Jormungandr cart-pole test reports infeasible

[Glaycia]

Copied the file jormungandr/test/optimization/cart_pole_problem_test.py, removed the asserts and then just ran test_direct_transcription() as main.

Threw error error: numpy method __call__, ufunc <ufunc 'matmul'> not implemented for VariableBlock

[calcmogul]

We may need to apply the VariableMatrix binding change in #263 to VariableBlock as well.

[calcmogul]

The original issue has been resolved, but the cart-pole problem solve still fails.

The cost function is quadratic.
The equality constraints are nonlinear.
The inequality constraints are linear.

Number of decision variables: 504
Number of equality constraints: 408
Number of inequality constraints: 402

Error tolerance: 1e-08

iter    time (ms)       error               cost        infeasibility
======================================================================
   0     39.844              nan     -5.342556e+01                nan

Solve time: 46.223 ms
  ↳ 6.369 ms (IPM setup)
  ↳ 39.854 ms (1 IPM iterations; 39.854 ms average)

autodiff  setup (ms)  avg solve (ms)  solves
============================================
   ∇f(x)       0.016           0.006       2
   ∇²ₓₓL       0.758           0.602       2
  ∂cₑ/∂x       0.925           0.565       2
  ∂cᵢ/∂x       0.066               0       0

Exit condition: solved to desired tolerance

[calcmogul]

Now the Python test reports infeasible (see below). Note that the C++ test finds the correct solution in 113 iterations.

The cost function is quadratic.
The equality constraints are nonlinear.
The inequality constraints are linear.

Number of decision variables: 504
Number of equality constraints: 408
Number of inequality constraints: 402

Error tolerance: 1e-08

iter   time (ms)      error          cost       infeasibility
=============================================================
   0       2.352   1.802871e+00   0.000000e+00   4.912584e+00
   1       2.263   1.000948e-01   0.000000e+00   4.141593e+00
   2       2.258   3.098117e-02   0.000000e+00   4.141593e+00
   3       2.219   3.104221e-02   0.000000e+00   4.141593e+00
iter   time (ms)      error          cost       infeasibility
=============================================================
   0r      3.709   1.998022e+01  -1.648905e+06   5.864412e+03
   1r      3.287   1.174917e+01  -9.695537e+05   3.448510e+03
   2r      3.272   3.928488e+00  -3.216111e+05   1.153054e+03
   3r      3.261   4.750322e-01  -3.512783e+04   1.394271e+02
   4r      3.262   1.645289e-01  -9.441205e+03   4.829104e+01
   5r      3.251   5.652256e-02  -5.220497e+02   1.658999e+01
   6r      3.270   9.720567e-03   3.342871e+03   2.853093e+00
   7r      3.268   3.534465e-04   4.112756e+03   1.037404e-01
   8r      3.258   4.086055e-06   4.141262e+03   1.199302e-03
   9r      3.226   6.818949e-09   4.141592e+03   2.001436e-06

Solve time: 100.768 ms
  ↳ 4.097 ms (solver setup)
  ↳ 96.670 ms (4 solver iterations; 24.168 ms average)

autodiff   setup (ms)   avg solve (ms)   solves
===============================================
 ∇f(x)          0.006            0.006        6
 ∇²ₓₓL          0.451            0.332        5
 ∂cₑ/∂x         0.539            0.351        6
 ∂cᵢ/∂x         0.039            0.000        0

Exit condition: problem is locally infeasible