Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1414 (f2608a495e*) started at 2025-12-28T21:20:40.351 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 7.92s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed ChunkCodecLibZstd ──────────────── v1.0.0 Installed CompositionsBase ───────────────── v0.1.2 Installed CommonWorldInvalidations ───────── v1.0.0 Installed CommonSolve ────────────────────── v0.2.6 Installed MacroTools ─────────────────────── v0.5.16 Installed DiffResults ────────────────────── v1.1.0 Installed DataStructures ─────────────────── v0.19.3 Installed ForwardDiff ────────────────────── v1.3.0 Installed ManualMemory ───────────────────── v0.1.8 Installed Bzip2_jll ──────────────────────── v1.0.9+0 Installed Adapt ──────────────────────────── v4.4.0 Installed FastPower ──────────────────────── v1.2.0 Installed ConstructionBase ───────────────── v1.6.0 Installed FillArrays ─────────────────────── v1.15.0 Installed RuntimeGeneratedFunctions ──────── v0.5.16 Installed JLD2 ───────────────────────────── v0.6.3 Installed TrajectoryIndexingUtils ────────── v0.1.0 Installed BitTwiddlingConvenienceFunctions ─ v0.1.6 Installed CodecZlib ──────────────────────── v0.7.8 Installed ExprTools ──────────────────────── v0.1.10 Installed SIMDTypes ──────────────────────── v0.1.0 Installed ArrayInterface ─────────────────── v7.22.0 Installed TranscodingStreams ─────────────── v0.11.3 Installed SymbolicIndexingInterface ──────── v0.3.46 Installed Compat ─────────────────────────── v4.18.1 Installed HashArrayMappedTries ───────────── v0.2.0 Installed OrderedCollections ─────────────── v1.8.1 Installed IteratorInterfaceExtensions ────── v1.0.0 Installed MUMPS_seq_jll ──────────────────── v500.800.100+0 Installed StrideArraysCore ───────────────── v0.5.8 Installed PreallocationTools ─────────────── v0.4.34 Installed SciMLOperators ─────────────────── v1.14.1 Installed RecipesBase ────────────────────── v1.3.4 Installed EnzymeCore ─────────────────────── v0.8.17 Installed Xorg_libpciaccess_jll ──────────── v0.18.1+0 Installed FunctionWrappersWrappers ───────── v0.1.3 Installed Statistics ─────────────────────── v1.11.1 Installed LazyArrays ─────────────────────── v2.9.4 Installed ExproniconLite ─────────────────── v0.10.14 Installed PrecompileTools ────────────────── v1.3.3 Installed CpuId ──────────────────────────── v0.3.1 Installed ASL_jll ────────────────────────── v0.1.3+0 Installed CommonSubexpressions ───────────── v0.3.1 Installed SciMLStructures ────────────────── v1.7.0 Installed LayoutPointers ─────────────────── v0.1.17 Installed LoggingExtras ──────────────────── v1.2.0 Installed StaticArrays ───────────────────── v1.9.15 Installed ConcreteStructs ────────────────── v0.2.3 Installed FileIO ─────────────────────────── v1.17.1 Installed StaticArraysCore ───────────────── v1.4.4 Installed StructUtils ────────────────────── v2.6.0 Installed GPUArraysCore ──────────────────── v0.2.0 Installed Ipopt_jll ──────────────────────── v300.1400.1900+0 Installed TruncatedStacktraces ───────────── v1.4.0 Installed IrrationalConstants ────────────── v0.2.6 Installed ExponentialAction ──────────────── v0.2.10 Installed StaticArrayInterface ───────────── v1.8.0 Installed ChainRulesCore ─────────────────── v1.26.0 Installed CodecBzip2 ─────────────────────── v0.8.5 Installed AbstractDifferentiation ────────── v0.4.4 Installed CPUSummary ─────────────────────── v0.2.7 Installed NaNMath ────────────────────────── v1.1.3 Installed SciMLPublic ────────────────────── v1.0.0 Installed Requires ───────────────────────── v1.3.1 Installed JSON3 ──────────────────────────── v1.14.3 Installed ArrayLayouts ───────────────────── v1.12.2 Installed OpenSpecFun_jll ────────────────── v0.5.6+0 Installed ChunkCodecLibZlib ──────────────── v1.0.0 Installed FunctionWrappers ───────────────── v1.1.3 Installed DiffRules ──────────────────────── v1.15.1 Installed OpenBLAS32_jll ─────────────────── v0.3.29+0 Installed LogExpFunctions ────────────────── v0.3.29 Installed JSON ───────────────────────────── v1.3.0 Installed FastBroadcast ──────────────────── v0.3.5 Installed Parsers ────────────────────────── v2.8.3 Installed SciMLBase ──────────────────────── v2.130.0 Installed OrdinaryDiffEqCore ─────────────── v2.3.0 Installed Hwloc_jll ──────────────────────── v2.12.2+0 Installed FiniteDiff ─────────────────────── v2.29.0 Installed FastClosures ───────────────────── v0.3.2 Installed TestItemRunner ─────────────────── v1.1.4 Installed ScopedValues ───────────────────── v1.5.0 Installed IfElse ─────────────────────────── v0.1.1 Installed CloseOpenIntervals ─────────────── v0.1.13 Installed Polyester ──────────────────────── v0.7.18 Installed MuladdMacro ────────────────────── v0.2.4 Installed XML2_jll ───────────────────────── v2.13.9+0 Installed EnumX ──────────────────────────── v1.0.5 Installed SciMLLogging ───────────────────── v1.7.1 Installed NamedTrajectories ──────────────── v0.7.0 Installed DiffEqBase ─────────────────────── v6.193.0 Installed Reexport ───────────────────────── v1.2.2 Installed InverseFunctions ───────────────── v0.1.17 Installed Jieko ──────────────────────────── v0.2.1 Installed Setfield ───────────────────────── v1.1.2 Installed SpecialFunctions ───────────────── v2.6.1 Installed Preferences ────────────────────── v1.5.1 Installed MutableArithmetics ─────────────── v1.6.7 Installed Static ─────────────────────────── v1.3.1 Installed SPRAL_jll ──────────────────────── v2025.5.20+0 Installed Libiconv_jll ───────────────────── v1.18.0+0 Installed BenchmarkTools ─────────────────── v1.6.3 Installed TestItems ──────────────────────── v1.0.0 Installed JLLWrappers ────────────────────── v1.7.1 Installed Ipopt ──────────────────────────── v1.13.0 Installed ChunkCodecCore ─────────────────── v1.0.1 Installed RecursiveArrayTools ────────────── v3.42.1 Installed OrdinaryDiffEqTsit5 ────────────── v1.8.0 Installed METIS_jll ──────────────────────── v5.1.3+0 Installed StructTypes ────────────────────── v1.11.0 Installed Moshi ──────────────────────────── v0.3.7 Installed PolyesterWeave ─────────────────── v0.2.2 Installed ThreadingUtilities ─────────────── v0.5.5 Installed ADTypes ────────────────────────── v1.20.0 Installed DocStringExtensions ────────────── v0.9.5 Installed DirectTrajOpt ──────────────────── v0.6.0 Installed Accessors ──────────────────────── v0.1.43 Installed MathOptInterface ───────────────── v1.48.0 Installing 12 artifacts Installed artifact Xorg_libpciaccess 24.8 KiB Installed artifact ASL 276.3 KiB Installed artifact METIS 1.1 MiB Installed artifact SPRAL 691.8 KiB Installed artifact Ipopt 1.3 MiB Installed artifact Hwloc 3.5 MiB Installed artifact OpenSpecFun 194.9 KiB Installed artifact Libiconv 1.9 MiB Installed artifact Bzip2 503.5 KiB Installed artifact XML2 2.5 MiB Installed artifact MUMPS_seq 8.6 MiB Installed artifact OpenBLAS32 10.0 MiB Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.6.0 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.20.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.43 [79e6a3ab] + Adapt v4.4.0 [4fba245c] + ArrayInterface v7.22.0 [4c555306] + ArrayLayouts v1.12.2 [6e4b80f9] + BenchmarkTools v1.6.3 [62783981] + BitTwiddlingConvenienceFunctions v0.1.6 [2a0fbf3d] + CPUSummary v0.2.7 [d360d2e6] + ChainRulesCore v1.26.0 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [fb6a15b2] + CloseOpenIntervals v0.1.13 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.6 [bbf7d656] + CommonSubexpressions v0.3.1 [f70d9fcc] + CommonWorldInvalidations v1.0.0 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.193.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [c823fa1f] + DirectTrajOpt v0.6.0 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.5 [f151be2c] + EnzymeCore v0.8.17 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [55351af7] + ExproniconLite v0.10.14 [7034ab61] + FastBroadcast v0.3.5 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.2.0 [5789e2e9] + FileIO v1.17.1 [1a297f60] + FillArrays v1.15.0 [6a86dc24] + FiniteDiff v2.29.0 [f6369f11] + ForwardDiff v1.3.0 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v0.1.3 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [615f187c] + IfElse v0.1.1 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.13.0 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.3 [692b3bcd] + JLLWrappers v1.7.1 [682c06a0] + JSON v1.3.0 [0f8b85d8] + JSON3 v1.14.3 [ae98c720] + Jieko v0.2.1 [10f19ff3] + LayoutPointers v0.1.17 [5078a376] + LazyArrays v2.9.4 [2ab3a3ac] + LogExpFunctions v0.3.29 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [d125e4d3] + ManualMemory v0.1.8 [b8f27783] + MathOptInterface v1.48.0 [2e0e35c7] + Moshi v0.3.7 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.6.7 [77ba4419] + NaNMath v1.1.3 [538bc3a1] + NamedTrajectories v0.7.0 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v2.3.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.8.0 [69de0a69] + Parsers v2.8.3 [f517fe37] + Polyester v0.7.18 [1d0040c9] + PolyesterWeave v0.2.2 [d236fae5] + PreallocationTools v0.4.34 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.1 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.42.1 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.16 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.130.0 [a6db7da4] + SciMLLogging v1.7.1 [c0aeaf25] + SciMLOperators v1.14.1 [431bcebd] + SciMLPublic v1.0.0 [53ae85a6] + SciMLStructures v1.7.0 [7e506255] + ScopedValues v1.5.0 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.6.1 [aedffcd0] + Static v1.3.1 [0d7ed370] + StaticArrayInterface v1.8.0 [90137ffa] + StaticArrays v1.9.15 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [7792a7ef] + StrideArraysCore v0.5.8 [856f2bd8] + StructTypes v1.11.0 [ec057cc2] + StructUtils v2.6.0 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.4 [1c621080] + TestItems v1.0.0 [8290d209] + ThreadingUtilities v0.5.5 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.12.2+0 [9cc047cb] + Ipopt_jll v300.1400.1900+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.100+0 [656ef2d0] + OpenBLAS32_jll v0.3.29+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 ⌅ [319450e9] + SPRAL_jll v2025.5.20+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.18.1+0 [0dad84c5] + ArgTools v1.1.2 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.13.0 [b27032c2] + LibCURL v1.0.0 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.13.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.14.0 [de0858da] + Printf v1.11.0 [9abbd945] + Profile v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v1.0.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.13.0 [f489334b] + StyledStrings v1.13.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.3.0+1 [deac9b47] + LibCURL_jll v8.17.0+0 [e37daf67] + LibGit2_jll v1.9.2+0 [29816b5a] + LibSSH2_jll v1.11.3+1 [14a3606d] + MozillaCACerts_jll v2025.12.2 [4536629a] + OpenBLAS_jll v0.3.29+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.4+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.1+2 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.68.0+1 [3f19e933] + p7zip_jll v17.7.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 13.18s ################################################################################ # Precompilation # ERROR: LoadError: MethodError: no method matching setindex!(::Base.ScopedValues.ScopedValue{IO}, ::Nothing) The function `setindex!` exists, but no method is defined for this combination of argument types. Stacktrace: [1] top-level scope @ /PkgEval.jl/scripts/precompile.jl:10 [2] include(mod::Module, _path::String) @ Base ./Base.jl:309 [3] exec_options(opts::Base.JLOptions) @ Base ./client.jl:344 [4] _start() @ Base ./client.jl:577 in expression starting at /PkgEval.jl/scripts/precompile.jl:6 caused by: MethodError: no method matching setindex!(::Base.ScopedValues.ScopedValue{IO}, ::Base.DevNull) The function `setindex!` exists, but no method is defined for this combination of argument types. Stacktrace: [1] top-level scope @ /PkgEval.jl/scripts/precompile.jl:7 [2] include(mod::Module, _path::String) @ Base ./Base.jl:309 [3] exec_options(opts::Base.JLOptions) @ Base ./client.jl:344 [4] _start() @ Base ./client.jl:577 Precompilation failed after 14.42s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_aLyMUi/Project.toml` [c823fa1f] DirectTrajOpt v0.6.0 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.0 [b6b21f68] Ipopt v1.13.0 [b8f27783] MathOptInterface v1.48.0 [538bc3a1] NamedTrajectories v0.7.0 [b1df2697] OrdinaryDiffEqTsit5 v1.8.0 [189a3867] Reexport v1.2.2 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.13.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_aLyMUi/Manifest.toml` [47edcb42] ADTypes v1.20.0 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.43 [79e6a3ab] Adapt v4.4.0 [4fba245c] ArrayInterface v7.22.0 [4c555306] ArrayLayouts v1.12.2 [6e4b80f9] BenchmarkTools v1.6.3 [62783981] BitTwiddlingConvenienceFunctions v0.1.6 [2a0fbf3d] CPUSummary v0.2.7 [d360d2e6] ChainRulesCore v1.26.0 [0b6fb165] ChunkCodecCore v1.0.1 [4c0bbee4] ChunkCodecLibZlib v1.0.0 [55437552] ChunkCodecLibZstd v1.0.0 [fb6a15b2] CloseOpenIntervals v0.1.13 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.6 [bbf7d656] CommonSubexpressions v0.3.1 [f70d9fcc] CommonWorldInvalidations v1.0.0 [34da2185] Compat v4.18.1 [a33af91c] CompositionsBase v0.1.2 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [adafc99b] CpuId v0.3.1 [864edb3b] DataStructures v0.19.3 [2b5f629d] DiffEqBase v6.193.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [c823fa1f] DirectTrajOpt v0.6.0 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.5 [f151be2c] EnzymeCore v0.8.17 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [55351af7] ExproniconLite v0.10.14 [7034ab61] FastBroadcast v0.3.5 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.2.0 [5789e2e9] FileIO v1.17.1 [1a297f60] FillArrays v1.15.0 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.0 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v0.1.3 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [615f187c] IfElse v0.1.1 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.13.0 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [033835bb] JLD2 v0.6.3 [692b3bcd] JLLWrappers v1.7.1 [682c06a0] JSON v1.3.0 [0f8b85d8] JSON3 v1.14.3 [ae98c720] Jieko v0.2.1 [10f19ff3] LayoutPointers v0.1.17 [5078a376] LazyArrays v2.9.4 [2ab3a3ac] LogExpFunctions v0.3.29 [e6f89c97] LoggingExtras v1.2.0 [1914dd2f] MacroTools v0.5.16 [d125e4d3] ManualMemory v0.1.8 [b8f27783] MathOptInterface v1.48.0 [2e0e35c7] Moshi v0.3.7 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.6.7 [77ba4419] NaNMath v1.1.3 [538bc3a1] NamedTrajectories v0.7.0 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v2.3.0 [b1df2697] OrdinaryDiffEqTsit5 v1.8.0 [69de0a69] Parsers v2.8.3 [f517fe37] Polyester v0.7.18 [1d0040c9] PolyesterWeave v0.2.2 [d236fae5] PreallocationTools v0.4.34 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.1 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.42.1 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.16 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.130.0 [a6db7da4] SciMLLogging v1.7.1 [c0aeaf25] SciMLOperators v1.14.1 [431bcebd] SciMLPublic v1.0.0 [53ae85a6] SciMLStructures v1.7.0 [7e506255] ScopedValues v1.5.0 [efcf1570] Setfield v1.1.2 [276daf66] SpecialFunctions v2.6.1 [aedffcd0] Static v1.3.1 [0d7ed370] StaticArrayInterface v1.8.0 [90137ffa] StaticArrays 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Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7429068e+00 3.99e+00 1.89e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8429423e+00 3.04e-02 4.93e-01 -1.0 3.14e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3359715e+00 2.58e-02 7.89e-02 -1.8 3.64e-01 -1.6 9.67e-01 1.00e+00h 1 3 2.1736319e+00 2.12e-03 2.21e-01 -2.9 1.40e-01 -1.1 9.12e-01 1.00e+00h 1 4 2.0982563e+00 9.82e-04 1.53e-01 -4.0 1.10e-01 -1.6 1.00e+00 9.07e-01h 1 5 2.0933876e+00 5.84e-04 1.31e+00 -4.0 1.04e+00 -2.1 1.00e+00 3.69e-01h 1 6 2.0906661e+00 1.91e-04 1.50e-01 -4.0 8.48e-01 -2.6 1.00e+00 7.88e-01h 1 7 2.0909332e+00 7.36e-05 6.63e-02 -4.0 4.91e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909548e+00 4.96e-07 3.86e-04 -4.0 7.03e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909368e+00 2.56e-07 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908752e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906935e+00 1.29e-06 4.94e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901758e+00 1.09e-05 4.18e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888373e+00 8.17e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861584e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830954e+00 9.14e-04 4.69e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828506e+00 9.36e-04 2.29e-02 -4.0 5.44e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823451e+00 3.92e-04 1.02e-02 -4.0 1.12e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820404e+00 9.41e-05 1.86e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.71e-03 -4.0 9.94e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.70e-05 8.50e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.35e-07 1.40e-05 -4.0 4.47e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.87e-10 3.30e-08 -4.0 2.46e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-13 1.23e-11 -4.0 4.62e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907191075e+00 2.0819382907191075e+00 Dual infeasibility......: 1.2298360355274263e-11 1.2298360355274263e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000021e-04 1.0000000000000021e-04 Overall NLP error.......: 1.2298360355274263e-11 1.2298360355274263e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 13.470 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.8115655e+00 3.30e+00 3.46e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7651936e+00 1.48e-02 4.25e-01 -1.1 1.79e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2762966e+00 2.52e-02 7.23e-02 -1.8 3.87e-01 -1.6 9.61e-01 1.00e+00h 1 3 2.1470530e+00 2.99e-03 2.96e-01 -2.9 8.42e-02 -1.1 1.00e+00 9.09e-01h 1 4 2.1001590e+00 1.17e-03 1.49e-01 -4.0 7.16e-02 -1.6 1.00e+00 7.86e-01h 1 5 2.0936335e+00 5.53e-04 6.74e-01 -4.0 4.59e-01 -2.1 1.00e+00 3.77e-01h 1 6 2.0914999e+00 2.87e-04 6.22e-01 -4.0 1.21e+00 -2.6 1.00e+00 6.58e-01h 1 7 2.0909190e+00 4.72e-05 1.48e-01 -4.0 5.94e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0908935e+00 3.86e-06 1.80e-03 -4.0 7.74e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908857e+00 2.43e-06 4.59e-05 -4.0 2.10e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908410e+00 1.03e-07 2.62e-04 -4.0 5.29e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907411e+00 5.46e-07 9.16e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904633e+00 6.05e-06 7.92e-04 -4.0 4.26e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903865e+00 5.80e-06 7.70e-03 -4.0 3.02e+01 -5.9 1.06e-01 2.59e-02h 2 14 2.0887645e+00 1.60e-04 3.85e-02 -4.0 3.01e+01 -6.4 1.00e+00 6.86e-01h 1 15 2.0859777e+00 1.59e-03 1.21e-01 -4.0 7.02e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0835860e+00 8.42e-04 1.52e-01 -4.0 1.23e+01 -5.5 1.00e+00 5.20e-01h 1 17 2.0833832e+00 1.38e-04 1.01e-02 -4.0 5.11e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0829045e+00 5.62e-05 3.15e-03 -4.0 1.01e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827689e+00 6.68e-05 2.62e-03 -4.0 2.84e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824983e+00 1.85e-04 3.17e-03 -4.0 7.36e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821445e+00 9.75e-04 9.68e-03 -4.0 1.81e+02 -7.9 5.66e-01 1.00e+00h 1 22 2.0822365e+00 1.28e-03 1.77e+00 -4.0 1.73e+02 -6.6 1.00e+00 8.43e-02h 3 23 2.0820195e+00 6.39e-07 8.71e-04 -4.0 1.38e-01 -4.4 1.00e+00 1.00e+00h 1 24 2.0820661e+00 1.43e-05 3.15e-04 -4.0 4.28e-01 -4.8 1.00e+00 1.00e+00h 1 25 2.0819616e+00 1.28e-05 1.85e-04 -4.1 1.29e+00 -5.3 1.00e+00 1.00e+00h 1 26 2.0840585e+00 2.18e-05 3.22e-01 -4.0 1.21e+01 -5.8 3.74e-01 1.00e+00H 1 27 2.0829336e+00 3.47e-07 7.64e-03 -4.1 4.54e-02 -0.9 1.00e+00 1.00e+00h 1 28 2.0825351e+00 3.87e-07 3.60e-03 -4.0 6.33e-02 -1.3 1.00e+00 1.00e+00h 1 29 2.0823652e+00 2.86e-08 8.50e-04 -4.0 7.45e-02 -1.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0823734e+00 1.00e-07 6.68e-05 -4.0 1.35e-02 -2.3 1.00e+00 1.00e+00h 1 31 2.0822293e+00 1.48e-07 4.91e-05 -4.1 8.24e-03 -2.8 1.00e+00 1.00e+00h 1 32 2.0823842e+00 3.61e-07 4.78e-05 -4.0 1.47e-02 -3.2 1.00e+00 1.00e+00h 1 33 2.0822237e+00 1.18e-06 4.01e-05 -4.1 4.62e-02 -3.7 1.00e+00 1.00e+00h 1 34 2.0815718e+00 1.98e-05 3.27e-02 -6.1 1.96e-01 -4.2 8.50e-01 1.00e+00h 1 35 2.0824355e+00 5.98e-05 1.41e-03 -4.0 4.35e-01 -4.7 1.00e+00 1.00e+00f 1 36 2.0820943e+00 5.49e-05 1.29e-04 -4.1 1.44e+00 -5.2 1.00e+00 1.00e+00h 1 37 2.0819797e+00 1.88e-04 1.57e-01 -6.1 1.86e+01 -5.6 1.12e-01 2.33e-01h 2 38 2.0813824e+00 1.79e-05 1.51e-01 -6.1 3.57e-02 -2.5 7.53e-01 9.05e-01h 1 39 2.0813535e+00 1.47e-05 2.33e+00 -4.6 5.24e-01 -3.0 1.00e+00 1.97e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821124e+00 7.63e-06 8.48e-02 -4.0 1.64e-01 -3.4 1.00e+00 5.76e-01f 1 41 2.0818612e+00 2.22e-06 5.98e-04 -4.1 6.03e-02 -3.9 1.00e+00 1.00e+00h 1 42 2.0820367e+00 1.30e-05 1.21e-04 -4.0 1.97e-01 -4.4 1.00e+00 1.00e+00h 1 43 2.0819326e+00 1.40e-05 6.17e-04 -4.1 7.83e-01 -4.9 1.00e+00 1.00e+00h 1 44 2.0813141e+00 3.01e-04 1.75e-02 -6.2 2.26e+00 -5.4 8.96e-01 1.00e+00h 1 45 2.0813216e+00 4.11e-05 7.47e-02 -4.8 1.77e-01 -4.0 1.00e+00 8.60e-01h 1 46 2.0822587e+00 1.32e-05 1.21e-02 -4.0 5.14e-01 -4.5 1.00e+00 9.40e-01f 1 47 2.0818958e+00 1.18e-05 1.83e-03 -4.1 4.56e-01 -5.0 1.00e+00 1.00e+00h 1 48 2.0844803e+00 8.37e-07 6.14e-01 -4.1 5.95e+00 -5.5 3.83e-01 1.00e+00H 1 49 2.0843144e+00 8.20e-07 4.17e+00 -4.1 5.54e-01 -1.4 9.05e-01 2.20e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0828538e+00 2.63e-06 1.18e-02 -4.1 1.12e-01 -1.9 1.00e+00 1.00e+00F 1 51 2.0826928e+00 7.67e-06 1.22e-02 -4.1 2.31e-02 -2.4 9.83e-01 1.00e+00h 1 52 2.0824944e+00 8.88e-06 2.65e+00 -4.1 1.04e+01 -2.9 1.28e-01 2.21e-02f 2 53 2.0826040e+00 7.82e-06 1.82e+00 -4.1 9.46e-01 -2.4 2.67e-01 1.22e-01h 2 54 2.0820117e+00 1.30e-05 2.17e-03 -4.1 4.51e-02 -2.9 1.00e+00 1.00e+00h 1 55 2.0820600e+00 7.63e-07 2.11e-05 -4.1 2.12e-02 -3.4 1.00e+00 1.00e+00h 1 56 2.0821597e+00 1.01e-06 3.92e-05 -4.0 6.78e-02 -3.9 1.00e+00 1.00e+00h 1 57 2.0820085e+00 4.42e-06 2.81e-05 -4.1 1.96e-01 -4.3 1.00e+00 1.00e+00h 1 58 2.0813703e+00 8.32e-05 4.27e-02 -6.1 8.46e-01 -4.8 8.53e-01 1.00e+00h 1 59 2.0811663e+00 2.27e-05 1.51e-03 -6.1 2.32e+00 -5.3 6.89e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0811751e+00 2.21e-05 3.75e+00 -4.0 2.42e+01 -4.9 5.09e-01 1.71e-02f 1 61 2.0815056e+00 1.47e-04 8.70e-01 -4.4 8.63e+01 -5.3 2.56e-01 9.49e-03f 4 62 2.0816977e+00 1.50e-03 1.16e+01 -4.4 1.84e+02 -5.8 1.00e+00 2.80e-02f 3 63 2.0814327e+00 5.42e-04 1.37e-01 -4.4 2.75e+00 -6.3 1.00e+00 6.50e-01h 1 64 2.0813486e+00 3.12e-03 6.80e-03 -4.4 1.38e+01 -6.8 1.00e+00 1.00e+00f 1 65 2.0812584e+00 2.20e-04 3.12e-03 -4.4 1.79e+01 -7.2 1.00e+00 1.00e+00h 1 66 2.0811565e+00 1.21e-05 2.83e-03 -4.4 3.41e+01 -7.7 1.00e+00 1.00e+00h 1 67 2.0818649e+00 3.72e-03 3.10e-03 -4.0 5.18e+01 -8.2 1.00e+00 1.00e+00h 1 68 2.0815921e+00 1.01e-03 1.23e-03 -4.1 4.56e+01 -8.7 1.00e+00 1.00e+00h 1 69 2.0815837e+00 7.64e-06 2.82e-04 -4.1 2.14e+01 -9.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818394e+00 1.85e-04 3.22e-05 -4.0 7.79e+00 -9.6 1.00e+00 1.00e+00h 1 71 2.0815805e+00 2.08e-04 1.34e-05 -4.1 9.49e+00 -10.1 1.00e+00 1.00e+00h 1 72 2.0805901e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.6 9.78e-01 9.71e-01h 1 73 2.0818881e+00 6.55e-03 3.16e-04 -4.0 6.09e+01 -11.1 1.00e+00 1.00e+00f 1 74 2.0816141e+00 4.87e-04 9.84e-06 -4.1 2.07e+01 -11.5 1.00e+00 1.00e+00h 1 75 2.0805990e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -12.0 9.76e-01 9.65e-01h 1 76 2.0805508e+00 8.46e-05 2.26e-06 -6.1 1.69e+01 -12.5 1.00e+00 1.00e+00h 1 77 2.0819793e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -13.0 1.00e+00 1.00e+00f 1 78 2.0816850e+00 9.29e-04 4.91e-05 -4.1 4.57e+01 -13.5 1.00e+00 1.00e+00h 1 79 2.0816490e+00 4.77e-07 7.46e-07 -4.1 8.50e+00 -13.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -14.4 1.00e+00 1.00e+00h 1 81 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -14.9 1.00e+00 1.00e+00h 1 82 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.4 9.78e-01 9.71e-01h 1 83 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.8 1.00e+00 1.00e+00h 1 84 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.3 1.00e+00 1.00e+00f 1 85 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -16.8 1.00e+00 1.00e+00h 1 86 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -17.3 1.00e+00 1.00e+00h 1 87 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -17.7 9.77e-01 9.75e-01h 1 88 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.2 1.00e+00 1.00e+00h 1 89 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -18.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -19.2 1.00e+00 1.00e+00f 1 91 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -19.7 1.00e+00 1.00e+00h 1 92 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 94 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 98 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805920379287697e+00 2.0805920379287697e+00 Dual infeasibility......: 1.7034753617814117e-04 1.7034753617814117e-04 Constraint violation....: 3.8175974410572522e-03 3.8175974410572522e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9534083248293495e-05 1.9534083248293495e-05 Overall NLP error.......: 3.8175974410572522e-03 3.8175974410572522e-03 Number of objective function evaluations = 128 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 128 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 13.220 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9100920e+00 1.03e+00 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7412833e+00 1.36e-01 1.85e+00 -0.9 8.45e-01 0.0 9.91e-01 1.00e+00h 1 2 2.2067949e+00 1.91e-01 2.36e+00 -0.3 1.27e+01 - 3.06e-01 1.93e-01f 2 3 1.8746536e+00 1.07e-01 7.75e-01 -0.8 3.20e-01 -0.5 8.81e-01 6.98e-01h 1 4 1.8166766e+00 8.88e-02 7.81e-01 -4.0 3.25e+01 - 9.47e-02 8.97e-02h 4 5 4.5519158e+00 5.36e-01 6.09e+00 1.1 6.39e+03 - 2.63e-03 5.23e-04f 1 6 1.7465895e+00 5.61e-01 2.34e+00 -0.7 3.07e+01 -1.0 2.59e-03 1.31e-01f 1 7 1.9950137e+00 2.04e-01 9.26e-01 -0.7 1.32e+00 -1.4 1.00e+00 1.00e+00f 1 8 1.6916958e+00 2.02e-03 4.50e-01 -1.4 4.59e-01 -1.9 9.55e-01 1.00e+00h 1 9 1.1709267e+00 5.40e-04 4.35e-01 -2.4 2.77e-01 -2.4 9.93e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1183273e+00 4.28e-05 1.05e+00 -4.0 8.91e+00 - 8.07e-01 1.00e+00f 1 11 1.0930922e+00 4.20e-05 1.52e-01 -3.0 2.55e+01 -2.9 1.00e+00 1.90e-02f 1 12 1.0909966e+00 5.26e-07 4.92e-02 -4.0 2.10e+00 - 1.00e+00 1.00e+00h 1 13 1.0908953e+00 2.02e-11 4.09e-05 -4.0 6.21e-02 - 1.00e+00 1.00e+00h 1 14 1.0908997e+00 6.64e-19 3.31e-09 -4.0 5.63e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997265085929e+00 1.0908997265085929e+00 Dual infeasibility......: 3.3148054637808805e-09 3.3148054637808805e-09 Constraint violation....: 6.6437635010213368e-19 6.6437635010213368e-19 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000016515315499e-04 1.0000016515315499e-04 Overall NLP error.......: 3.3148054637808805e-09 3.3148054637808805e-09 Number of objective function evaluations = 21 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 13.054 EXIT: Optimal Solution Found. Difference in Jacobian initializing optimizer... applying constraint: bounds constraint on trajectory variable ddu applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5422709e+00 2.50e+00 8.01e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7180943e+00 2.42e-02 7.54e-01 -1.0 2.70e+00 - 1.00e+00 1.00e+00f 1 2 2.4395137e+00 5.49e-03 2.30e-01 -1.5 1.30e-01 - 9.59e-01 1.00e+00f 1 3 2.1529222e+00 2.65e-03 3.43e-02 -2.4 6.66e-02 - 9.07e-01 8.94e-01h 1 4 2.0932400e+00 3.19e-04 4.70e-03 -3.7 2.89e-02 - 9.80e-01 9.87e-01h 1 5 2.0908944e+00 3.81e-05 1.37e-03 -4.0 1.66e-01 - 1.00e+00 1.00e+00h 1 6 2.0909011e+00 3.42e-07 4.92e-06 -4.0 1.72e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 9.81e-09 3.80e-09 -4.0 2.76e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 9.98e-16 1.38e-15 -4.0 6.37e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978679030e+00 2.0908971978679030e+00 Dual infeasibility......: 1.3806772565516656e-15 1.3806772565516656e-15 Constraint violation....: 9.9793641960974544e-16 9.9793641960974544e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000004665976e-04 1.0000000004665976e-04 Overall NLP error.......: 4.6672911304009024e-14 4.6672911304009024e-14 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 12.631 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3229291e+00 1.57e+00 3.93e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9052157e+00 6.95e-01 1.59e+00 -1.0 8.01e+00 -4.0 8.95e-01 8.27e-01f 1 2 1.9756921e+00 6.62e-01 1.53e+00 -1.2 6.93e+01 -4.5 2.09e-01 1.96e-01H 1 3 2.3174930e+00 2.78e-01 5.55e+00 -1.2 2.95e+01 -4.1 5.54e-01 8.38e-01f 1 4 2.3811048e+00 1.19e-02 4.35e-01 -1.3 1.79e+00 -2.7 9.93e-01 1.00e+00f 1 5 2.2038162e+00 2.25e-01 2.35e-01 -2.1 3.34e+00 -3.2 9.16e-01 1.00e+00h 1 6 2.1313310e+00 2.36e-02 1.04e-01 -2.4 1.60e+00 -3.7 9.87e-01 1.00e+00h 1 7 2.1030358e+00 5.37e-03 1.19e-01 -3.1 1.70e+00 -4.2 9.98e-01 7.73e-01h 1 8 2.0915056e+00 1.25e-03 2.32e-02 -4.0 8.56e-01 -4.6 1.00e+00 9.24e-01h 1 9 2.0905243e+00 4.22e-04 2.72e-03 -4.0 1.95e+00 -5.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902123e+00 8.46e-06 2.29e-03 -4.0 3.56e+00 -5.6 1.00e+00 1.00e+00h 1 11 2.0900121e+00 2.01e-06 3.98e-03 -4.0 5.49e+00 -6.1 1.00e+00 1.00e+00h 1 12 2.0898536e+00 1.24e-05 1.80e-03 -4.0 7.12e+00 -6.5 1.00e+00 1.00e+00h 1 13 2.0898256e+00 8.64e-07 4.96e-04 -4.0 5.83e+00 -7.0 1.00e+00 1.00e+00h 1 14 2.0898231e+00 6.69e-07 3.07e-04 -4.0 5.20e+00 -7.5 1.00e+00 1.00e+00h 1 15 2.0898221e+00 1.81e-07 5.67e-05 -4.0 2.77e+00 -8.0 1.00e+00 1.00e+00h 1 16 2.0898219e+00 8.10e-09 1.87e-06 -4.0 6.99e-01 -8.4 1.00e+00 1.00e+00h 1 17 2.0898219e+00 6.31e-11 1.55e-08 -4.0 6.50e-02 -8.9 1.00e+00 1.00e+00h 1 18 2.0898218e+00 5.30e-14 1.54e-11 -4.0 2.09e-03 -9.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 18 (scaled) (unscaled) Objective...............: 2.0898218497856784e+00 2.0898218497856784e+00 Dual infeasibility......: 1.5375786039349693e-11 1.5375786039349693e-11 Constraint violation....: 5.3018136755844658e-14 5.3018136755844658e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 1.5375786039349693e-11 1.5375786039349693e-11 Number of objective function evaluations = 20 Number of objective gradient evaluations = 19 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 19 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 18 Total seconds in IPOPT = 14.058 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5356288e+00 2.47e+00 4.58e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7327776e+00 2.59e+00 3.14e+01 -0.7 1.86e+01 -2.0 6.86e-03 2.24e-01f 1 2 1.6146419e+00 2.45e+00 2.98e+01 -0.8 2.79e+00 -0.7 1.06e-01 5.07e-02f 1 3 1.6722308e+00 2.42e+00 2.94e+01 -4.0 1.38e+01 -1.1 6.18e-02 1.34e-02h 1 4 1.7952387e+00 2.31e+00 2.07e+02 0.0 7.61e+00 0.2 1.20e-01 4.24e-02f 1 5 1.9707805e+00 2.18e+00 6.17e+03 0.2 1.53e+01 0.6 1.00e+00 5.60e-02h 1 6 2.0906769e+00 1.91e+00 3.64e+03 1.2 1.53e+01 0.1 5.87e-01 8.17e-02f 1 7 2.3348318e+00 1.79e+00 3.29e+03 -4.0 5.74e+01 -0.3 9.21e-02 9.39e-02h 1 8 2.6489352e+00 1.59e+00 3.49e+03 -0.3 2.90e+01 -0.8 2.00e-01 1.05e-01h 1 9 3.1325515e+00 1.57e+00 4.00e+03 2.2 3.20e+02 -1.3 2.91e-02 1.40e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.2238776e+00 1.57e+00 3.98e+03 0.9 8.73e+03 -1.8 1.08e-03 1.02e-03f 2 11 3.4930744e+00 1.49e+00 4.76e+03 0.9 2.17e+02 -2.3 7.39e-02 4.79e-02h 1 12 3.5716288e+00 1.46e+00 1.01e+04 0.9 5.96e+02 -2.7 2.10e-01 2.06e-02f 3 13 3.8025691e+00 1.37e+00 9.53e+03 0.9 1.71e+02 -3.2 4.56e-02 5.99e-02h 2 14 4.0721549e+00 1.26e+00 8.06e+03 0.2 3.06e+02 -3.7 3.91e-01 8.34e-02h 1 15 4.1746188e+00 1.17e+00 1.85e+05 1.1 7.91e+00 1.3 1.00e+00 6.55e-02h 1 16 4.1677355e+00 1.16e+00 1.84e+05 -4.0 5.14e+01 0.8 1.03e-02 9.98e-03h 1 17 4.1409398e+00 1.14e+00 4.39e+05 2.5 8.08e+01 2.1 1.17e-01 1.34e-02f 1 18 4.1434025e+00 1.14e+00 1.71e+07 2.5 2.99e+01 1.6 1.00e+00 2.28e-03h 1 19 4.1581074e+00 1.12e+00 1.38e+08 2.5 1.05e+01 1.2 1.36e-01 1.54e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.1596274e+00 1.12e+00 1.38e+10 2.5 1.41e+01 0.7 2.10e-01 1.85e-03h 1 21 4.1598914e+00 1.12e+00 5.38e+13 2.5 3.73e+00 0.2 1.00e+00 2.46e-04h 1 22 4.1607255e+00 1.12e+00 6.57e+16 2.5 4.23e+00 -0.3 1.00e+00 8.09e-04h 1 23 4.1865187e+00 1.10e+00 1.48e+18 2.1 2.29e+00 -0.8 8.94e-01 1.82e-02h 1 24 4.1021915e+00 8.72e-01 9.48e+17 2.5 4.41e-01 9.1 3.59e-01 1.00e+00H 1 25 3.9413981e+00 1.50e+00 1.89e+16 2.5 1.97e+00 8.6 9.80e-01 1.00e+00H 1 26 3.9388534e+00 1.54e+00 1.80e+16 1.1 1.08e+00 9.0 5.20e-02 5.20e-02s 20 27 3.9388535e+00 1.54e+00 1.05e+16 1.2 1.32e+01 8.6 4.52e-09 2.16e-07f 3 28 3.9388757e+00 1.54e+00 9.02e+15 2.5 1.61e+01 8.1 1.80e-07 1.70e-04f 1 29r 3.9388757e+00 1.54e+00 8.12e+02 2.5 0.00e+00 7.6 0.00e+00 4.25e-07R 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.9821738e+00 2.08e-01 4.88e+02 -3.6 7.17e+00 - 5.45e-01 2.36e-01f 1 31r 3.9821738e+00 2.08e-01 9.99e+02 -0.7 0.00e+00 7.1 0.00e+00 1.54e-07R 2 32r 3.9834325e+00 2.31e-01 9.98e+02 1.4 7.43e+02 - 9.29e-04 1.29e-03f 1 33r 3.8239516e+00 2.41e-01 9.90e+02 1.4 2.49e+02 - 7.19e-02 1.54e-03f 1 34r 4.0921815e+00 2.43e-01 9.16e+02 1.0 1.63e+01 - 1.00e+00 3.98e-02f 1 35r 4.3623770e+00 2.04e-01 1.04e+02 0.1 5.14e-01 - 1.00e+00 8.90e-01f 1 36r 4.6805911e+00 2.00e-01 3.89e+01 -0.2 2.86e+00 - 9.99e-01 7.90e-01f 1 37r 4.6791875e+00 2.01e-01 1.87e+01 -0.1 2.49e+00 - 8.36e-01 1.00e+00f 1 38r 4.7163386e+00 1.99e-01 7.55e+01 -1.2 2.98e-02 2.0 9.94e-01 6.84e-01f 1 39r 4.7301376e+00 1.99e-01 9.04e-01 -1.1 2.65e-02 1.5 9.99e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40r 4.7503296e+00 1.99e-01 2.50e+00 -2.4 2.59e-02 1.0 9.81e-01 8.77e-01f 1 41r 4.7493753e+00 1.99e-01 1.59e-02 -3.7 9.93e-03 0.6 1.00e+00 1.00e+00f 1 42r 4.7487081e+00 1.99e-01 6.06e-03 -4.0 6.34e-03 0.1 1.00e+00 1.00e+00h 1 43r 4.7545491e+00 1.99e-01 7.56e-03 -3.7 3.91e+00 - 1.00e+00 2.29e-01f 1 44r 4.5658075e+00 1.99e-01 4.82e-03 -4.0 3.61e+00 - 5.61e-01 5.21e-01h 1 45r 4.3305522e+00 1.99e-01 9.64e-04 -4.0 2.74e+00 - 1.00e+00 1.00e+00h 1 46r 4.3488340e+00 1.99e-01 2.78e-05 -4.0 6.84e-01 - 1.00e+00 1.00e+00h 1 47r 4.3512888e+00 1.99e-01 1.37e-07 -4.0 5.43e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 47 (scaled) (unscaled) Objective...............: 4.3513075601818469e+00 4.3513075601818469e+00 Dual infeasibility......: 1.9184097002777785e+00 1.9184097002777785e+00 Constraint violation....: 1.9875045055003759e-01 1.9875045055003759e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000407557842e-04 1.0000000407557842e-04 Overall NLP error.......: 1.9184097002777785e+00 1.9184097002777785e+00 Number of objective function evaluations = 92 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 92 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 48 Total seconds in IPOPT = 13.478 EXIT: Converged to a point of local infeasibility. Problem may be infeasible. initializing optimizer... applying constraint: bounds constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 36 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5716731e+00 3.14e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3565880e+00 8.65e-02 1.93e+00 -0.8 1.95e+00 0.0 8.74e-01 1.00e+00f 1 2 2.7354024e+00 1.02e-01 8.46e-01 -0.9 7.51e-01 -0.5 9.33e-01 8.05e-01f 1 3 2.4182518e+00 2.17e-02 1.21e-01 -1.5 2.31e-01 -1.0 9.95e-01 1.00e+00f 1 4 2.1592598e+00 9.85e-03 4.87e-02 -2.7 2.11e-01 -1.4 8.79e-01 9.52e-01h 1 5 2.1001504e+00 9.81e-04 2.21e-02 -3.2 1.04e-01 -1.9 9.73e-01 9.00e-01h 1 6 2.0909974e+00 1.19e-05 6.86e-04 -4.0 7.95e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909544e+00 8.34e-08 2.06e-05 -4.0 1.50e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909500e+00 8.19e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909367e+00 6.86e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908968e+00 6.17e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907774e+00 5.56e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904197e+00 5.03e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893538e+00 4.60e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862206e+00 4.32e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796261e+00 2.54e-03 8.50e-02 -4.0 8.74e+01 -6.7 1.00e+00 7.63e-01h 1 16 2.0812938e+00 1.41e-04 1.90e-01 -4.0 6.84e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778397e+00 5.48e-03 2.63e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781604e+00 1.66e-02 3.36e-02 -3.7 1.54e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767327e+00 1.29e-02 1.69e-02 -3.8 2.90e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0759355e+00 8.67e-03 2.23e-02 -3.9 4.16e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0757597e+00 7.81e-03 9.66e-03 -4.0 1.37e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756786e+00 4.04e-04 4.00e-04 -4.0 5.76e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 2.72e-06 7.87e-06 -4.0 2.32e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.60e-08 1.50e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.48e-09 1.48e-07 -4.0 5.20e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.66e-11 3.00e-09 -4.0 9.21e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122082379e+00 2.0756712122082379e+00 Dual infeasibility......: 2.9992305786825067e-09 2.9992305786825067e-09 Constraint violation....: 7.6608497323604752e-11 7.6608497323604752e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 2.9992305786825067e-09 2.9992305786825067e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 19.625 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4454490e+00 3.10e+00 3.69e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4847546e+00 2.36e+00 6.01e+00 -0.4 2.15e+01 -2.0 1.75e-01 2.40e-01f 1 2 1.5159033e+00 2.36e+00 5.95e+00 -4.0 2.34e+02 -1.6 1.15e-02 6.94e-03h 2 3 1.6245856e+00 1.67e+00 4.30e+00 -1.0 2.90e+00 -1.1 1.90e-01 2.93e-01h 1 4 1.7903862e+00 1.18e+00 3.12e+00 -0.9 2.12e+00 -0.7 4.09e-01 2.90e-01h 1 5 1.8265221e+00 6.25e-01 2.63e+00 -1.1 2.08e+00 -0.3 1.95e-01 4.68e-01h 1 6 1.8750178e+00 4.34e-01 2.50e+00 -0.8 1.33e+00 0.1 6.82e-01 3.06e-01h 1 7 1.9012057e+00 2.97e-01 2.98e+00 -4.0 3.85e+00 -0.3 1.91e-01 3.16e-01h 1 8 1.9041646e+00 1.99e-01 4.44e+00 -1.1 1.70e+00 -0.8 7.21e-01 3.27e-01f 1 9 1.8442923e+00 1.32e-01 2.80e+00 -1.3 4.18e+00 -1.3 2.60e-01 3.39e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.5860321e+00 5.19e-02 1.00e+00 -1.7 2.67e+00 -1.8 8.01e-01 6.38e-01h 1 11 1.3710750e+00 6.96e-01 6.90e-01 -2.1 5.73e+00 -2.3 7.86e-01 1.00e+00h 1 12 1.3380829e+00 4.33e-01 3.55e-01 -2.1 2.71e+00 -2.7 9.53e-01 5.02e-01h 1 13 1.2613635e+00 7.04e-01 2.91e-01 -2.7 5.13e+00 -3.2 1.00e+00 9.99e-01h 1 14 1.2497921e+00 6.71e-01 1.85e-01 -4.0 3.58e+01 -3.7 1.21e-01 1.14e-01h 1 15 1.2123491e+00 3.51e-01 3.23e-01 -2.9 7.98e+00 -3.3 9.93e-01 1.00e+00h 1 16 1.1890561e+00 5.65e-02 8.11e-02 -4.0 7.42e-01 -2.8 6.25e-01 8.38e-01h 1 17 1.1807317e+00 2.21e-03 1.57e-02 -4.0 1.78e+00 -3.3 1.00e+00 1.00e+00h 1 18 1.1790171e+00 9.86e-03 1.17e-02 -4.0 2.67e+00 -3.8 1.00e+00 6.10e-01h 1 19 1.1749713e+00 6.99e-02 4.82e-03 -4.0 4.09e+00 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1720786e+00 8.20e-02 1.01e-02 -4.0 6.54e+00 -4.7 1.00e+00 1.00e+00h 1 21 1.1693159e+00 1.24e-01 5.99e-03 -4.0 1.02e+01 -5.2 1.00e+00 1.00e+00h 1 22 1.1671924e+00 1.53e-01 5.36e-03 -4.0 1.58e+01 -5.7 1.00e+00 1.00e+00h 1 23 1.1653725e+00 1.98e-01 7.57e-04 -4.0 2.43e+01 -6.2 1.00e+00 1.00e+00h 1 24 1.1639560e+00 2.41e-01 2.90e-03 -4.0 3.68e+01 -6.7 1.00e+00 1.00e+00h 1 25 1.1627978e+00 2.95e-01 8.69e-03 -4.0 5.55e+01 -7.1 1.00e+00 1.00e+00h 1 26 1.1619008e+00 3.50e-01 1.42e-02 -4.0 8.25e+01 -7.6 1.00e+00 1.00e+00h 1 27 1.1612002e+00 4.07e-01 2.05e-02 -4.0 1.20e+02 -8.1 1.00e+00 1.00e+00h 1 28 1.1607081e+00 4.42e-01 2.44e-02 -4.0 1.69e+02 -8.6 1.00e+00 1.00e+00h 1 29 1.1604798e+00 3.89e-01 2.00e-02 -4.0 2.10e+02 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1607408e+00 8.13e-02 2.64e-03 -4.0 1.36e+02 -9.5 1.00e+00 1.00e+00h 1 31 1.1608523e+00 2.38e-03 6.79e-04 -4.0 1.51e+01 -10.0 1.00e+00 1.00e+00h 1 32 1.1608491e+00 1.44e-04 1.76e-05 -4.0 5.01e+00 -10.5 1.00e+00 1.00e+00h 1 33 1.1608491e+00 6.21e-08 8.93e-11 -4.0 1.11e-01 -10.9 1.00e+00 1.00e+00h 1 34 1.1608491e+00 5.58e-13 5.38e-14 -4.0 3.06e-04 -11.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 1.1608491307790036e+00 1.1608491307790036e+00 Dual infeasibility......: 5.3845599853885595e-14 5.3845599853885595e-14 Constraint violation....: 5.5777604757167865e-13 5.5777604757167865e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000555e-04 1.0000000000000555e-04 Overall NLP error.......: 5.5777604757167865e-13 5.5777604757167865e-13 Number of objective function evaluations = 37 Number of objective gradient evaluations = 35 Number of equality constraint evaluations = 37 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 13.769 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.1071810e+00 6.74e-01 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.1818766e+00 6.85e-01 2.87e+01 -4.0 8.15e+00 -2.0 2.36e-01 1.00e+00h 1 2 2.4809167e+00 1.23e-01 2.83e+01 -0.4 9.06e-01 0.2 7.44e-01 8.20e-01f 1 3 3.9617700e+00 3.68e-02 1.42e+01 -0.8 7.09e-01 -0.2 9.22e-01 1.00e+00h 1 4 2.0600476e+00 2.36e-02 2.03e+01 -0.4 6.94e-01 -0.7 9.38e-01 7.01e-01H 1 5 1.7678821e+00 3.63e-04 7.20e+00 -1.2 8.29e-02 -1.2 9.99e-01 1.00e+00f 1 6 1.2270545e+00 3.03e-05 3.68e-01 -2.2 1.68e-01 -1.7 9.99e-01 1.00e+00f 1 7 1.1081570e+00 2.18e-07 2.05e-02 -3.8 1.09e-01 -2.2 9.97e-01 1.00e+00f 1 8 1.0980554e+00 3.86e-11 1.01e+00 -4.0 1.00e+01 - 8.19e-01 1.00e+00f 1 9 1.0911589e+00 3.75e-11 2.59e-01 -4.0 3.95e+00 -2.6 1.00e+00 2.84e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910505e+00 9.80e-16 2.22e-02 -4.0 1.47e+00 - 1.00e+00 1.00e+00f 1 11 1.0910383e+00 5.23e-24 1.61e-06 -4.0 1.26e-02 - 1.00e+00 1.00e+00f 1 12 1.0910386e+00 8.88e-16 1.02e-11 -4.0 3.03e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385779865759e+00 1.0910385779865759e+00 Dual infeasibility......: 1.0207099054859725e-11 1.0207099054859725e-11 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000037210437e-04 1.0000000037210437e-04 Overall NLP error.......: 1.0207099054859725e-11 1.0207099054859725e-11 Number of objective function evaluations = 14 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 12.665 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1453897e+00 3.58e+00 5.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.8107927e+00 1.84e+00 1.11e+00 -1.0 2.11e+00 0.0 8.08e-01 4.87e-01h 1 Hello, world! 2 2.4713697e+00 7.18e-02 1.27e+00 -1.0 1.33e+00 -0.5 1.00e+00 9.61e-01h 1 Hello, world! 3 2.4723497e+00 5.19e-03 2.83e-01 -1.3 2.11e-01 -1.0 9.54e-01 1.00e+00f 1 Hello, world! 4 2.2530378e+00 2.40e-02 1.65e-01 -2.0 4.70e-01 -1.4 9.69e-01 7.56e-01h 1 Hello, world! 5 2.1094434e+00 1.43e-03 5.46e-02 -2.8 8.24e-02 -1.9 9.94e-01 1.00e+00h 1 Hello, world! 6 2.0907086e+00 7.72e-05 1.44e-03 -4.0 2.22e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0910119e+00 9.27e-07 1.84e-04 -4.0 5.43e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0910011e+00 2.25e-09 2.79e-05 -4.0 6.09e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909776e+00 1.50e-08 2.95e-05 -4.0 1.83e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909081e+00 1.31e-07 3.71e-04 -4.0 5.36e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908104e+00 5.08e-07 1.01e-03 -4.0 1.06e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906303e+00 2.45e-06 3.48e-03 -4.0 2.74e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901260e+00 2.45e-05 5.75e-04 -4.0 8.33e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898800e+00 3.06e-06 1.46e-03 -4.0 2.91e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896461e+00 4.72e-06 2.52e-02 -4.0 1.01e+01 -5.8 1.00e+00 2.54e-01h 2 Hello, world! 16 2.0879445e+00 1.43e-04 1.65e-02 -4.0 2.44e+01 -6.3 1.00e+00 8.42e-01h 1 Hello, world! 17 2.0850247e+00 9.76e-04 5.88e-02 -4.0 5.34e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0836783e+00 7.59e-04 1.02e-01 -4.0 4.16e+01 -6.3 1.00e+00 2.95e-01h 1 Hello, world! 19 2.0828026e+00 2.20e-04 1.95e-02 -4.0 1.97e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827444e+00 1.66e-04 8.41e-03 -4.0 5.25e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823009e+00 5.44e-04 7.94e-03 -4.0 1.25e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0824353e+00 1.41e-03 5.61e-02 -4.0 9.84e+01 -7.3 6.19e-01 1.00e+00h 1 Hello, world! 23 2.0821918e+00 2.22e-05 4.29e-04 -4.1 7.39e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0822796e+00 4.92e-05 4.60e-04 -4.0 2.23e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0818794e+00 1.88e-04 3.41e-03 -4.1 7.47e+00 -6.0 9.50e-01 1.00e+00h 1 Hello, world! 26 2.0818890e+00 2.16e-04 9.00e+00 -4.0 1.92e+02 -5.6 5.18e-01 1.23e-02h 2 Hello, world! 27 2.0849948e+00 6.36e-05 6.67e-02 -4.0 1.41e+01 -6.1 9.93e-01 1.00e+00H 1 Hello, world! 28 2.0824604e+00 3.56e-04 3.24e-02 -4.0 1.59e+01 -6.6 8.56e-01 1.00e+00H 1 Hello, world! 29 2.0821715e+00 6.08e-04 4.24e-03 -4.0 1.08e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820322e+00 1.07e-04 7.84e-04 -4.0 2.64e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819207e+00 9.07e-05 4.03e-03 -4.0 4.49e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818601e+00 1.33e-04 3.62e-03 -4.0 5.75e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818452e+00 4.26e-05 8.82e-04 -4.0 3.65e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818435e+00 2.20e-06 5.45e-05 -4.0 9.63e+00 -9.4 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818434e+00 1.56e-08 5.69e-07 -4.0 9.57e-01 -9.9 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818434e+00 1.50e-11 1.00e-09 -4.0 3.39e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818434105564632e+00 2.0818434105564632e+00 Dual infeasibility......: 1.0000000158993071e-09 1.0000000158993071e-09 Constraint violation....: 1.5025314326067019e-11 1.5025314326067019e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.0000000158993071e-09 1.0000000158993071e-09 Number of objective function evaluations = 45 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 45 Number of inequality constraint evaluations = 45 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 37 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 13.221 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1453897e+00 3.58e+00 5.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.8107927e+00 1.84e+00 1.11e+00 -1.0 2.11e+00 0.0 8.08e-01 4.87e-01h 1 Hello, world! 2 2.4713697e+00 7.18e-02 1.27e+00 -1.0 1.33e+00 -0.5 1.00e+00 9.61e-01h 1 Hello, world! 3 2.4723497e+00 5.19e-03 2.83e-01 -1.3 2.11e-01 -1.0 9.54e-01 1.00e+00f 1 Hello, world! 4 2.2530378e+00 2.40e-02 1.65e-01 -2.0 4.70e-01 -1.4 9.69e-01 7.56e-01h 1 Hello, world! 5 2.1094434e+00 1.43e-03 5.46e-02 -2.8 8.24e-02 -1.9 9.94e-01 1.00e+00h 1 Hello, world! 6 2.0907086e+00 7.72e-05 1.44e-03 -4.0 2.22e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0910119e+00 9.27e-07 1.84e-04 -4.0 5.43e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0910011e+00 2.25e-09 2.79e-05 -4.0 6.09e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909776e+00 1.50e-08 2.95e-05 -4.0 1.83e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909081e+00 1.31e-07 3.71e-04 -4.0 5.36e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908104e+00 5.08e-07 1.01e-03 -4.0 1.06e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906303e+00 2.45e-06 3.48e-03 -4.0 2.74e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901260e+00 2.45e-05 5.75e-04 -4.0 8.33e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898800e+00 3.06e-06 1.46e-03 -4.0 2.91e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896461e+00 4.72e-06 2.52e-02 -4.0 1.01e+01 -5.8 1.00e+00 2.54e-01h 2 Hello, world! 16 2.0879445e+00 1.43e-04 1.65e-02 -4.0 2.44e+01 -6.3 1.00e+00 8.42e-01h 1 Hello, world! 17 2.0850247e+00 9.76e-04 5.88e-02 -4.0 5.34e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0836783e+00 7.59e-04 1.02e-01 -4.0 4.16e+01 -6.3 1.00e+00 2.95e-01h 1 Hello, world! 19 2.0828026e+00 2.20e-04 1.95e-02 -4.0 1.97e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827444e+00 1.66e-04 8.41e-03 -4.0 5.25e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823009e+00 5.44e-04 7.94e-03 -4.0 1.25e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0824353e+00 1.41e-03 5.61e-02 -4.0 9.84e+01 -7.3 6.19e-01 1.00e+00h 1 Hello, world! 23 2.0821918e+00 2.22e-05 4.29e-04 -4.1 7.39e-01 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0822796e+00 4.92e-05 4.60e-04 -4.0 2.23e+00 -5.6 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0818794e+00 1.88e-04 3.41e-03 -4.1 7.47e+00 -6.0 9.50e-01 1.00e+00h 1 Hello, world! 26 2.0818890e+00 2.16e-04 9.00e+00 -4.0 1.92e+02 -5.6 5.18e-01 1.23e-02h 2 Hello, world! 27 2.0849948e+00 6.36e-05 6.67e-02 -4.0 1.41e+01 -6.1 9.93e-01 1.00e+00H 1 Hello, world! 28 2.0824604e+00 3.56e-04 3.24e-02 -4.0 1.59e+01 -6.6 8.56e-01 1.00e+00H 1 Hello, world! 29 2.0821715e+00 6.08e-04 4.24e-03 -4.0 1.08e+01 -7.0 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820322e+00 1.07e-04 7.84e-04 -4.0 2.64e+01 -7.5 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0819207e+00 9.07e-05 4.03e-03 -4.0 4.49e+01 -8.0 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0818601e+00 1.33e-04 3.62e-03 -4.0 5.75e+01 -8.5 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0818452e+00 4.26e-05 8.82e-04 -4.0 3.65e+01 -8.9 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0818435e+00 2.20e-06 5.45e-05 -4.0 9.63e+00 -9.4 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0818434e+00 1.56e-08 5.69e-07 -4.0 9.57e-01 -9.9 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0818434e+00 1.50e-11 1.00e-09 -4.0 3.39e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818434105564632e+00 2.0818434105564632e+00 Dual infeasibility......: 1.0000000158993071e-09 1.0000000158993071e-09 Constraint violation....: 1.5025314326067019e-11 1.5025314326067019e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 1.0000000158993071e-09 1.0000000158993071e-09 Number of objective function evaluations = 45 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 45 Number of inequality constraint evaluations = 45 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 37 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 0.467 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4428712e+00 3.09e+00 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6462068e+00 6.47e-02 5.34e+00 -1.0 2.16e+00 0.0 9.57e-01 1.00e+00f 1 2 2.4563478e+00 3.69e-02 2.76e+00 -1.1 2.35e-01 0.4 1.00e+00 4.72e-01h 1 3 2.2883294e+00 1.79e-02 1.65e+00 -1.5 2.34e-01 -0.1 9.96e-01 6.19e-01h 1 4 2.1885786e+00 2.80e-03 1.63e-01 -2.2 9.83e-02 -0.5 9.97e-01 1.00e+00h 1 5 2.0987579e+00 7.47e-04 4.97e-02 -3.6 5.08e-02 -1.0 1.00e+00 9.91e-01h 1 6 2.0911562e+00 4.56e-05 2.44e-02 -4.0 2.29e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909574e+00 1.26e-07 2.97e-04 -4.0 9.53e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909609e+00 3.98e-09 5.29e-05 -4.0 1.45e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909591e+00 1.45e-10 2.17e-05 -4.0 1.78e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909537e+00 1.52e-09 2.12e-05 -4.0 5.21e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909396e+00 1.18e-08 2.20e-05 -4.0 1.47e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0909074e+00 7.02e-08 1.35e-04 -4.0 3.87e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908346e+00 3.28e-07 7.27e-04 -4.0 9.65e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0906314e+00 2.93e-06 8.69e-04 -4.0 3.01e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900273e+00 1.82e-05 5.57e-03 -4.0 8.20e+00 -5.8 1.00e+00 8.69e-01h 1 16 2.0890781e+00 6.94e-05 4.61e-02 -4.0 2.79e+01 -6.3 1.00e+00 5.00e-01f 2 17 2.0886342e+00 9.11e-06 2.16e-03 -4.0 1.84e+00 -4.9 1.00e+00 9.50e-01h 1 18 2.0884303e+00 2.66e-06 2.47e-03 -4.0 4.11e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0874140e+00 4.44e-05 7.10e-03 -4.0 1.22e+01 -5.9 1.00e+00 8.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0856458e+00 2.70e-04 1.65e-02 -4.0 2.77e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0841426e+00 2.95e-04 6.83e-02 -4.0 4.78e+01 -6.8 1.00e+00 4.18e-01h 1 22 2.0826658e+00 1.55e-04 2.39e-02 -4.0 6.58e+01 -7.3 1.00e+00 7.07e-01h 1 23 2.0825095e+00 1.10e-03 3.19e-02 -4.0 1.32e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0824262e+00 1.70e-03 2.84e-02 -4.0 1.14e+02 -7.4 1.00e+00 1.00e+00h 1 25 2.0821166e+00 6.08e-04 5.57e-03 -4.0 8.85e+00 -6.0 1.00e+00 1.00e+00h 1 26 2.0820948e+00 5.79e-05 1.18e-03 -4.0 8.20e-01 -4.7 1.00e+00 1.00e+00h 1 27 2.0821754e+00 1.66e-05 7.30e-04 -4.0 7.80e-01 -5.2 1.00e+00 1.00e+00h 1 28 2.0821773e+00 2.40e-05 2.37e-04 -4.0 6.48e-01 -5.7 1.00e+00 1.00e+00h 1 29 2.0821867e+00 6.15e-06 5.71e-05 -4.0 1.50e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821745e+00 3.86e-06 5.66e-05 -4.0 4.96e+00 -6.6 1.00e+00 1.00e+00h 1 31 2.0821239e+00 4.03e-06 3.92e-04 -4.0 1.35e+01 -7.1 1.00e+00 1.00e+00h 1 32 2.0820244e+00 3.80e-05 2.09e-03 -4.0 2.95e+01 -7.6 1.00e+00 1.00e+00h 1 33 2.0819140e+00 1.15e-04 4.55e-03 -4.0 4.82e+01 -8.0 1.00e+00 1.00e+00h 1 34 2.0818573e+00 1.35e-04 3.53e-03 -4.0 5.78e+01 -8.5 1.00e+00 1.00e+00h 1 35 2.0818448e+00 3.56e-05 7.19e-04 -4.0 3.37e+01 -9.0 1.00e+00 1.00e+00h 1 36 2.0818435e+00 1.48e-06 3.90e-05 -4.0 8.10e+00 -9.5 1.00e+00 1.00e+00h 1 37 2.0818434e+00 8.53e-09 3.31e-07 -4.0 7.27e-01 -10.0 1.00e+00 1.00e+00h 1 38 2.0818434e+00 6.72e-12 1.00e-09 -4.0 2.32e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 2.0818434105456327e+00 2.0818434105456327e+00 Dual infeasibility......: 1.0000000110339498e-09 1.0000000110339498e-09 Constraint violation....: 6.7164052097723470e-12 6.7164052097723470e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000028e-04 1.0000000000000028e-04 Overall NLP error.......: 1.0000000110339498e-09 1.0000000110339498e-09 Number of objective function evaluations = 44 Number of objective gradient evaluations = 39 Number of equality constraint evaluations = 44 Number of inequality constraint evaluations = 44 Number of equality constraint Jacobian evaluations = 39 Number of inequality constraint Jacobian evaluations = 39 Number of Lagrangian Hessian evaluations = 38 Total seconds in IPOPT = 15.536 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0261855e+01 1.90e+00 3.14e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.8484334e+00 8.00e-02 5.96e+00 -0.9 1.92e+00 0.0 7.68e-01 9.75e-01f 1 2 3.3676462e+00 2.94e-02 3.17e+00 -0.6 3.51e-01 0.4 9.54e-01 1.00e+00f 1 3 2.7618848e+00 8.50e-03 6.77e-01 -1.3 2.33e-01 -0.1 8.83e-01 1.00e+00h 1 4 2.2989783e+00 9.46e-03 1.56e-01 -1.9 1.31e-01 -0.5 1.00e+00 1.00e+00f 1 5 2.1358607e+00 2.87e-03 4.37e-02 -2.6 7.27e-02 -1.0 9.74e-01 8.73e-01h 1 6 2.0926492e+00 1.31e-04 7.27e-03 -4.0 1.44e-02 -1.5 1.00e+00 9.55e-01h 1 7 2.0908984e+00 3.81e-06 1.41e-03 -4.0 5.90e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908983e+00 2.11e-08 2.30e-05 -4.0 6.29e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908962e+00 2.71e-10 2.27e-05 -4.0 1.86e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908902e+00 1.35e-09 3.26e-05 -4.0 5.43e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908748e+00 1.02e-08 4.14e-05 -4.0 1.51e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908409e+00 6.14e-08 1.45e-04 -4.0 3.93e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907666e+00 3.06e-07 6.62e-04 -4.0 9.84e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905650e+00 3.07e-06 8.87e-04 -4.0 3.02e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0899138e+00 2.50e-05 1.57e-03 -4.0 8.25e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0882499e+00 1.90e-04 1.74e-02 -4.0 2.48e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0877348e+00 2.11e-05 3.38e-03 -4.0 1.79e+00 -4.9 1.00e+00 9.28e-01h 1 18 2.0875672e+00 3.44e-06 2.20e-03 -4.0 3.83e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0865682e+00 4.81e-05 5.81e-03 -4.0 1.11e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0850282e+00 2.12e-04 1.26e-02 -4.0 2.52e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0834736e+00 2.39e-04 3.95e-02 -4.0 3.97e+01 -6.8 1.00e+00 5.68e-01h 1 22 2.0825712e+00 1.30e-04 5.65e-03 -4.0 6.03e+01 -7.3 1.00e+00 7.49e-01h 1 23 2.0823815e+00 4.31e-04 1.67e-02 -4.0 1.31e+02 -7.8 1.00e+00 1.00e+00h 1 24 2.0828059e+00 3.97e-06 1.05e-01 -4.0 1.32e+02 -7.4 4.81e-01 1.00e+00H 1 25 2.0826014e+00 7.56e-06 5.84e-02 -4.0 1.12e+00 -5.1 1.00e+00 3.96e-01h 2 26 2.0823913e+00 1.01e-04 1.02e-03 -4.0 2.12e+00 -5.6 1.00e+00 1.00e+00h 1 27 2.0822605e+00 1.45e-04 7.94e-04 -4.0 5.86e+00 -6.1 1.00e+00 1.00e+00h 1 28 2.0820506e+00 1.23e-04 4.24e-03 -4.0 1.86e+01 -6.6 9.37e-01 1.00e+00h 1 29 2.0820126e+00 1.40e-04 1.54e+00 -4.0 9.05e+00 -5.2 1.00e+00 1.59e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820207e+00 5.16e-06 1.12e-03 -4.0 1.04e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0820921e+00 6.92e-06 1.26e-04 -4.0 2.42e+00 -6.2 1.00e+00 1.00e+00h 1 32 2.0821132e+00 2.28e-05 5.04e-04 -4.0 4.32e+00 -6.7 1.00e+00 1.00e+00h 1 33 2.0818442e+00 3.24e-04 5.63e-04 -4.1 1.57e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0819857e+00 6.21e-04 2.75e-03 -4.0 2.70e+01 -7.6 1.00e+00 1.00e+00h 1 35 2.0816411e+00 1.24e-03 3.37e-03 -4.1 4.86e+01 -8.1 1.00e+00 1.00e+00h 1 36 2.0818507e+00 1.32e-03 2.87e-03 -4.0 5.55e+01 -8.6 1.00e+00 1.00e+00h 1 37 2.0815824e+00 6.90e-04 5.76e-04 -4.1 3.01e+01 -9.0 1.00e+00 1.00e+00h 1 38 2.0818418e+00 2.00e-04 4.11e-05 -4.0 8.30e+00 -9.5 1.00e+00 1.00e+00h 1 39 2.0818407e+00 3.00e-08 3.68e-05 -4.0 3.73e-01 -10.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818407e+00 2.03e-12 3.68e-05 -4.0 9.35e-03 -10.5 1.00e+00 1.00e+00h 1 41 2.0818407e+00 4.44e-16 3.68e-05 -4.0 9.85e-05 -11.0 1.00e+00 1.00e+00H 1 42 2.0818407e+00 8.88e-16 3.68e-05 -4.0 1.84e-05 -11.4 1.00e+00 1.00e+00h 1 43 2.0815814e+00 2.08e-04 3.00e-05 -4.1 9.47e+00 -11.9 1.00e+00 1.00e+00h 1 44 2.0818419e+00 2.15e-04 3.68e-05 -4.0 9.79e+00 -12.4 1.00e+00 1.00e+00h 1 45 2.0815819e+00 2.14e-04 3.00e-05 -4.1 9.75e+00 -12.9 1.00e+00 1.00e+00h 1 46 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.3 9.77e-01 9.68e-01h 1 47 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -13.8 1.00e+00 1.00e+00f 1 48 2.0816124e+00 4.95e-04 3.06e-05 -4.1 2.07e+01 -14.3 1.00e+00 1.00e+00h 1 49 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -14.8 9.76e-01 9.61e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.3 1.00e+00 1.00e+00h 1 51 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -15.7 1.00e+00 1.00e+00f 1 52 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 53 2.0816420e+00 4.58e-07 3.15e-05 -4.1 8.54e+00 -16.7 1.00e+00 1.00e+00h 1 54 2.0818414e+00 1.26e-04 3.68e-05 -4.0 7.46e+00 -17.2 1.00e+00 1.00e+00h 1 55 2.0815817e+00 2.11e-04 3.00e-05 -4.1 9.63e+00 -17.6 1.00e+00 1.00e+00h 1 56 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.1 9.77e-01 9.68e-01h 1 57 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.6 1.00e+00 1.00e+00h 1 58 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.1 1.00e+00 1.00e+00f 1 59 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816444e+00 5.44e-07 3.16e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 61 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 62 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 63 2.0805468e+00 5.07e-08 3.15e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 64 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 65 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0816573e+00 1.18e-06 3.19e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 68 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805469e+00 5.37e-08 3.20e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 71 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 72 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0816639e+00 1.62e-06 3.21e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 75 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0805470e+00 5.53e-08 3.23e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 77 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 78 2.0805365e+00 8.66e-11 3.67e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 79 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0816640e+00 1.63e-06 3.21e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 83 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805470e+00 5.54e-08 3.23e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 86 2.0805365e+00 8.67e-11 3.67e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 2.22e-16 3.67e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 4.44e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 6.66e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 6.66e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 6.66e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 6.66e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 6.66e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 6.66e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 6.66e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 6.66e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 6.66e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 6.66e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 6.66e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 6.66e-16 3.67e-10 -9.0 1.83e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 3.6691899162546621e-10 3.6691899162546621e-10 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184536e-10 9.0909090971184536e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 15.591 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4324605e+02 3.24e+00 3.79e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 7.0469693e+01 2.10e+00 2.60e+01 -0.5 3.09e+00 0.0 1.00e+00 3.16e-01f 1 2 3.3999120e+00 8.04e-02 7.51e+00 -0.2 2.30e+00 -0.5 1.00e+00 1.00e+00f 1 3 3.3563306e+00 1.15e-02 1.80e+00 -0.6 6.23e-01 -1.0 9.21e-01 1.00e+00h 1 4 2.9166601e+00 4.32e-02 4.17e-01 -1.2 5.35e-01 -1.4 9.76e-01 1.00e+00h 1 5 2.3826593e+00 1.19e-01 1.60e-01 -1.7 1.13e+00 -1.9 9.99e-01 7.79e-01f 1 6 2.1532606e+00 2.52e-02 1.49e-01 -2.4 7.41e-01 -2.4 7.85e-01 1.00e+00h 1 7 2.0975459e+00 3.24e-03 1.98e-02 -3.1 3.23e-01 -2.9 9.99e-01 1.00e+00h 1 8 2.0910046e+00 2.82e-05 5.06e-04 -4.0 3.85e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909442e+00 7.47e-07 3.45e-04 -4.0 1.12e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909188e+00 3.51e-08 3.45e-04 -4.0 3.15e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908525e+00 2.50e-07 3.45e-04 -4.0 8.65e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906618e+00 2.17e-06 3.45e-04 -4.0 2.55e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0905835e+00 3.10e-07 3.45e-04 -4.0 9.94e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0902421e+00 4.09e-06 1.34e-03 -4.0 3.42e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0896880e+00 3.78e-05 8.31e-03 -4.0 1.02e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0890172e+00 3.83e-05 9.18e-02 -4.0 1.84e+01 -5.4 1.00e+00 2.33e-01h 1 17 2.0881534e+00 4.91e-05 1.24e-02 -4.0 1.11e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0867241e+00 1.13e-04 3.56e-02 -4.0 2.79e+01 -6.3 1.00e+00 6.14e-01h 1 19 2.0838354e+00 8.72e-04 4.22e-02 -4.0 5.08e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827631e+00 3.29e-04 9.56e-03 -4.0 5.32e+01 -7.3 1.00e+00 5.88e-01h 1 21 2.0825171e+00 9.17e-04 2.88e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0840881e+00 3.13e-05 2.09e-01 -4.0 1.69e+02 -7.3 3.09e-01 1.00e+00H 1 23 2.0829082e+00 3.40e-04 6.21e-02 -4.0 4.21e+00 -5.1 6.02e-01 5.79e-01h 1 24 2.0828081e+00 3.66e-04 4.32e+00 -3.1 8.78e+01 -5.6 9.74e-01 2.13e-03f 2 25 2.0827857e+00 2.17e-04 1.51e-02 -4.0 9.03e+00 -6.0 1.00e+00 1.00e+00h 1 26 2.0822419e+00 5.68e-04 5.46e-03 -4.0 1.91e+01 -6.5 1.00e+00 1.00e+00h 1 27 2.0821906e+00 1.54e-05 3.45e-04 -4.0 6.69e+00 -6.1 1.00e+00 1.00e+00h 1 28 2.0844957e+00 3.98e-06 1.65e-01 -4.0 4.37e+01 -6.6 3.12e-01 1.00e+00H 1 29 2.0829341e+00 8.13e-05 5.27e+00 -3.5 4.52e+00 -4.3 1.00e+00 2.72e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0823927e+00 5.28e-05 5.10e-03 -3.7 1.19e+00 -4.8 1.00e+00 1.00e+00h 1 31 2.0828163e+00 1.62e-04 2.43e-03 -3.7 3.35e+00 -5.3 1.00e+00 1.00e+00h 1 32 2.0831687e+00 4.41e-04 4.35e-03 -3.7 3.86e+00 -5.8 1.00e+00 1.00e+00h 1 33 2.0869026e+00 9.13e-05 3.00e-01 -3.7 3.09e+01 -6.2 3.63e-01 1.00e+00H 1 34 2.0842225e+00 5.72e-05 3.03e-01 -3.7 5.21e-01 -1.3 3.10e-01 3.78e-01h 1 35 2.0857994e+00 4.59e-05 4.06e-01 -3.7 4.56e-01 -1.8 1.00e+00 1.97e-01f 3 36 2.0840929e+00 2.48e-05 3.31e-01 -3.7 4.83e-01 -2.2 9.37e-01 5.69e-01h 1 37 2.0834714e+00 1.46e-05 5.82e-01 -3.7 1.54e-01 -2.7 3.23e-01 5.59e-01f 1 38 2.0834060e+00 1.47e-05 1.63e+00 -3.7 2.09e+00 -3.2 1.00e+00 1.67e-02f 2 39 2.0837473e+00 2.11e-06 8.22e-04 -3.7 2.03e-02 -3.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0830502e+00 1.83e-05 7.43e-04 -4.0 1.52e-01 -4.2 1.00e+00 1.00e+00h 1 41 2.0827793e+00 1.68e-05 2.77e-04 -4.1 4.45e-01 -4.6 1.00e+00 1.00e+00h 1 42 2.0819935e+00 1.62e-04 1.34e-03 -6.1 1.58e+00 -5.1 9.89e-01 1.00e+00h 1 43 2.0826657e+00 5.36e-04 2.47e-03 -4.0 3.91e+00 -5.6 1.00e+00 1.00e+00h 1 44 2.0820117e+00 2.99e-04 2.12e-02 -4.1 8.93e+00 -6.1 5.81e-01 1.00e+00h 1 45 2.0818707e+00 3.22e-06 8.02e-04 -4.1 4.61e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0821260e+00 3.34e-05 1.18e-03 -4.0 9.19e-01 -5.2 1.00e+00 1.00e+00h 1 47 2.0822292e+00 1.47e-06 1.86e-01 -4.1 7.63e+00 -5.7 5.95e-01 1.00e+00H 1 48 2.0821182e+00 1.84e-06 7.24e-04 -4.0 6.01e-02 -1.7 1.00e+00 1.00e+00h 1 49 2.0822391e+00 2.42e-07 3.45e-04 -4.0 1.32e-02 -2.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820997e+00 1.45e-07 2.77e-04 -4.1 1.45e-02 -2.6 1.00e+00 1.00e+00h 1 51 2.0822265e+00 3.14e-07 3.45e-04 -4.0 1.59e-02 -3.1 1.00e+00 1.00e+00h 1 52 2.0820861e+00 1.08e-06 2.76e-04 -4.1 4.79e-02 -3.6 1.00e+00 1.00e+00h 1 53 2.0822129e+00 2.96e-06 3.45e-04 -4.0 1.42e-01 -4.0 1.00e+00 1.00e+00h 1 54 2.0820418e+00 9.11e-06 2.76e-04 -4.1 3.46e-01 -4.5 1.00e+00 1.00e+00h 1 55 2.0813932e+00 1.18e-04 4.06e-02 -6.1 1.16e+00 -5.0 8.93e-01 1.00e+00h 1 56 2.0822122e+00 8.79e-05 2.06e-03 -4.0 8.86e-01 -5.5 1.00e+00 1.00e+00h 1 57 2.0819246e+00 3.63e-05 2.75e-04 -4.1 1.30e+00 -5.9 1.00e+00 1.00e+00h 1 58 2.0810707e+00 8.77e-04 5.34e-03 -6.1 1.12e+01 -6.4 9.93e-01 1.00e+00h 1 59 2.0810908e+00 3.92e-06 4.27e-04 -5.2 2.32e-01 -4.2 1.00e+00 9.96e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0812461e+00 7.91e-06 5.84e-01 -4.0 2.73e+00 -4.7 1.00e+00 1.79e-01f 1 61 2.0815400e+00 7.44e-05 1.90e-03 -4.1 1.66e+00 -5.1 1.00e+00 1.00e+00f 1 62 2.0816859e+00 2.48e-05 1.56e-03 -4.1 1.77e+00 -5.6 1.00e+00 1.00e+00h 1 63 2.0817623e+00 8.28e-06 6.08e-04 -4.1 2.50e+00 -6.1 1.00e+00 1.00e+00h 1 64 2.0810113e+00 7.16e-04 5.31e-03 -6.2 1.07e+01 -6.6 9.98e-01 1.00e+00h 1 65 2.0813231e+00 4.41e-04 6.56e-01 -4.0 1.45e+00 -4.3 1.00e+00 3.86e-01h 1 66 2.0814589e+00 2.20e-05 1.23e-03 -4.1 8.99e-01 -4.8 1.00e+00 1.00e+00h 1 67 2.0815946e+00 2.39e-05 7.40e-04 -4.1 2.11e+00 -5.3 1.00e+00 1.00e+00h 1 68 2.0810901e+00 1.47e-04 5.29e-02 -6.2 2.01e+00 -5.8 9.04e-01 1.00e+00h 1 69 2.0819976e+00 1.02e-03 5.93e-02 -4.0 1.12e+01 -6.3 1.00e+00 8.74e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818797e+00 4.52e-05 3.48e-03 -4.1 5.35e+00 -6.7 1.00e+00 1.00e+00h 1 71 2.0818138e+00 4.04e-05 4.87e-04 -4.1 1.37e+01 -7.2 1.00e+00 1.00e+00h 1 72 2.0807689e+00 4.11e-03 5.34e-04 -6.1 4.77e+01 -7.7 9.74e-01 9.56e-01h 1 73 2.0818878e+00 6.34e-03 4.02e-03 -4.0 5.69e+01 -8.2 1.00e+00 1.00e+00f 1 74 2.0816143e+00 1.27e-03 1.60e-03 -4.1 4.99e+01 -8.6 1.00e+00 1.00e+00h 1 75 2.0815957e+00 1.23e-05 4.20e-04 -4.1 2.49e+01 -9.1 1.00e+00 1.00e+00h 1 76 2.0805907e+00 3.50e-03 1.38e-04 -6.1 4.17e+01 -9.6 9.78e-01 9.72e-01h 1 77 2.0818881e+00 6.41e-03 5.00e-04 -4.0 5.94e+01 -10.1 1.00e+00 1.00e+00f 1 78 2.0816142e+00 4.91e-04 2.83e-04 -4.1 2.08e+01 -10.5 1.00e+00 1.00e+00h 1 79 2.0805992e+00 3.47e-03 1.53e-04 -6.1 4.15e+01 -11.0 9.76e-01 9.65e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805508e+00 8.52e-05 2.87e-06 -6.1 1.70e+01 -11.5 1.00e+00 1.00e+00h 1 81 2.0815446e+00 5.31e-03 7.62e-03 -4.0 8.43e+01 -12.0 1.00e+00 7.17e-01f 1 82 2.0815857e+00 2.03e-04 2.70e-04 -4.1 2.99e+01 -12.5 1.00e+00 1.00e+00f 1 83 2.0805935e+00 3.26e-03 1.39e-04 -6.2 4.08e+01 -12.9 9.76e-01 9.69e-01h 1 84 2.0805500e+00 7.24e-05 2.39e-06 -6.2 1.65e+01 -13.4 1.00e+00 1.00e+00h 1 85 2.0806159e+00 9.51e-05 2.53e-02 -4.0 8.47e+01 -13.9 1.00e+00 5.11e-02f 1 86 2.0813472e+00 1.67e-03 2.13e-04 -4.2 2.71e+01 -14.4 1.00e+00 1.00e+00f 1 87 2.0813639e+00 4.01e-05 2.13e-04 -4.2 3.63e+01 -14.8 1.00e+00 1.00e+00h 1 88 2.0805884e+00 2.12e-03 2.46e-04 -6.3 3.41e+01 -15.3 9.81e-01 9.58e-01h 1 89 2.0805462e+00 5.85e-05 1.68e-06 -6.3 1.41e+01 -15.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0819924e+00 1.09e-02 4.05e-04 -4.0 8.77e+01 -16.3 1.00e+00 1.00e+00f 1 91 2.0816939e+00 9.72e-04 2.95e-04 -4.1 4.86e+01 -16.8 1.00e+00 1.00e+00h 1 92 2.0816534e+00 6.55e-07 2.95e-04 -4.1 9.19e+00 -17.2 1.00e+00 1.00e+00h 1 93 2.0805908e+00 3.70e-03 1.61e-04 -6.1 4.17e+01 -17.7 9.77e-01 9.75e-01h 1 94 2.0805511e+00 6.79e-05 2.73e-06 -6.1 1.63e+01 -18.2 1.00e+00 1.00e+00h 1 95 2.0805469e+00 4.76e-08 2.73e-06 -6.1 2.97e+00 -18.7 1.00e+00 1.00e+00h 1 96 2.0820214e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -19.1 1.00e+00 1.00e+00f 1 97 2.0817159e+00 1.04e-03 2.98e-04 -4.1 5.46e+01 -19.6 1.00e+00 1.00e+00h 1 98 2.0816648e+00 1.22e-06 2.98e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805514e+00 6.96e-05 2.77e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805513855254794e+00 2.0805513855254794e+00 Dual infeasibility......: 2.7733109920555123e-06 2.7733109920555123e-06 Constraint violation....: 6.9604066102950390e-05 6.9604066102950390e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.0324234698645431e-06 3.0324234698645431e-06 Overall NLP error.......: 9.9196475269069519e-05 9.9196475269069519e-05 Number of objective function evaluations = 113 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 113 Number of inequality constraint evaluations = 113 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 17.904 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.3942708e+00 3.28e+00 6.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7811760e+00 8.53e-02 6.16e+00 -1.3 1.98e+00 0.0 1.29e-01 9.75e-01h 1 2 2.8108326e+00 8.66e-02 4.64e+00 -0.9 2.47e+00 -0.5 4.53e-01 2.74e-01f 1 3 2.8112305e+00 7.43e-03 1.09e+00 -1.0 1.20e-01 0.9 9.90e-01 1.00e+00f 1 4 2.4771412e+00 3.21e-03 2.19e-01 -1.7 6.01e-02 0.4 9.95e-01 1.00e+00f 1 5 2.1871653e+00 2.72e-03 8.07e-02 -2.4 7.08e-02 -0.1 9.93e-01 7.98e-01f 1 6 2.1109868e+00 9.82e-04 8.61e-02 -3.6 4.24e-02 -0.6 9.97e-01 6.93e-01h 1 7 2.0910824e+00 3.59e-05 1.23e-02 -4.0 7.75e-03 -1.1 1.00e+00 9.64e-01h 1 8 2.0908895e+00 1.31e-07 3.77e-04 -4.0 6.37e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0908886e+00 9.26e-10 1.34e-04 -4.0 1.37e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908879e+00 1.48e-11 6.44e-05 -4.0 1.98e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908861e+00 1.36e-10 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908805e+00 1.23e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908636e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908132e+00 9.94e-08 2.06e-05 -4.0 5.13e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906621e+00 8.96e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0902101e+00 8.12e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888652e+00 7.44e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849359e+00 7.05e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796323e+00 2.07e-03 1.86e-01 -4.0 1.04e+02 -6.8 1.00e+00 5.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801745e+00 3.51e-04 1.77e-01 -4.0 6.53e+01 -7.3 1.00e+00 9.76e-01H 1 21 2.0773689e+00 8.55e-03 1.91e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.66e-01h 1 22 2.0770917e+00 1.82e-03 7.50e-02 -4.0 2.10e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760582e+00 5.29e-03 2.10e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.16e-01h 1 24 2.0768832e+00 2.53e-02 2.40e-02 -3.7 2.83e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764532e+00 5.97e-03 2.81e-03 -3.8 9.20e+01 -9.6 1.00e+00 1.00e+00h 1 26 2.0764396e+00 9.90e-05 5.88e-05 -3.8 2.02e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756779e+00 1.74e-03 5.95e-06 -4.0 3.06e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 6.54e-06 1.40e-06 -4.0 2.16e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 3.60e-09 1.47e-07 -4.0 4.83e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 4.28e-11 1.59e-09 -4.0 6.41e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121483365e+00 2.0756712121483365e+00 Dual infeasibility......: 1.5929447120632649e-09 1.5929447120632649e-09 Constraint violation....: 4.2780001763276232e-11 4.2780001763276232e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000038e-04 1.0000000000000038e-04 Overall NLP error.......: 1.5929447120632649e-09 1.5929447120632649e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 14.992 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9192449e+00 2.98e+00 3.59e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7499577e+00 9.37e-02 2.50e+00 -0.9 2.12e+00 0.0 9.46e-01 1.00e+00h 1 2 2.5982669e+00 3.02e-02 9.29e-01 -1.0 4.68e-01 -0.5 9.81e-01 1.00e+00h 1 3 2.5387142e+00 4.71e-02 9.77e-01 -1.0 1.24e+00 -1.0 7.61e-01 2.40e-01h 1 4 2.4375935e+00 2.77e-02 8.27e-01 -1.6 1.66e-01 -0.5 1.00e+00 4.13e-01h 1 5 2.2581890e+00 1.33e-02 2.60e-01 -2.3 1.38e-01 -1.0 9.98e-01 5.24e-01h 1 6 2.1193095e+00 3.77e-03 8.04e-02 -3.4 1.40e-01 -1.5 1.00e+00 8.09e-01h 1 7 2.0945284e+00 1.28e-03 4.08e-02 -4.0 2.70e-01 -2.0 1.00e+00 9.79e-01h 1 8 2.0909634e+00 1.16e-03 5.08e-02 -4.0 4.55e-01 -2.4 1.00e+00 7.90e-01h 1 9 2.0909912e+00 7.40e-06 8.00e-03 -4.0 5.33e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909030e+00 3.62e-06 8.16e-05 -4.0 5.12e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908870e+00 1.72e-07 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908421e+00 7.89e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907078e+00 7.12e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903057e+00 6.45e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891084e+00 5.90e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855989e+00 5.57e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796364e+00 2.31e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.29e-01h 1 18 2.0807372e+00 1.58e-04 1.81e-01 -4.0 6.60e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775347e+00 7.37e-03 2.46e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769094e+00 1.11e-03 4.52e-02 -4.0 1.77e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760217e+00 9.98e-04 2.34e-02 -4.0 3.07e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754518e+00 5.08e-04 2.95e-02 -4.0 4.68e+02 -9.1 1.00e+00 7.18e-01H 1 23 2.0757750e+00 2.06e-03 1.14e-02 -4.0 1.41e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753816e+00 1.43e-03 5.08e-04 -4.1 7.79e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.05e-04 6.93e-06 -4.0 1.85e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.36e-04 8.35e-07 -4.1 2.60e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.12e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.60e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722588841e-02 1.4164404722588841e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728815e-04 2.3095644031728815e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 15.153 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.7822428e+00 3.14e+00 3.14e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6701037e+00 6.08e-02 5.22e+00 -1.1 2.35e+00 0.0 9.92e-01 1.00e+00f 1 2 2.4902120e+00 2.53e-02 1.61e+00 -0.8 2.83e-01 0.4 1.00e+00 7.97e-01h 1 3 2.4902293e+00 3.91e-03 4.93e-01 -1.7 2.14e-01 -0.1 8.92e-01 1.00e+00h 1 4 2.2883492e+00 1.15e-02 4.39e-01 -4.0 3.93e-01 -0.5 4.42e-01 4.19e-01f 1 5 2.1807960e+00 6.48e-03 2.73e-01 -2.4 1.43e-01 -1.0 8.61e-01 6.59e-01f 1 6 2.1456979e+00 6.61e-03 7.01e-01 -3.1 4.14e-01 -0.6 6.26e-01 1.09e-01h 1 7 2.1385386e+00 6.38e-03 3.32e-01 -3.3 1.12e-01 -1.1 1.00e+00 3.59e-02h 1 8 2.1013924e+00 3.40e-03 3.98e-01 -3.5 1.71e-01 -1.5 1.00e+00 4.68e-01h 1 9 2.0912251e+00 5.43e-04 1.67e-01 -4.0 6.33e-02 -2.0 1.00e+00 8.39e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908782e+00 2.43e-06 9.03e-03 -4.0 1.57e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908758e+00 3.34e-07 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908702e+00 7.81e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908534e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908030e+00 9.93e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906519e+00 8.96e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901998e+00 8.11e-06 3.62e-05 -4.0 4.60e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888550e+00 7.44e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849260e+00 7.06e-04 2.94e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796276e+00 2.07e-03 1.86e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801774e+00 1.96e-04 1.73e-01 -4.0 6.52e+01 -7.3 1.00e+00 9.89e-01H 1 21 2.0773620e+00 8.44e-03 2.19e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.65e-01h 1 22 2.0771031e+00 1.93e-03 6.72e-02 -4.0 2.10e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760758e+00 4.77e-03 2.07e-02 -4.0 3.51e+02 -8.7 1.00e+00 9.00e-01h 1 24 2.0768876e+00 3.06e-02 2.63e-02 -3.7 2.90e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764634e+00 7.58e-03 3.91e-03 -3.8 1.01e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0764468e+00 1.32e-04 7.76e-05 -3.8 2.20e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756780e+00 1.80e-03 4.97e-06 -4.0 3.14e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 6.69e-06 1.41e-06 -4.0 2.18e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 3.65e-09 1.49e-07 -4.0 4.88e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 4.42e-11 1.64e-09 -4.0 6.55e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121488534e+00 2.0756712121488534e+00 Dual infeasibility......: 1.6363446906882736e-09 1.6363446906882736e-09 Constraint violation....: 4.4165004986496115e-11 4.4165004986496115e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000033e-04 1.0000000000000033e-04 Overall NLP error.......: 1.6363446906882736e-09 1.6363446906882736e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 14.522 EXIT: Optimal Solution Found. Difference in Hessian initializing optimizer... applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.9395589e+00 2.11e+00 4.73e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6608922e+00 3.08e-02 2.43e+00 -1.0 1.72e+00 -2.0 9.88e-01 1.00e+00f 1 2 2.3747411e+00 4.43e-02 2.33e-01 -1.8 1.17e+00 -2.5 9.98e-01 1.00e+00h 1 3 2.1143764e+00 4.39e-02 9.12e-02 -2.6 1.45e+00 -3.0 9.77e-01 1.00e+00h 1 4 2.1013156e+00 6.13e-05 2.93e-02 -3.0 1.21e-01 -3.4 9.86e-01 1.00e+00h 1 5 2.0908894e+00 1.97e-04 1.70e-04 -4.0 1.70e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0909341e+00 5.08e-06 2.06e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907862e+00 8.72e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903437e+00 7.64e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0890268e+00 6.97e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851749e+00 6.52e-04 2.80e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797479e+00 1.95e-03 1.45e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.34e-01h 1 12 2.0803857e+00 4.93e-05 1.69e-01 -4.0 6.45e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775151e+00 5.83e-03 1.94e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.68e-01h 1 14 2.0771888e+00 7.01e-04 6.03e-02 -4.0 2.11e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761693e+00 1.04e-03 2.54e-02 -4.0 3.55e+02 -8.7 1.00e+00 7.77e-01h 1 16 2.0755849e+00 5.99e-04 2.48e-02 -4.0 5.09e+02 -9.2 1.00e+00 7.12e-01h 1 17 2.0758564e+00 8.00e-04 1.16e-02 -4.0 1.42e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754567e+00 1.84e-03 4.73e-04 -4.1 7.93e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 5.10e-04 7.41e-06 -4.0 2.10e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754220e+00 6.65e-04 8.40e-07 -4.1 2.51e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.24e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0754219e+00 5.46e-04 2.67e-07 -4.1 2.06e+01 -12.0 1.00e+00 1.00e+00h 1 23 2.0757717e+00 6.02e-04 1.14e-07 -4.0 2.27e+01 -12.5 1.00e+00 1.00e+00h 1 24 2.0754219e+00 6.01e-04 9.83e-08 -4.1 2.27e+01 -13.0 1.00e+00 1.00e+00h 1 25 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 26 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 27 2.0754378e+00 2.84e-02 8.74e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 28 2.0754277e+00 1.24e-05 2.12e-06 -4.1 1.63e+02 -14.9 1.00e+00 1.00e+00h 1 29 2.0757717e+00 7.83e-04 1.74e-07 -4.0 3.01e+01 -15.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 31 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 32 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 33 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.3 1.00e+00 1.46e-01f 1 34 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.7 1.00e+00 1.00e+00h 1 35 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.2 1.00e+00 1.00e+00h 1 36 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.7 1.00e+00 1.00e+00h 1 37 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.2 1.00e+00 1.00e+00h 1 38 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 39 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 41 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 42 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 43 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 44 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 45 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 46 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 47 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 48 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 49 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 51 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 54 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 55 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 56 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 57 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 58 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 59 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 61 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 62 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 63 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 64 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 66 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 67 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 69 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 71 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 73 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 74 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 76 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 77 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 78 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 81 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 82 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 84 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 85 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 86 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 88 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 89 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 91 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 92 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 93 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 95 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 96 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 97 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 99 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0748092138579128e+00 2.0748092138579128e+00 Dual infeasibility......: 8.3650444729791012e-05 8.3650444729791012e-05 Constraint violation....: 1.0240270858531986e-01 1.0240270858531986e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.8229653538553949e-05 6.8229653538553949e-05 Overall NLP error.......: 1.0240270858531986e-01 1.0240270858531986e-01 Number of objective function evaluations = 102 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 102 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 14.625 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: all a values equal applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 194 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 27 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0585813e+00 9.09e-01 1.02e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6179792e+00 1.64e-01 1.86e+00 -0.8 8.43e-01 0.0 9.36e-01 1.00e+00h 1 2 1.8677360e+00 7.58e-02 3.67e+00 -0.6 6.91e+00 - 8.48e-01 6.28e-01H 1 3 2.4216245e+00 3.63e-02 5.35e+00 -1.4 3.07e-01 -0.5 9.92e-01 1.00e+00h 1 4 1.9871711e+00 3.26e-02 2.70e+00 -0.8 9.19e+00 -1.0 1.00e+00 9.97e-02f 2 5 1.6176611e+00 2.60e-02 1.97e+00 -1.6 1.46e+00 -1.4 9.94e-01 7.77e-01f 1 6 1.2800220e+00 9.80e-03 9.05e-01 -2.4 8.98e+00 - 1.00e+00 6.68e-01f 1 7 1.1848678e+00 4.27e-03 3.96e-01 -3.0 5.05e+00 - 1.00e+00 5.54e-01h 1 8 1.0950537e+00 5.70e-05 4.50e-02 -3.7 1.71e+00 - 1.00e+00 1.00e+00h 1 9 1.0912004e+00 6.97e-07 7.02e-02 -4.0 2.41e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908839e+00 1.35e-09 1.65e-03 -4.0 4.35e-01 - 1.00e+00 1.00e+00f 1 11 1.0908998e+00 1.28e-15 5.91e-05 -4.0 2.04e-01 - 1.00e+00 1.00e+00f 1 12 1.0908997e+00 1.33e-25 1.92e-06 -4.0 4.42e-03 - 1.00e+00 1.00e+00f 1 13 1.0908997e+00 1.04e-26 8.47e-10 -4.0 5.71e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0908997263265534e+00 1.0908997263265534e+00 Dual infeasibility......: 8.4709201414143057e-10 8.4709201414143057e-10 Constraint violation....: 1.0361055655622756e-26 1.0361055655622756e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000079e-04 1.0000000000000079e-04 Overall NLP error.......: 8.4709201414143057e-10 8.4709201414143057e-10 Number of objective function evaluations = 18 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 18 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 12.507 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Package | 174 174 10m23.9s Testing DirectTrajOpt tests passed Testing completed after 1330.45s PkgEval succeeded after 1413.11s