commit 12e6127821515e0dec956a7e288fdc205787f97e
Author: Benjamin Chrétien <chretien@lirmm.fr>
Date:   Thu Jun 19 12:55:53 2014 +0200

    FindIPOPT.cmake: fix libraries.
    
    This may also solve #153 by linking with Ipopt's dependencies, i.e.
    the libraries described in your ipopt.pc (possibly COIN HSL, BLAS,
    Lapack, etc.).

diff --git a/cmake/FindIPOPT.cmake b/cmake/FindIPOPT.cmake
index ebfebd3..766fa4f 100644
--- a/cmake/FindIPOPT.cmake
+++ b/cmake/FindIPOPT.cmake
@@ -17,7 +17,7 @@ find_path(IPOPT_INCLUDE_DIR IpIpoptNLP.hpp
 find_library(IPOPT_LIBRARY NAMES ipopt
              HINTS ${PC_IPOPT_LIBDIR} ${PC_IPOPT_LIBRARY_DIRS} )
 
-set(IPOPT_LIBRARIES ${IPOPT_LIBRARY})
+set(IPOPT_LIBRARIES ${PC_IPOPT_LIBRARIES})
 set(IPOPT_INCLUDE_DIRS ${IPOPT_INCLUDE_DIR})
 
 include(FindPackageHandleStandardArgs)
diff --git a/dart/optimizer/ipopt/IpoptSolver.cpp b/dart/optimizer/ipopt/IpoptSolver.cpp
index 8c53d44..edc17a1 100644
--- a/dart/optimizer/ipopt/IpoptSolver.cpp
+++ b/dart/optimizer/ipopt/IpoptSolver.cpp
@@ -63,6 +63,7 @@ IpoptSolver::IpoptSolver(Problem* _problem)
   mIpoptApp->Options()->SetNumericValue("tol", 1e-9);
   mIpoptApp->Options()->SetStringValue("mu_strategy", "adaptive");
   mIpoptApp->Options()->SetStringValue("output_file", "ipopt.out");
+  mIpoptApp->Options()->SetStringValue("hessian_approximation", "limited-memory");
 
   // Intialize the IpoptApplication and process the options
   Ipopt::ApplicationReturnStatus status = mIpoptApp->Initialize();