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이것은 초기 버전 사용자는 일반적인 방법으로 최적화 문제를 선언하거나, Ipopt 또는 CFSQP를 통해 해결할 수있다 (2 비선형 해법).
This initial version allows the user to declare an optimization problem in a generic way and solve it either through Ipopt or CFSQP (two non-linear solvers).
