ilqr
{
    nlocp_algorithm GNMS
    integrator Euler
    useSensitivityIntegrator false
    discretization Forward_euler
    timeVaryingDiscretization false
    dt 0.1
    K_sim 1
    K_shot 1
    epsilon 0
    max_iterations 100
    fixedHessianCorrection false
    recordSmallestEigenvalue false
    min_cost_improvement 1e-5
    maxDefectSum 1e-5
    meritFunctionRho 0.0
    meritFunctionRhoConstraints 0.0
    nThreads 1
    nThreadsEigen 1
    locp_solver HPIPM_SOLVER
    printSummary true
    debugPrint false
    logToMatlab 0   
    
    line_search
    {
        type NONE
        adaptive false
        maxIterations 10
        alpha_0 1.0
        n_alpha 0.5
        debugPrint false
    }

    lqoc_solver_settings
    {
        lqoc_debug_print        false
        num_lqoc_iterations  	50
    }
}