"team: optimization","color":"0052cc"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20cleanup","name":"type: cleanup","color":"009800"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20feature%20request","name":"type: feature request","color":"0e8a16"}],"state":"open","locked":false,"assignee":{"login":"ggould-tri","id":17596413,"avatar_url":"https://avatars.githubusercontent.com/u/17596413?v=3","gravatar_id":"","url":"https://api.github.com/users/ggould-tri","html_url":"https://github.com/ggould-tri","followers_url":"https://api.github.com/users/ggould-tri/followers","following_url":"https://api.github.com/users/ggould-tri/following{/other_user}","gists_url":"https://api.github.com/users/ggould-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/ggould-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ggould-tri/subscriptions","organizations_url":"https://api.github.com/users/ggould-tri/orgs","repos_url":"https://api.github.com/users/ggould-tri/repos","events_url":"https://api.github.com/users/ggould-tri/events{/privacy}","received_events_url":"https://api.github.com/users/ggould-tri/received_events","type":"User","site_admin":false},"milestone":null,"comments":6,"created_at":"2014-08-19T17:31:22Z","updated_at":"2016-05-01T05:00:39Z","closed_at":null,"body":"Currently Ipopt with Mumps solver is slower than SNOPT and fmincon on small size problems. Should add test of Ipopt for problems with different sizes. Add try different linear solvers for Ipopt."},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/216016615","html_url":"https://github.com/RobotLocomotion/drake/issues/316#issuecomment-216016615","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/316","id":216016615,"user":{"login":"chrisdembia","id":846001,"avatar_url":"https://avatars.githubusercontent.com/u/846001?v=3","gravatar_id":"","url":"https://api.github.com/users/chrisdembia","html_url":"https://github.com/chrisdembia","followers_url":"https://api.github.com/users/chrisdembia/followers","following_url":"https://api.github.com/users/chrisdembia/following{/other_user}","gists_url":"https://api.github.com/users/chrisdembia/gists{/gist_id}","starred_url":"https://api.github.com/users/chrisdembia/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/chrisdembia/subscriptions","organizations_url":"https://api.github.com/users/chrisdembia/orgs","repos_url":"https://api.github.com/users/chrisdembia/repos","events_url":"https://api.github.com/users/chrisdembia/events{/privacy}","received_events_url":"https://api.github.com/users/chrisdembia/received_events","type":"User","site_admin":false},"created_at":"2016-05-01T05:00:39Z","updated_at":"2016-05-01T05:00:39Z","body":"> @chrisdembia, I know you ported a newer version of IpOpt to Simbody recently -- were you able to build it on Windows?\r\n\r\nYou are correct; I did not try building that newer version of IpOpt on Windows. It seems like the issue is that IpOpt does not use CMake? [This website](https://projects.coin-or.org/MSVisualStudio) says COIN-OR provides Visual Studio solution files for a number of its projects, but not for IpOpt.\r\n\r\nSome other notes about IpOpt:\r\n- Anil Rao at University of Florida (GPOPS-II) has said that there is no clear winner between IpOpt and SNOPT with GPOPS-II (that it depends on the problem).\r\n- IpOpt support for MATLAB seems to be dwindling, particularly for newer versions of MATLAB where something about the mex process has changed. This doesn't matter much if you use IpOpt through C++ and provide your own interface/wrapper for MATLAB.\r\n\r\n\r\n"}}