"casadi::Function solver = casadi::nlpsol("solver", "ipopt", nlp);" Does someone figure out that this line of code cosume too much time?

[Wang-Peng-debug]

Take a look at the first pic! The line of code "casadi::Function solver = casadi::nlpsol("solver", "ipopt", nlp)" consumes 33.418 ms, which nearly gets close to the time of solving the actual optimized problem (See the 2nd pic, it costs only 42 ms, which corresponds to the code "casadi::DMDict res = solver(arg)" ). This made me confused, and I don't think there is ought to cost so much time on the code as the title shows, and are there any approaches to get it decreased?

[maniok098]

That's the time taken by CasADi's symbolic graph construction, you might rather check their doc or wiki.

[Wang-Peng-debug]

Got it!!! So are there any ways that can improve the efficiency of execution for this part of code?