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Add tips & tricks for Ipopt #23

@bchretien

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@bchretien

cc @jorisv

Ipopt is extremely powerful and its RobOptim plugin is probably the most famous one. Still, in order to achieve good performances and provide good results, some Ipopt parameters need to be tweaked. Based on our collective experience, we should provide a set of parameters that should be tested and tuned by RobOptim users, and explain all of this in the Wiki.

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