OCPSolver cart-pole test fails with "locally infeasible"

[calcmogul]

This could either be:

1. a precision issue
2. another bug
3. something a more robust feasibility restoration phase would address
4. the problem may be truly infeasible

Pursuant to option 4, Choreo puts a lot of work into choosing the right number of control intervals and constructing a good initial guess for its minimum-time problem, while OCPSolver does not.