*Preliminaries
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Install IPOPT. a. Download IPOPT 3.12.4 from http://www.coin-or.org/download/source/Ipopt/. b. Follow instruction "Getting the IPOPT code as a tarball" in http://www.coin-or.org/Ipopt/documentation/node12.html. c. Follow instruction in http://www.coin-or.org/Ipopt/documentation/node13.html to install ASL, BLAS, LAPACK, HSL, and METIS.
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Install dart-modified from https://github.com/robinzhoucmu/dart_modified.