Get structured IPOPT output, render in Jupyter/console/etc.

[dangunter]

IPOPT output is currently plain text. A structured output option would simplify more sophisticated rendering by IDAES on solves. Things it could include:

• iterations
• time in solver
• time in NLP evaluations
• solver status (already returned)
• regularization at the solution (indicator of potential problem)

[dangunter]

Previous comments from @andrewlee94

I think one thing we will want is more graduated output - at the moment it is close to all-or-nothing. A high level overview/summary would probably be valuable (e.g. number of iterations, time, solver status, number of iterations with regularization/restoration), but it would also be good to be able to display the full output for those who can understand it.

Another thing that would be useful is more detailed error messages in some cases (or a pointer to a more detailed response). The case that comes to mind is "converged to a region of local infeasibility" - for a lower level user that is not really informative on what happened and how they should go about fixing it. That said, it is hard to give good answers on these, and this leads to the discussion on better diagnostics overall.