op_limit', {1e-2, 'R', [0, 1]}, ...  % TOL_DIR
%       'unc_solver', {0, 'M', [0, 1, 2, 3, 4, 5]}, ... % solver
%       'unc_linesearch', {3, 'M', [0, 1, 2, 3]}, ...   % linesearch
%       ... % from eqconstr_min.m
%       'eq_dir_stop_limit', {1e-2, 'R', [0, 1]}, ...   % TOL_DIR
%       'eq_solver', {0, 'M', [0, 1]}, ...              % solver
%       'eq_linesearch', {3, 'M', [0, 1, 2, 3]}, ...    % linesearch
%       'eq_solver_warn_max', {4, 'I', [0, 10]}, ...    % solver_warn_max
%       'ls_sho