[Ipopt] Hessian, gradient, and objective function have common terms

[R zu]

Hi.

- The hessian, gradient, and objective function have some common terms.
- The common terms depends on the variables of the objective function.

I calculate each common terms for three times because I need the term for
Hessian, gradient, and objective function.

Is it possible to only calculate each common term for only once in each
step of optimization?

Thank you.
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