Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1455 (9d9110fde9*) started at 2026-01-01T21:17:43.377 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 9.72s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.6.0 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.21.0 ⌃ [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 v6.194.0 [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 v1.3.0 [5789e2e9] + FileIO v1.17.1 [1a297f60] + FillArrays v1.15.0 [6a86dc24] + FiniteDiff v2.29.0 [f6369f11] + ForwardDiff v1.3.1 [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 v2.131.0 [a6db7da4] + SciMLLogging v1.8.0 [c0aeaf25] + SciMLOperators v1.14.1 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.9.0 [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 v1.9.16 [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 5.87s ################################################################################ # 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:585 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:585 Precompilation failed after 12.3s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_0zkYj1/Project.toml` [c823fa1f] DirectTrajOpt v0.6.0 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.1 [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_0zkYj1/Manifest.toml` [47edcb42] ADTypes v1.21.0 ⌃ [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 v6.194.0 [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 v1.3.0 [5789e2e9] FileIO v1.17.1 [1a297f60] FillArrays v1.15.0 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.1 [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 v2.131.0 [a6db7da4] SciMLLogging v1.8.0 [c0aeaf25] SciMLOperators v1.14.1 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.9.0 [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 v1.9.16 [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. 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 3.4004329e+00 3.72e+00 1.97e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8543966e+00 1.46e-02 1.47e+00 -1.1 2.27e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2911424e+00 4.22e-02 8.46e-02 -1.7 4.46e-01 -1.6 9.90e-01 1.00e+00h 1 3 2.1436541e+00 4.36e-03 7.55e-01 -2.7 2.39e-01 -1.1 9.69e-01 1.00e+00h 1 4 2.0988627e+00 1.14e-03 1.72e-01 -3.6 1.17e-01 -1.6 1.00e+00 7.47e-01h 1 5 2.0929899e+00 6.55e-04 6.59e-01 -4.0 5.00e-01 -2.1 1.00e+00 4.29e-01h 1 6 2.0909826e+00 2.16e-04 8.81e-01 -4.0 1.13e+00 -2.6 1.00e+00 1.00e+00h 1 7 2.0909662e+00 6.48e-07 6.67e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909782e+00 8.68e-07 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909573e+00 1.50e-08 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 2.0908955e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907133e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901939e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888511e+00 8.19e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861639e+00 4.39e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830926e+00 9.15e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828516e+00 9.30e-04 2.30e-02 -4.0 5.42e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823445e+00 3.91e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820401e+00 9.57e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.67e-03 -4.0 9.92e+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 3.69e-05 8.46e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.33e-07 1.39e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.85e-10 3.27e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.54e-13 1.22e-11 -4.0 4.60e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190978e+00 2.0819382907190978e+00 Dual infeasibility......: 1.2189558227810454e-11 1.2189558227810454e-11 Constraint violation....: 2.5401902803423582e-13 2.5401902803423582e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000059e-04 1.0000000000000059e-04 Overall NLP error.......: 1.2189558227810454e-11 1.2189558227810454e-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 = 19.252 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 3.9793285e+00 2.25e+00 2.78e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7113769e+00 2.65e-02 3.99e-01 -1.1 1.97e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.2283594e+00 2.01e-02 9.58e-02 -1.9 2.79e-01 -1.6 9.58e-01 1.00e+00h 1 3 2.1236647e+00 1.82e-03 1.92e-01 -2.7 1.04e-01 -1.1 9.80e-01 9.47e-01h 1 4 2.1010759e+00 5.90e-04 1.03e+00 -3.8 2.57e-01 -1.6 1.00e+00 8.06e-01h 1 5 2.0929340e+00 3.66e-04 6.73e-01 -4.0 6.27e-01 -2.1 1.00e+00 5.18e-01h 1 6 2.0907775e+00 1.42e-04 2.26e-01 -4.0 3.61e-01 -2.6 1.00e+00 9.30e-01h 1 7 2.0909787e+00 2.62e-06 1.18e-02 -4.0 3.30e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909531e+00 1.09e-06 4.71e-05 -4.0 8.76e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909234e+00 4.35e-08 6.77e-05 -4.0 2.45e-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 2.0908657e+00 1.65e-07 2.98e-04 -4.0 5.87e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907627e+00 6.02e-07 1.45e-03 -4.0 1.34e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904872e+00 6.15e-06 1.06e-03 -4.0 4.32e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0898035e+00 2.80e-05 1.16e-02 -4.0 1.11e+01 -5.9 1.00e+00 7.55e-01h 1 14 2.0886212e+00 1.14e-04 6.11e-02 -4.0 3.61e+01 -6.4 1.00e+00 5.00e-01f 2 15 2.0880442e+00 3.30e-05 8.97e-03 -4.0 2.76e+00 -5.1 1.00e+00 7.94e-01h 1 16 2.0877693e+00 4.78e-06 3.35e-03 -4.0 5.41e+00 -5.5 1.00e+00 1.00e+00h 1 17 2.0866216e+00 6.43e-05 1.02e-02 -4.0 1.56e+01 -6.0 1.00e+00 8.01e-01h 1 18 2.0846600e+00 3.61e-04 1.86e-02 -4.0 3.28e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0830216e+00 2.76e-04 3.41e-02 -4.0 3.98e+01 -7.0 1.00e+00 6.15e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825116e+00 4.84e-04 1.72e-02 -4.0 7.52e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821593e+00 7.21e-04 9.46e-03 -4.0 1.61e+02 -7.9 8.61e-01 1.00e+00h 1 22 2.0827905e+00 6.23e-06 3.68e-02 -4.0 4.84e+01 -6.6 1.00e+00 1.00e+00H 1 23 2.1285138e+00 1.70e-01 2.61e-01 -2.4 1.20e+03 -7.1 6.16e-02 1.50e-01f 2 24 2.1251251e+00 1.05e-01 3.26e-01 -3.4 5.28e-02 0.8 2.77e-01 3.83e-01h 1 25 2.1113072e+00 3.27e-05 5.19e-01 -3.4 8.45e-02 0.3 9.36e-01 1.00e+00h 1 26 2.0963278e+00 1.41e-04 7.79e-01 -3.4 1.13e-01 -0.2 1.00e+00 1.00e+00f 1 27 2.0930123e+00 1.83e-04 4.82e-01 -3.4 1.01e-01 -0.7 1.00e+00 5.34e-01h 1 28 2.0912393e+00 6.21e-05 4.16e-02 -3.4 8.65e-02 -1.1 1.00e+00 1.00e+00f 1 29 2.0890181e+00 1.02e-04 5.98e-03 -3.4 1.30e-01 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0888697e+00 1.41e-05 1.14e-03 -3.4 4.00e-02 -2.1 1.00e+00 1.00e+00h 1 31 2.0858466e+00 4.52e-05 5.39e-03 -5.2 9.04e-02 -2.6 9.50e-01 9.31e-01h 1 32 2.0854384e+00 1.19e-06 1.72e-04 -5.2 1.95e-02 -3.1 1.00e+00 1.00e+00h 1 33 2.0854258e+00 1.28e-07 1.58e-05 -5.2 5.34e-02 -3.5 1.00e+00 1.00e+00h 1 34 2.0863694e+00 1.42e-05 2.33e-04 -4.0 1.49e-01 -4.0 1.00e+00 1.00e+00f 1 35 2.0861103e+00 8.74e-06 4.83e-05 -4.1 4.55e-01 -4.5 1.00e+00 1.00e+00h 1 36 2.0852458e+00 1.16e-04 1.99e-04 -6.1 1.43e+00 -5.0 1.00e+00 9.92e-01h 1 37 2.0849459e+00 8.98e-06 5.34e-04 -6.1 4.19e+00 -5.4 1.00e+00 9.72e-01h 1 38 2.0841962e+00 5.27e-07 1.49e-03 -6.1 1.17e+01 -5.9 1.00e+00 1.00e+00h 1 39 2.0839234e+00 2.83e-03 1.21e-02 -4.0 2.61e+01 -6.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0820778e+00 3.77e-04 3.06e-02 -4.1 3.92e+01 -6.9 1.00e+00 8.24e-01h 1 41 2.0824723e+00 5.51e-04 1.32e-02 -4.0 5.05e+01 -7.3 1.00e+00 1.00e+00f 1 42 2.0818426e+00 1.90e-03 5.47e-03 -4.1 1.24e+02 -7.8 8.22e-01 1.00e+00h 1 43 2.1705462e+00 1.57e-04 6.10e-01 -4.0 8.51e+01 -6.5 5.95e-01 1.00e+00H 1 44 2.1015563e+00 1.33e-04 1.44e+00 -3.9 2.79e+00 -0.6 5.03e-02 1.53e-01f 1 45 2.0842671e+00 3.54e-05 3.52e-01 -3.9 2.88e-01 -1.1 1.00e+00 7.36e-01f 1 46 2.0842005e+00 1.34e-05 1.70e-02 -3.9 9.92e-02 -1.6 1.00e+00 1.00e+00f 1 47 2.0838562e+00 1.13e-05 7.10e-03 -3.9 2.08e-01 -2.1 1.00e+00 1.00e+00h 1 48 2.0828981e+00 4.84e-06 1.86e-02 -3.9 5.25e-01 -2.6 1.00e+00 8.89e-01H 1 49 2.0833579e+00 5.47e-06 2.40e-03 -3.9 2.25e-01 -3.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0830802e+00 3.55e-06 1.99e-04 -3.9 1.52e-01 -3.5 1.00e+00 1.00e+00h 1 51 2.0828730e+00 2.06e-06 4.57e-05 -4.0 8.46e-02 -4.0 1.00e+00 1.00e+00h 1 52 2.0826822e+00 6.87e-06 2.52e-05 -4.1 2.77e-01 -4.5 1.00e+00 1.00e+00h 1 53 2.0828107e+00 1.85e-05 1.34e-04 -4.0 7.32e-01 -4.9 1.00e+00 1.00e+00h 1 54 2.0825001e+00 5.66e-05 1.43e-04 -4.1 2.21e+00 -5.4 1.00e+00 1.00e+00h 1 55 2.0824000e+00 1.16e-04 1.43e-03 -4.0 4.72e+00 -5.9 1.00e+00 1.00e+00h 1 56 2.0821036e+00 5.34e-05 2.47e-03 -4.0 9.38e+00 -6.4 1.00e+00 1.00e+00h 1 57 2.0819203e+00 6.74e-05 2.09e-03 -4.0 2.43e+01 -6.9 1.00e+00 1.00e+00h 1 58 2.0818311e+00 2.98e-04 3.82e-03 -4.0 1.75e+01 -6.4 1.00e+00 1.00e+00h 1 59 2.0818454e+00 9.66e-05 1.66e-03 -4.0 1.61e+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 60 2.0819140e+00 2.14e-05 9.26e-04 -4.0 1.11e+00 -5.6 1.00e+00 1.00e+00h 1 61 2.0819270e+00 3.40e-06 2.38e-04 -4.0 9.33e-01 -6.1 1.00e+00 1.00e+00h 1 62 2.0819374e+00 5.45e-06 7.03e-05 -4.0 1.97e+00 -6.5 1.00e+00 1.00e+00h 1 63 2.0819311e+00 1.71e-06 4.11e-05 -4.0 5.31e+00 -7.0 1.00e+00 1.00e+00h 1 64 2.0819069e+00 1.13e-05 3.57e-04 -4.0 1.31e+01 -7.5 1.00e+00 1.00e+00h 1 65 2.0818724e+00 3.49e-05 1.03e-03 -4.0 2.77e+01 -8.0 1.00e+00 1.00e+00h 1 66 2.0818473e+00 4.53e-05 1.19e-03 -4.0 3.80e+01 -8.4 1.00e+00 1.00e+00h 1 67 2.0818394e+00 1.72e-05 3.89e-04 -4.0 2.64e+01 -8.9 1.00e+00 1.00e+00h 1 68 2.0818384e+00 1.17e-06 3.51e-05 -4.0 7.65e+00 -9.4 1.00e+00 1.00e+00h 1 69 2.0818383e+00 1.07e-08 4.37e-07 -4.0 8.32e-01 -9.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818383e+00 1.29e-11 6.77e-10 -4.0 3.22e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 70 (scaled) (unscaled) Objective...............: 2.0818383022019855e+00 2.0818383022019855e+00 Dual infeasibility......: 6.7699778362505583e-10 6.7699778362505583e-10 Constraint violation....: 1.2870593479874515e-11 1.2870593479874515e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 6.7699778362505583e-10 6.7699778362505583e-10 Number of objective function evaluations = 82 Number of objective gradient evaluations = 71 Number of equality constraint evaluations = 82 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 71 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 70 Total seconds in IPOPT = 17.606 EXIT: Optimal Solution Found. 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 1.2562380e+00 1.05e+00 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4255747e+00 1.21e-01 1.61e+00 -1.0 8.75e-01 0.0 9.94e-01 1.00e+00h 1 2 1.5275433e+00 6.13e-02 4.62e-01 -0.8 3.66e-01 -0.5 1.00e+00 6.09e-01h 1 3 1.3783303e+00 1.48e-01 1.42e+00 -1.5 2.07e+00 - 8.44e-01 1.00e+00f 1 4 1.4827188e+00 3.23e-02 2.79e+00 -2.0 5.79e-01 -1.0 1.00e+00 8.28e-01h 1 5 1.1832937e+00 2.67e-02 1.04e+00 -2.0 2.30e+00 -1.4 1.00e+00 3.14e-01f 1 6 1.1370867e+00 1.79e-02 9.96e-01 -2.8 5.58e+00 - 1.00e+00 3.31e-01h 1 7 1.1126535e+00 3.88e-03 4.14e-01 -2.7 3.61e+00 - 1.00e+00 7.85e-01h 1 8 1.0971174e+00 1.51e-03 8.86e-02 -4.0 1.60e+00 - 1.00e+00 6.16e-01h 1 9 1.0908458e+00 7.05e-06 1.68e-02 -4.0 8.53e-01 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909006e+00 5.37e-09 5.67e-04 -4.0 1.75e-01 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 1.63e-14 9.04e-06 -4.0 4.13e-04 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 7.24e-25 8.98e-06 -4.0 3.31e-08 - 1.00e+00 1.00e+00h 1 13 1.0907198e+00 2.25e-26 3.30e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 1.65e-26 3.43e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 3.4305713220858449e-09 3.4305713220858449e-09 Constraint violation....: 1.6473858251755223e-26 1.6473858251755223e-26 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 3.4305713220858449e-09 3.4305713220858449e-09 Number of objective function evaluations = 15 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 15 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 = 17.336 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 4.1994136e+00 2.28e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7684603e+00 3.91e-02 5.27e-01 -1.1 1.81e+00 - 1.00e+00 1.00e+00f 1 2 2.4814267e+00 1.35e-02 2.08e-01 -1.4 2.48e-01 - 8.78e-01 1.00e+00f 1 3 2.1434842e+00 3.59e-03 4.98e-02 -2.1 7.58e-02 - 9.65e-01 9.72e-01h 1 4 2.0929478e+00 1.76e-04 2.50e-03 -3.7 1.68e-02 - 9.67e-01 1.00e+00h 1 5 2.0908986e+00 1.51e-05 1.83e-04 -4.0 8.95e-02 - 1.00e+00 1.00e+00h 1 6 2.0908988e+00 6.45e-08 8.53e-07 -4.0 1.56e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 3.66e-09 1.83e-09 -4.0 3.14e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 1.44e-15 1.91e-15 -4.0 5.93e-05 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978679021e+00 2.0908971978679021e+00 Dual infeasibility......: 1.9105539632996438e-15 1.9105539632996438e-15 Constraint violation....: 1.4436694027730734e-15 1.4436694027730734e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000007395601e-04 1.0000000007395601e-04 Overall NLP error.......: 7.3956005165395911e-14 7.3956005165395911e-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 = 20.080 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 5.5870127e+00 1.93e+00 8.54e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5345071e+00 5.84e-01 1.53e+00 -0.9 7.43e+00 -4.0 7.98e-01 9.81e-01f 1 2 2.8427790e+00 1.72e+00 3.04e+00 -1.0 1.06e+01 -2.7 6.36e-01 1.00e+00f 1 3 2.9504288e+00 8.88e-01 1.73e+00 -0.7 2.38e+00 -1.3 5.22e-01 4.09e-01h 1 4 2.6297456e+00 2.63e-01 4.78e-01 -0.9 1.31e+00 -1.8 1.00e+00 8.48e-01f 1 5 2.3498505e+00 1.97e-01 1.52e+00 -2.6 4.56e+00 -2.3 6.24e-01 8.06e-01h 1 6 2.2961137e+00 1.12e-01 3.25e-01 -1.6 1.90e+00 -2.8 9.73e-01 1.00e+00f 1 7 2.1911466e+00 7.67e-02 1.26e-01 -2.0 1.98e+00 -3.3 9.51e-01 1.00e+00h 1 8 2.1149326e+00 1.39e-02 1.59e-01 -2.6 1.19e+00 -3.7 1.00e+00 9.41e-01h 1 9 2.0931987e+00 2.39e-03 3.17e-02 -3.4 5.40e-01 -4.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907458e+00 2.05e-04 3.71e-03 -4.0 7.56e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0905692e+00 1.30e-05 3.65e-04 -4.0 2.21e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0902119e+00 5.95e-06 2.57e-03 -4.0 4.16e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899751e+00 5.52e-06 3.14e-03 -4.0 5.72e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898622e+00 3.81e-06 1.86e-03 -4.0 8.25e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898299e+00 1.29e-06 1.37e-03 -4.0 1.18e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898243e+00 1.66e-06 8.21e-04 -4.0 1.04e+01 -7.5 1.00e+00 1.00e+00h 1 17 2.0898222e+00 6.01e-07 1.24e-04 -4.0 3.91e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 1.24e-08 2.30e-06 -4.0 4.71e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898219e+00 2.31e-11 6.75e-09 -4.0 3.50e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0898218501491455e+00 2.0898218501491455e+00 Dual infeasibility......: 6.7456657145445291e-09 6.7456657145445291e-09 Constraint violation....: 2.3059831821825583e-11 2.3059831821825583e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000068e-04 1.0000000000000068e-04 Overall NLP error.......: 6.7456657145445291e-09 6.7456657145445291e-09 Number of objective function evaluations = 20 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 20 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 19 Total seconds in IPOPT = 20.081 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 3.1437817e+00 3.46e+00 3.26e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0039011e+00 3.29e+00 6.86e+00 -4.0 2.56e+00 0.0 5.99e-03 4.71e-02h 1 2 3.0032447e+00 3.29e+00 3.30e+03 -0.0 1.99e+00 -0.5 2.74e-01 4.95e-04h 1 3 3.1076020e+00 3.32e+00 1.03e+04 1.7 1.50e+03 -1.0 4.64e-04 3.20e-04h 1 4 3.1804807e+00 3.55e+00 3.11e+03 -0.3 4.16e+03 -1.4 1.43e-03 6.78e-04f 3 5 3.3112712e+00 3.54e+00 4.06e+02 -0.4 3.30e+02 -1.0 1.23e-04 1.43e-03f 2 6 3.3116366e+00 3.54e+00 1.46e+03 -0.4 2.63e+01 -1.5 5.38e-02 1.38e-04h 1 7 3.4153742e+00 3.47e+00 6.35e+03 -0.4 1.09e+03 -2.0 7.09e-03 2.35e-03h 1 8 3.4170360e+00 3.47e+00 2.25e+08 1.4 1.77e+02 -1.5 1.00e+00 3.29e-05h 1 9r 3.4170360e+00 3.47e+00 9.97e+02 1.1 0.00e+00 -2.0 0.00e+00 3.09e-07R 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 2.3991952e+00 1.38e+00 9.85e+02 1.6 5.69e+02 - 2.45e-02 6.48e-03f 1 11 2.3977985e+00 1.38e+00 4.09e+01 -4.0 5.05e+00 -2.5 5.11e-02 1.21e-03h 1 12 2.3979426e+00 1.38e+00 3.28e+06 0.4 1.80e+02 -3.0 7.71e-01 1.30e-05h 1 13r 2.3979426e+00 1.38e+00 1.00e+03 1.5 0.00e+00 -3.4 0.00e+00 3.50e-07R 5 14r 2.6629340e+00 4.81e-01 9.36e+02 2.3 4.63e+01 - 1.90e-01 2.69e-02f 1 15 2.6518613e+00 4.70e-01 7.14e+00 -4.0 7.82e+00 -3.9 1.98e-01 2.42e-02h 1 16 2.6521822e+00 4.70e-01 2.49e+04 -0.3 3.23e+01 -4.4 5.67e-01 2.54e-04h 1 17 2.6572618e+00 4.69e-01 1.94e+08 -0.1 1.43e+02 -4.9 1.00e+00 1.26e-04h 1 18r 2.6572618e+00 4.69e-01 1.00e+03 1.5 0.00e+00 -5.4 0.00e+00 3.26e-07R 3 19r 2.7223490e+00 1.99e-01 8.77e+02 0.9 8.96e+00 - 9.38e-01 7.90e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.7226896e+00 1.99e-01 2.04e+02 -4.0 4.00e+00 -5.8 6.04e-01 2.92e-03h 1 21 2.7236491e+00 1.99e-01 5.56e+06 0.7 4.40e+02 -6.3 1.00e+00 4.34e-05h 1 22r 2.7236491e+00 1.99e-01 1.00e+03 0.1 0.00e+00 -6.8 0.00e+00 2.66e-07R 4 23r 3.1178173e+00 1.99e-01 8.25e+02 1.5 2.08e+01 - 1.00e+00 1.70e-02f 1 24r 3.5422135e+00 2.45e-01 2.28e+02 0.2 5.92e-01 - 7.89e-01 7.36e-01f 1 25r 3.9660777e+00 2.13e-01 1.08e+01 0.6 2.04e+00 - 9.59e-01 1.00e+00f 1 26r 4.4144407e+00 1.99e-01 4.37e+00 -0.3 1.06e+00 - 9.16e-01 8.82e-01f 1 27r 4.3731909e+00 2.00e-01 1.87e+02 -0.5 5.47e-01 - 9.97e-01 5.93e-01f 1 28r 4.3881959e+00 1.99e-01 6.57e+01 -1.2 2.05e-02 2.0 1.00e+00 8.36e-01f 1 29r 4.4353294e+00 1.99e-01 1.66e+00 -1.7 5.01e-02 1.5 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.4587647e+00 1.99e-01 3.89e+00 -2.6 5.95e-02 1.0 9.93e-01 4.47e-01f 1 31r 4.4527074e+00 1.99e-01 1.45e-02 -3.5 4.88e-03 0.6 1.00e+00 1.00e+00f 1 32r 4.4457141e+00 1.99e-01 4.18e-03 -4.0 5.46e-03 0.1 1.00e+00 1.00e+00f 1 33r 4.4194849e+00 1.99e-01 2.03e-02 -4.0 1.32e+00 - 9.43e-01 3.40e-01f 1 34r 3.9463456e+00 2.41e-01 1.74e-03 -4.0 1.21e+00 - 9.88e-01 9.85e-01h 1 35r 4.0939700e+00 1.99e-01 4.24e-04 -4.0 1.58e-01 - 1.00e+00 1.00e+00h 1 36r 4.0709294e+00 1.99e-01 3.38e-05 -4.0 3.32e-02 - 1.00e+00 1.00e+00h 1 37r 4.0756286e+00 1.99e-01 8.04e-07 -4.0 4.07e-03 - 1.00e+00 1.00e+00h 1 38r 4.0758588e+00 1.99e-01 1.96e-09 -4.0 1.79e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 38 (scaled) (unscaled) Objective...............: 4.0758596069286455e+00 4.0758596069286455e+00 Dual infeasibility......: 1.8341049299708938e+00 1.8341049299708938e+00 Constraint violation....: 1.9875045034485983e-01 1.9875045034485983e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000006490029e-04 1.0000000006490029e-04 Overall NLP error.......: 1.8341049299708938e+00 1.8341049299708938e+00 Number of objective function evaluations = 60 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 60 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 44 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 39 Total seconds in IPOPT = 20.785 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 4.0372870e+00 2.54e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.9243777e+00 4.86e-02 2.17e+00 -0.9 2.02e+00 0.0 7.17e-01 1.00e+00f 1 2 3.0378254e+00 7.22e-02 1.88e+00 -0.8 1.32e+00 -0.5 6.70e-01 3.50e-01f 1 3 2.7566061e+00 2.61e-02 5.40e-01 -1.1 2.51e-01 -0.1 9.71e-01 6.44e-01f 1 4 2.3693637e+00 1.22e-02 1.89e-01 -1.7 1.64e-01 -0.5 9.94e-01 1.00e+00f 1 5 2.1486950e+00 3.91e-03 8.21e-02 -2.6 1.83e-01 -1.0 9.89e-01 7.58e-01h 1 6 2.0946817e+00 3.48e-04 1.11e-02 -3.3 3.48e-02 -1.5 9.88e-01 9.47e-01h 1 7 2.0909955e+00 1.17e-06 1.12e-04 -4.0 3.12e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909820e+00 1.02e-08 4.07e-05 -4.0 1.11e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909803e+00 1.07e-10 2.06e-05 -4.0 1.69e-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 2.0909754e+00 9.64e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909604e+00 8.68e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0909156e+00 7.82e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907812e+00 7.05e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903789e+00 6.38e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891811e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856696e+00 5.51e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796292e+00 2.34e-03 1.34e-01 -4.0 9.58e+01 -6.7 1.00e+00 6.36e-01h 1 18 2.0807466e+00 1.63e-04 1.87e-01 -4.0 6.77e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775308e+00 7.57e-03 2.59e-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 2.0769306e+00 1.24e-03 6.30e-02 -4.0 1.81e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761745e+00 1.12e-03 1.82e-02 -4.0 3.28e+02 -8.6 1.00e+00 8.15e-01h 1 22 2.0754842e+00 1.92e-03 3.00e-02 -4.0 5.62e+02 -9.1 1.00e+00 7.36e-01h 1 23 2.0757965e+00 3.12e-03 1.42e-02 -4.0 1.68e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753797e+00 1.45e-03 7.15e-04 -4.1 9.57e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.97e-04 6.76e-06 -4.0 2.24e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.54e-07 1.21e-06 -4.0 1.24e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.45e-09 9.11e-08 -4.0 4.49e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.15e-11 1.64e-09 -4.0 7.09e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121582450e+00 2.0756712121582450e+00 Dual infeasibility......: 1.6397758496639221e-09 1.6397758496639221e-09 Constraint violation....: 4.1525338723147343e-11 4.1525338723147343e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.6397758496639221e-09 1.6397758496639221e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 32.565 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 9.0457936e-01 3.49e+00 2.35e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 6.2441927e-01 2.99e+00 5.27e-01 -4.0 7.46e+00 -2.0 1.21e-01 1.45e-01h 1 2 4.8721129e-01 2.23e+00 7.54e-01 -4.0 7.56e+00 -1.6 1.06e-01 2.53e-01h 1 3 5.7156632e-01 1.54e+00 1.46e+00 -4.0 1.30e+01 -2.1 1.46e-01 3.12e-01h 1 4 8.4102264e-01 1.05e+00 9.50e-01 -4.0 4.73e+00 -1.6 1.49e-01 3.16e-01h 1 5 1.1755515e+00 1.46e+00 1.58e+00 -3.0 1.07e+01 -2.1 2.39e-01 5.23e-01h 1 6 1.2767074e+00 1.05e+00 2.11e+00 -3.2 6.63e+00 -1.7 1.35e-01 3.96e-01h 1 7 1.4814058e+00 4.19e-01 6.62e-01 -2.1 3.52e+00 -2.2 6.01e-01 6.52e-01h 1 8 1.4371106e+00 2.63e-01 6.04e-01 -1.9 6.48e+00 -2.6 7.77e-01 4.78e-01h 1 9 1.3216942e+00 5.35e-02 2.87e-01 -2.4 2.15e+00 -3.1 7.75e-01 7.52e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2884396e+00 5.54e-02 1.80e-01 -2.6 6.66e-01 -3.6 6.56e-01 9.43e-01h 1 11 1.2582268e+00 1.42e-01 1.17e+00 -2.1 7.79e+00 -4.1 7.55e-01 1.35e-01f 1 12 1.2410886e+00 8.85e-02 4.04e-03 -2.4 9.83e-01 -4.5 1.00e+00 1.00e+00h 1 13 1.1640812e+00 7.26e-01 1.26e-01 -4.0 4.58e+00 -5.0 8.68e-01 1.00e+00h 1 14 1.2049384e+00 2.42e+00 2.20e-01 -2.8 4.23e+01 -5.5 1.00e+00 1.00e+00h 1 15 1.1653212e+00 1.91e+00 4.69e-01 -3.0 3.30e+01 -6.0 1.00e+00 8.78e-01h 1 16 1.1671136e+00 1.48e+00 4.54e+00 -3.0 8.36e+01 -6.4 1.00e+00 2.86e-01h 1 17 1.1735584e+00 2.07e-01 2.67e+00 -3.0 2.44e+02 -6.9 1.00e+00 1.00e+00h 1 18 1.1628171e+00 3.85e-04 8.79e-02 -4.0 2.44e+01 -7.4 1.00e+00 1.00e+00h 1 19 1.1611639e+00 3.31e-01 5.26e-02 -4.0 1.11e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1611622e+00 1.64e-01 2.41e-03 -4.0 1.21e+02 -8.4 1.00e+00 1.00e+00h 1 21 1.1605464e+00 3.38e-01 2.53e-02 -4.0 1.81e+02 -8.8 1.00e+00 1.00e+00h 1 22 1.1607580e+00 7.86e-02 2.85e-03 -4.0 1.29e+02 -9.3 1.00e+00 1.00e+00h 1 23 1.1608525e+00 6.39e-05 1.11e-04 -4.0 8.86e-01 -9.8 1.00e+00 1.00e+00h 1 24 1.1608491e+00 4.69e-05 5.50e-06 -4.0 2.77e+00 -10.3 1.00e+00 1.00e+00h 1 25 1.1608491e+00 1.59e-08 8.25e-10 -4.0 5.43e-02 -10.7 1.00e+00 1.00e+00h 1 26 1.1608491e+00 3.45e-13 3.14e-14 -4.0 2.38e-04 -11.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 1.1608491307791020e+00 1.1608491307791020e+00 Dual infeasibility......: 3.1438014084367305e-14 3.1438014084367305e-14 Constraint violation....: 3.4461322684364859e-13 3.4461322684364859e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000206e-04 1.0000000000000206e-04 Overall NLP error.......: 3.4461322684364859e-13 3.4461322684364859e-13 Number of objective function evaluations = 27 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 27 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 = 21.109 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 1.3146526e+00 1.75e+00 1.15e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3406310e+00 7.21e-01 1.18e+00 -1.1 7.12e-01 0.0 8.29e-01 5.88e-01h 1 2 1.4963463e+00 1.57e-01 1.78e+00 -1.4 4.81e-01 -0.5 9.93e-01 1.00e+00h 1 3 1.4343990e+00 9.26e-02 6.88e-01 -1.0 4.04e-01 -0.1 1.00e+00 5.43e-01h 1 4 1.3358214e+00 1.15e-01 3.80e+00 -2.9 5.12e+00 - 6.90e-01 1.00e+00h 1 5 1.0238877e+00 8.14e-02 1.18e+00 -1.9 4.03e-01 -0.5 1.00e+00 6.43e-01f 1 6 1.3796633e+00 2.57e-02 2.79e+00 -2.9 3.15e-01 -1.0 1.00e+00 9.98e-01h 1 7 1.2022724e+00 1.93e-02 2.03e+00 -3.3 1.88e-01 -0.6 1.00e+00 2.57e-01f 1 8 1.1581388e+00 1.62e-02 1.58e+00 -3.6 2.08e-01 -1.1 1.00e+00 1.62e-01h 1 9 1.1185179e+00 9.78e-03 7.39e-01 -3.7 4.94e-02 -0.6 1.00e+00 4.02e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0956168e+00 1.18e-06 6.05e-03 -3.9 8.65e-02 -1.1 1.00e+00 1.00e+00h 1 11 1.0952843e+00 6.22e-11 8.44e-04 -4.0 3.17e-02 -1.6 1.00e+00 1.00e+00f 1 12 1.0951875e+00 7.49e-14 5.61e-04 -4.0 6.48e-02 -2.1 1.00e+00 1.00e+00f 1 13 1.0948632e+00 8.88e-16 5.43e-04 -4.0 1.88e-01 -2.5 1.00e+00 1.00e+00f 1 14 1.0948530e+00 2.28e-17 7.35e-04 -4.0 2.29e+01 -3.0 5.77e-03 7.45e-03f 4 15 1.0948008e+00 1.32e-22 5.91e-04 -4.0 3.01e-02 -1.7 1.00e+00 1.00e+00f 1 16 1.0911718e+00 8.88e-16 2.35e-01 -4.0 5.35e+00 - 8.96e-01 1.00e+00f 1 17 1.0910740e+00 1.51e-23 8.56e-03 -4.0 3.14e-01 -2.2 1.00e+00 3.89e-01f 2 18 1.0910392e+00 1.93e-25 3.06e-04 -4.0 6.36e-02 - 1.00e+00 1.00e+00f 1 19 1.0910386e+00 8.88e-16 7.34e-05 -4.0 6.45e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0910386e+00 8.88e-16 5.24e-06 -4.0 7.99e-03 - 1.00e+00 1.00e+00f 1 21 1.0910386e+00 8.88e-16 9.36e-09 -4.0 2.25e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 1.0910385779861724e+00 1.0910385779861724e+00 Dual infeasibility......: 9.3550336884219059e-09 9.3550336884219059e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 9.3550336884219059e-09 9.3550336884219059e-09 Number of objective function evaluations = 26 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 16.705 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 5.5932807e+00 1.74e+00 4.70e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5811197e+00 2.02e-01 1.67e+00 -0.9 1.90e+00 0.0 9.66e-01 8.88e-01f 1 Hello, world! 2 2.2851260e+00 4.61e-02 1.87e+00 -1.1 3.81e-01 0.4 9.84e-01 7.73e-01h 1 Hello, world! 3 2.2798993e+00 3.42e-03 4.26e-01 -1.6 2.68e-01 -0.1 9.96e-01 1.00e+00h 1 Hello, world! 4 2.1482596e+00 7.86e-04 1.44e-01 -2.8 4.07e-02 -0.5 9.99e-01 1.00e+00h 1 Hello, world! 5 2.0972657e+00 1.55e-04 4.72e-02 -4.0 1.78e-02 -1.0 1.00e+00 8.74e-01h 1 Hello, world! 6 2.0908805e+00 1.12e-05 1.07e-02 -4.0 7.02e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908925e+00 1.01e-08 5.69e-05 -4.0 4.33e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908921e+00 2.60e-10 2.35e-05 -4.0 6.41e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908904e+00 1.37e-10 2.29e-05 -4.0 1.80e-02 -2.9 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 2.0908843e+00 1.27e-09 3.75e-05 -4.0 5.27e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908679e+00 1.01e-08 1.05e-04 -4.0 1.49e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908313e+00 6.14e-08 1.25e-04 -4.0 3.93e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907555e+00 3.20e-07 6.29e-04 -4.0 9.79e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905537e+00 3.09e-06 8.55e-04 -4.0 3.01e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0898971e+00 2.30e-05 2.55e-03 -4.0 8.05e+00 -5.8 1.00e+00 9.79e-01h 1 Hello, world! 16 2.0889969e+00 7.05e-05 4.43e-02 -4.0 2.75e+01 -6.3 1.00e+00 5.00e-01f 2 Hello, world! 17 2.0885259e+00 1.19e-05 2.41e-03 -4.0 1.90e+00 -4.9 1.00e+00 9.19e-01h 1 Hello, world! 18 2.0883252e+00 2.63e-06 2.44e-03 -4.0 4.08e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0873199e+00 4.34e-05 7.04e-03 -4.0 1.21e+01 -5.9 1.00e+00 8.68e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0855797e+00 2.65e-04 1.64e-02 -4.0 2.74e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0840963e+00 2.88e-04 6.70e-02 -4.0 4.72e+01 -6.8 1.00e+00 4.18e-01h 1 Hello, world! 22 2.0826647e+00 1.41e-04 2.21e-02 -4.0 6.51e+01 -7.3 1.00e+00 7.06e-01h 1 Hello, world! 23 2.0824987e+00 1.07e-03 3.12e-02 -4.0 1.32e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0824007e+00 1.55e-03 2.60e-02 -4.0 1.11e+02 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0823709e+00 1.62e-03 1.82e-02 -4.0 9.75e+02 -7.8 1.56e-02 2.32e-02h 5 Hello, world! 26 2.0824360e+00 3.04e-05 3.37e-04 -4.0 6.04e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0824444e+00 2.57e-05 1.77e-04 -4.0 1.65e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0824585e+00 1.25e-05 1.10e-04 -4.0 7.02e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0829458e+00 2.80e-06 9.25e-02 -4.0 3.33e+00 -5.2 6.10e-01 1.00e+00H 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0824766e+00 1.09e-06 3.31e-03 -4.0 5.74e-02 -1.2 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0824463e+00 1.59e-07 4.99e-04 -4.0 1.53e-02 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0824643e+00 8.94e-09 2.34e-04 -4.0 3.27e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0824663e+00 1.06e-09 9.48e-05 -4.0 3.99e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0824660e+00 2.94e-10 2.02e-05 -4.0 2.55e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0824650e+00 3.40e-09 4.55e-06 -4.0 1.73e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0824621e+00 2.51e-08 4.22e-06 -4.0 4.80e-02 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0824551e+00 2.37e-07 7.94e-06 -4.0 1.20e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0822890e+00 9.65e-06 9.27e-05 -4.1 3.95e-01 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0824094e+00 2.92e-05 1.89e-04 -4.0 1.16e+00 -5.5 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 40 2.0821598e+00 9.19e-05 2.23e-04 -4.1 3.86e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0822324e+00 7.73e-05 1.80e-03 -4.0 5.74e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0821667e+00 6.93e-05 1.26e-03 -4.0 1.10e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0820741e+00 3.31e-05 1.76e-03 -4.0 2.45e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0819531e+00 9.59e-05 4.28e-03 -4.0 4.29e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818709e+00 1.58e-04 4.72e-03 -4.0 5.92e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818469e+00 7.33e-05 1.57e-03 -4.0 4.57e+01 -8.8 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818436e+00 5.96e-06 1.34e-04 -4.0 1.53e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818434e+00 6.97e-08 2.36e-06 -4.0 1.96e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818434e+00 1.11e-10 5.27e-09 -4.0 9.06e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 2.0818434106250079e+00 2.0818434106250079e+00 Dual infeasibility......: 5.2711992400914908e-09 5.2711992400914908e-09 Constraint violation....: 1.1134559940728650e-10 1.1134559940728650e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 5.2711992400914908e-09 5.2711992400914908e-09 Number of objective function evaluations = 62 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 62 Number of inequality constraint evaluations = 62 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 50 Number of Lagrangian Hessian evaluations = 49 Total seconds in IPOPT = 22.257 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 5.5932807e+00 1.74e+00 4.70e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5811197e+00 2.02e-01 1.67e+00 -0.9 1.90e+00 0.0 9.66e-01 8.88e-01f 1 Hello, world! 2 2.2851260e+00 4.61e-02 1.87e+00 -1.1 3.81e-01 0.4 9.84e-01 7.73e-01h 1 Hello, world! 3 2.2798993e+00 3.42e-03 4.26e-01 -1.6 2.68e-01 -0.1 9.96e-01 1.00e+00h 1 Hello, world! 4 2.1482596e+00 7.86e-04 1.44e-01 -2.8 4.07e-02 -0.5 9.99e-01 1.00e+00h 1 Hello, world! 5 2.0972657e+00 1.55e-04 4.72e-02 -4.0 1.78e-02 -1.0 1.00e+00 8.74e-01h 1 Hello, world! 6 2.0908805e+00 1.12e-05 1.07e-02 -4.0 7.02e-03 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908925e+00 1.01e-08 5.69e-05 -4.0 4.33e-03 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908921e+00 2.60e-10 2.35e-05 -4.0 6.41e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908904e+00 1.37e-10 2.29e-05 -4.0 1.80e-02 -2.9 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 2.0908843e+00 1.27e-09 3.75e-05 -4.0 5.27e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908679e+00 1.01e-08 1.05e-04 -4.0 1.49e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908313e+00 6.14e-08 1.25e-04 -4.0 3.93e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907555e+00 3.20e-07 6.29e-04 -4.0 9.79e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905537e+00 3.09e-06 8.55e-04 -4.0 3.01e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0898971e+00 2.30e-05 2.55e-03 -4.0 8.05e+00 -5.8 1.00e+00 9.79e-01h 1 Hello, world! 16 2.0889969e+00 7.05e-05 4.43e-02 -4.0 2.75e+01 -6.3 1.00e+00 5.00e-01f 2 Hello, world! 17 2.0885259e+00 1.19e-05 2.41e-03 -4.0 1.90e+00 -4.9 1.00e+00 9.19e-01h 1 Hello, world! 18 2.0883252e+00 2.63e-06 2.44e-03 -4.0 4.08e+00 -5.4 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0873199e+00 4.34e-05 7.04e-03 -4.0 1.21e+01 -5.9 1.00e+00 8.68e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0855797e+00 2.65e-04 1.64e-02 -4.0 2.74e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0840963e+00 2.88e-04 6.70e-02 -4.0 4.72e+01 -6.8 1.00e+00 4.18e-01h 1 Hello, world! 22 2.0826647e+00 1.41e-04 2.21e-02 -4.0 6.51e+01 -7.3 1.00e+00 7.06e-01h 1 Hello, world! 23 2.0824987e+00 1.07e-03 3.12e-02 -4.0 1.32e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0824007e+00 1.55e-03 2.60e-02 -4.0 1.11e+02 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0823709e+00 1.62e-03 1.82e-02 -4.0 9.75e+02 -7.8 1.56e-02 2.32e-02h 5 Hello, world! 26 2.0824360e+00 3.04e-05 3.37e-04 -4.0 6.04e-01 -4.7 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0824444e+00 2.57e-05 1.77e-04 -4.0 1.65e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 28 2.0824585e+00 1.25e-05 1.10e-04 -4.0 7.02e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0829458e+00 2.80e-06 9.25e-02 -4.0 3.33e+00 -5.2 6.10e-01 1.00e+00H 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0824766e+00 1.09e-06 3.31e-03 -4.0 5.74e-02 -1.2 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0824463e+00 1.59e-07 4.99e-04 -4.0 1.53e-02 -1.7 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0824643e+00 8.94e-09 2.34e-04 -4.0 3.27e-02 -2.1 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0824663e+00 1.06e-09 9.48e-05 -4.0 3.99e-02 -2.6 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0824660e+00 2.94e-10 2.02e-05 -4.0 2.55e-02 -3.1 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0824650e+00 3.40e-09 4.55e-06 -4.0 1.73e-02 -3.6 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0824621e+00 2.51e-08 4.22e-06 -4.0 4.80e-02 -4.1 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0824551e+00 2.37e-07 7.94e-06 -4.0 1.20e-01 -4.5 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0822890e+00 9.65e-06 9.27e-05 -4.1 3.95e-01 -5.0 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0824094e+00 2.92e-05 1.89e-04 -4.0 1.16e+00 -5.5 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 40 2.0821598e+00 9.19e-05 2.23e-04 -4.1 3.86e+00 -6.0 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0822324e+00 7.73e-05 1.80e-03 -4.0 5.74e+00 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0821667e+00 6.93e-05 1.26e-03 -4.0 1.10e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0820741e+00 3.31e-05 1.76e-03 -4.0 2.45e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 44 2.0819531e+00 9.59e-05 4.28e-03 -4.0 4.29e+01 -7.9 1.00e+00 1.00e+00h 1 Hello, world! 45 2.0818709e+00 1.58e-04 4.72e-03 -4.0 5.92e+01 -8.4 1.00e+00 1.00e+00h 1 Hello, world! 46 2.0818469e+00 7.33e-05 1.57e-03 -4.0 4.57e+01 -8.8 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0818436e+00 5.96e-06 1.34e-04 -4.0 1.53e+01 -9.3 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0818434e+00 6.97e-08 2.36e-06 -4.0 1.96e+00 -9.8 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0818434e+00 1.11e-10 5.27e-09 -4.0 9.06e-02 -10.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 49 (scaled) (unscaled) Objective...............: 2.0818434106250079e+00 2.0818434106250079e+00 Dual infeasibility......: 5.2711992400914908e-09 5.2711992400914908e-09 Constraint violation....: 1.1134559940728650e-10 1.1134559940728650e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 5.2711992400914908e-09 5.2711992400914908e-09 Number of objective function evaluations = 62 Number of objective gradient evaluations = 50 Number of equality constraint evaluations = 62 Number of inequality constraint evaluations = 62 Number of equality constraint Jacobian evaluations = 50 Number of inequality constraint Jacobian evaluations = 50 Number of Lagrangian Hessian evaluations = 49 Total seconds in IPOPT = 1.324 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 2.7328761e+00 2.25e+00 5.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6564760e+00 4.60e-02 3.41e+00 -1.1 1.96e+00 0.0 9.74e-01 1.00e+00h 1 2 2.4779884e+00 2.65e-02 6.46e-01 -1.2 2.99e-01 -0.5 8.46e-01 1.00e+00h 1 3 2.2306067e+00 4.95e-03 4.98e-02 -2.0 1.10e-01 -1.0 9.79e-01 1.00e+00h 1 4 2.1017047e+00 8.40e-04 2.39e-02 -3.6 4.90e-02 -1.4 9.73e-01 9.26e-01h 1 5 2.0909117e+00 1.17e-05 1.64e-03 -4.0 7.59e-03 -1.9 1.00e+00 1.00e+00h 1 6 2.0909347e+00 1.28e-07 2.61e-05 -4.0 6.35e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909322e+00 2.69e-10 2.59e-05 -4.0 1.89e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909250e+00 1.30e-09 2.55e-05 -4.0 5.58e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909052e+00 1.06e-08 2.94e-05 -4.0 1.59e-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 2.0908619e+00 6.76e-08 1.55e-04 -4.0 4.03e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907892e+00 2.78e-07 8.88e-04 -4.0 9.17e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906098e+00 2.48e-06 1.32e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900944e+00 2.21e-05 5.94e-04 -4.0 8.14e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898297e+00 3.64e-06 1.69e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891463e+00 2.14e-05 7.23e-03 -4.0 9.78e+00 -5.8 1.00e+00 7.64e-01h 1 16 2.0876874e+00 2.53e-04 3.10e-02 -4.0 2.63e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0864853e+00 2.48e-04 2.01e-01 -4.0 4.45e+01 -5.8 1.00e+00 2.03e-01h 1 18 2.0850573e+00 1.90e-04 2.38e-02 -4.0 2.26e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0829322e+00 2.05e-04 2.52e-02 -4.0 3.62e+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 2.0827992e+00 4.63e-04 1.54e-02 -4.0 5.26e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823263e+00 6.48e-04 8.24e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1690778e+00 4.75e-05 2.68e+00 -4.0 6.75e+02 -8.2 6.68e-02 1.00e+00H 1 23 2.0845097e+00 7.67e-06 4.19e-01 -4.1 6.53e-02 -0.4 1.00e+00 8.39e-01f 1 24 2.0848993e+00 7.55e-06 2.36e+00 -4.0 5.88e-02 -0.8 1.00e+00 1.56e-02f 7 25 2.0849077e+00 1.44e-07 1.07e-03 -4.0 2.25e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0845604e+00 8.42e-08 8.33e-04 -4.0 5.24e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0844562e+00 2.72e-07 3.44e-04 -4.0 6.52e-02 -2.3 1.00e+00 1.00e+00h 1 28 2.0844792e+00 3.55e-08 1.12e-05 -4.0 6.38e-03 -2.8 1.00e+00 1.00e+00h 1 29 2.0844767e+00 1.71e-08 8.93e-06 -4.0 1.52e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0844735e+00 2.02e-09 8.93e-06 -4.0 4.57e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0844641e+00 2.10e-08 8.90e-06 -4.0 1.36e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0844370e+00 1.80e-07 9.54e-06 -4.0 4.05e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0843644e+00 1.40e-06 7.21e-05 -4.0 1.18e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0842061e+00 8.14e-06 3.91e-04 -4.0 3.28e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0839672e+00 2.20e-05 1.08e-03 -4.0 8.73e+00 -6.1 1.00e+00 1.00e+00h 1 36 2.0835890e+00 4.78e-05 2.30e-03 -4.0 2.27e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0829320e+00 3.06e-04 1.07e-02 -4.0 5.43e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0821896e+00 1.12e-03 2.92e-02 -4.0 1.08e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0817867e+00 2.16e-03 4.22e-02 -4.0 1.91e+02 -8.0 4.66e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0985942e+00 9.21e-04 1.36e-01 -4.0 8.66e+01 -8.5 8.05e-01 1.00e+00h 1 41 2.0872673e+00 4.47e-04 7.96e-01 -4.1 2.24e-01 -0.6 1.00e+00 5.14e-01h 1 42 2.0820308e+00 1.08e-05 8.60e-02 -4.1 1.25e-01 -1.1 1.00e+00 9.76e-01f 1 43 2.0823379e+00 8.10e-06 3.61e+00 -4.0 1.01e-01 -1.6 1.00e+00 2.50e-01f 3 44 2.0820833e+00 4.16e-06 4.25e-03 -4.0 8.31e-02 -2.1 1.00e+00 1.00e+00h 1 45 2.0819442e+00 2.81e-07 5.16e-05 -4.0 9.62e-03 -2.5 1.00e+00 1.00e+00h 1 46 2.0819178e+00 1.67e-08 3.61e-06 -4.0 2.97e-03 -3.0 1.00e+00 1.00e+00h 1 47 2.0819165e+00 6.65e-10 2.82e-06 -4.0 8.89e-03 -3.5 1.00e+00 1.00e+00h 1 48 2.0819176e+00 1.88e-09 2.81e-06 -4.0 2.66e-02 -4.0 1.00e+00 1.00e+00h 1 49 2.0817777e+00 1.48e-06 6.92e-05 -4.1 6.90e-02 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819302e+00 5.45e-06 4.52e-05 -4.0 2.39e-01 -4.9 1.00e+00 1.00e+00h 1 51 2.0817747e+00 1.42e-05 8.99e-05 -4.1 6.25e-01 -5.4 1.00e+00 1.00e+00h 1 52 2.0819625e+00 5.49e-05 2.65e-04 -4.0 2.21e+00 -5.9 1.00e+00 1.00e+00h 1 53 2.0817575e+00 1.41e-04 3.28e-04 -4.1 6.07e+00 -6.4 1.00e+00 1.00e+00h 1 54 2.0819743e+00 1.08e-03 1.78e-02 -4.0 2.85e+01 -6.8 8.21e-01 1.00e+00h 1 55 2.0820017e+00 1.09e-03 1.17e-02 -4.1 2.24e+03 -7.3 1.04e-03 1.86e-03h 3 56 2.0818624e+00 2.64e-06 3.11e-03 -4.1 1.36e-01 -2.4 1.00e+00 1.00e+00h 1 57 2.0820014e+00 4.88e-07 2.60e-04 -4.0 2.96e-02 -2.9 1.00e+00 1.00e+00h 1 58 2.0818731e+00 3.84e-07 6.09e-05 -4.1 4.62e-02 -3.3 1.00e+00 1.00e+00h 1 59 2.0820085e+00 8.45e-07 6.67e-05 -4.0 5.29e-02 -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 60 2.0818700e+00 4.42e-06 6.56e-05 -4.1 1.62e-01 -4.3 1.00e+00 1.00e+00h 1 61 2.0812844e+00 5.96e-05 2.64e-02 -6.1 5.85e-01 -4.8 8.60e-01 1.00e+00h 1 62 2.0820888e+00 8.43e-06 1.65e-03 -4.0 8.90e-02 -2.5 1.00e+00 1.00e+00h 1 63 2.0818636e+00 7.71e-07 1.03e-04 -4.1 1.63e-02 -3.0 1.00e+00 1.00e+00h 1 64 2.0819873e+00 3.67e-07 5.96e-05 -4.0 3.60e-02 -3.5 1.00e+00 1.00e+00h 1 65 2.0818503e+00 1.93e-06 6.25e-05 -4.1 7.44e-02 -4.0 1.00e+00 1.00e+00h 1 66 2.0819854e+00 3.17e-06 5.96e-05 -4.0 2.00e-01 -4.4 1.00e+00 1.00e+00h 1 67 2.0818407e+00 2.15e-05 1.03e-04 -4.1 5.58e-01 -4.9 1.00e+00 1.00e+00h 1 68 2.0811984e+00 2.04e-04 1.39e-02 -6.1 2.16e+00 -5.4 9.31e-01 1.00e+00h 1 69 2.0819361e+00 4.21e-05 3.70e-02 -4.0 3.50e-01 -3.2 1.00e+00 7.85e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0817839e+00 1.22e-06 2.29e-03 -4.1 2.12e-01 -3.6 1.00e+00 1.00e+00h 1 71 2.0818960e+00 3.19e-06 4.06e-04 -4.0 8.66e-02 -4.1 1.00e+00 1.00e+00h 1 72 2.0817643e+00 5.74e-06 8.49e-05 -4.1 2.35e-01 -4.6 1.00e+00 1.00e+00h 1 73 2.0818987e+00 7.67e-06 1.15e-04 -4.0 4.55e-01 -5.1 1.00e+00 1.00e+00h 1 74 2.0817430e+00 3.39e-05 1.25e-04 -4.1 1.07e+00 -5.5 1.00e+00 1.00e+00h 1 75 2.0818759e+00 8.52e-06 2.65e-04 -4.0 8.66e-01 -6.0 1.00e+00 1.00e+00h 1 76 2.0816518e+00 7.01e-05 1.29e-04 -4.1 3.25e+00 -6.5 1.00e+00 1.00e+00h 1 77 2.0807629e+00 1.22e-03 4.67e-03 -6.1 1.74e+01 -7.0 9.82e-01 8.89e-01h 1 78 2.0818832e+00 1.75e-03 5.22e-03 -4.0 1.56e+01 -7.5 1.00e+00 1.00e+00f 1 79 2.0816305e+00 3.63e-04 1.16e-03 -4.1 1.10e+01 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816133e+00 2.05e-05 1.45e-04 -4.1 1.09e+01 -8.4 1.00e+00 1.00e+00h 1 81 2.0818434e+00 1.43e-04 4.83e-05 -4.0 6.64e+00 -8.9 1.00e+00 1.00e+00h 1 82 2.0815840e+00 2.07e-04 2.70e-05 -4.1 9.45e+00 -9.4 1.00e+00 1.00e+00h 1 83 2.0805962e+00 3.31e-03 1.67e-04 -6.1 4.08e+01 -9.8 9.77e-01 9.63e-01h 1 84 2.0818907e+00 6.53e-03 4.11e-04 -4.0 6.10e+01 -10.3 1.00e+00 1.00e+00f 1 85 2.0816148e+00 4.97e-04 2.18e-05 -4.1 2.08e+01 -10.8 1.00e+00 1.00e+00h 1 86 2.0806043e+00 3.49e-03 2.33e-04 -6.1 4.24e+01 -11.3 9.76e-01 9.58e-01h 1 87 2.0805507e+00 9.72e-05 2.63e-06 -6.1 1.71e+01 -11.7 1.00e+00 1.00e+00h 1 88 2.0819817e+00 1.02e-02 4.00e-04 -4.0 8.54e+01 -12.2 1.00e+00 1.00e+00f 1 89 2.0816804e+00 9.64e-04 4.87e-05 -4.1 4.56e+01 -12.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816443e+00 4.72e-07 7.87e-07 -4.1 8.39e+00 -13.2 1.00e+00 1.00e+00h 1 91 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -13.7 1.00e+00 1.00e+00h 1 92 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -14.1 1.00e+00 1.00e+00h 1 93 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -14.6 9.77e-01 9.64e-01h 1 94 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -15.1 1.00e+00 1.00e+00h 1 95 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -15.6 1.00e+00 1.00e+00f 1 96 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.0 1.00e+00 1.00e+00h 1 97 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -16.5 1.00e+00 1.00e+00h 1 98 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -17.0 9.76e-01 9.67e-01h 1 99 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -17.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -17.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805467701628833e+00 2.0805467701628833e+00 Dual infeasibility......: 2.3653138248773078e-08 2.3653138248773078e-08 Constraint violation....: 5.5049719671629305e-08 5.5049719671629305e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.6481994391948094e-07 8.6481994391948094e-07 Overall NLP error.......: 9.9219605527120551e-05 9.9219605527120551e-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 = 22.522 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.: 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 9.8061420e+00 2.65e+00 3.22e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2045699e+00 7.11e-01 1.72e+00 -1.1 1.39e+00 0.0 7.88e-01 7.32e-01f 1 2 2.4948087e+00 2.15e-02 2.27e+00 -1.1 7.16e-01 -0.5 9.80e-01 1.00e+00f 1 3 2.3320124e+00 2.96e-03 9.21e-02 -1.7 1.16e-01 -1.0 9.95e-01 1.00e+00h 1 4 2.1051631e+00 1.60e-03 2.13e-02 -2.7 5.78e-02 -1.4 9.93e-01 9.83e-01h 1 5 2.0909857e+00 2.30e-05 2.11e-03 -4.0 1.11e-02 -1.9 9.84e-01 1.00e+00h 1 6 2.0909179e+00 6.52e-08 5.04e-05 -4.0 5.54e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909156e+00 3.52e-10 2.26e-05 -4.0 1.65e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909097e+00 1.27e-09 2.22e-05 -4.0 4.85e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908940e+00 1.00e-08 2.10e-05 -4.0 1.38e-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 2.0908582e+00 6.68e-08 1.14e-04 -4.0 3.64e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907877e+00 3.12e-07 5.97e-04 -4.0 8.94e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906066e+00 2.34e-06 9.60e-04 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900489e+00 2.06e-05 9.81e-04 -4.0 7.65e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0897072e+00 1.77e-05 6.59e-02 -4.0 3.04e+01 -6.2 8.16e-01 1.11e-01h 1 15 2.0858413e+00 1.17e-03 6.48e-02 -4.0 5.86e+01 -6.7 1.00e+00 1.00e+00f 1 16 2.0846869e+00 1.04e-03 2.41e-01 -4.0 7.90e+01 -6.3 1.00e+00 1.48e-01h 1 17 2.0832326e+00 1.73e-04 3.15e-02 -4.0 2.77e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0826680e+00 2.39e-04 1.02e-02 -4.0 5.18e+01 -7.2 1.00e+00 1.00e+00h 1 19 2.0823714e+00 3.35e-04 9.36e-03 -4.0 1.17e+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 3.0074405e+00 2.92e-05 1.74e+01 -4.0 1.16e+03 -8.2 3.43e-02 1.00e+00H 1 21 2.0919237e+00 3.93e-06 1.71e+00 -4.1 3.18e-01 -0.3 5.90e-01 8.65e-01f 1 22 2.0921589e+00 3.91e-06 5.96e+00 -4.1 6.85e-02 -0.8 1.00e+00 3.91e-03f 9 23 2.0919949e+00 6.49e-08 1.85e-03 -4.1 3.45e-02 -1.3 1.00e+00 1.00e+00h 1 24 2.0916519e+00 6.06e-08 1.78e-03 -4.1 9.99e-02 -1.7 1.00e+00 1.00e+00h 1 25 2.0911228e+00 6.02e-07 1.61e-03 -4.1 2.71e-01 -2.2 1.00e+00 1.00e+00h 1 26 2.0908745e+00 8.20e-07 7.51e-01 -4.1 2.86e-01 -2.7 1.00e+00 4.64e-01h 1 27 2.0911658e+00 1.07e-06 2.12e-04 -4.0 6.07e-02 -3.2 1.00e+00 1.00e+00f 1 28 2.0909643e+00 1.59e-06 4.04e-05 -4.1 7.57e-02 -3.7 1.00e+00 1.00e+00h 1 29 2.0902665e+00 2.84e-05 2.62e-02 -6.1 2.71e-01 -4.1 8.10e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0911155e+00 8.76e-05 1.91e-03 -4.0 6.78e-01 -4.6 1.00e+00 1.00e+00f 1 31 2.0906620e+00 8.45e-05 2.09e-04 -4.1 1.98e+00 -5.1 1.00e+00 1.00e+00h 1 32 2.0893772e+00 6.01e-04 2.65e-03 -6.1 6.11e+00 -5.6 9.91e-01 1.00e+00h 1 33 2.0890771e+00 4.53e-04 9.42e-02 -6.1 1.56e+01 -6.0 1.00e+00 2.61e-01h 1 34 2.0877399e+00 1.56e-04 1.66e-02 -6.1 3.90e+01 -6.5 8.61e-01 9.46e-01h 1 35 2.0873496e+00 1.32e-04 3.81e-01 -5.6 9.17e+01 -7.0 1.00e+00 1.42e-01h 1 36 2.0842981e+00 1.72e-02 4.45e-02 -4.0 2.21e+02 -7.5 6.70e-01 1.00e+00f 1 37 2.0817065e+00 2.72e-03 8.47e-02 -4.2 2.82e+02 -8.0 8.53e-01 1.00e+00h 1 38 2.0836071e+00 3.04e-03 1.35e+00 -4.0 1.31e+02 -6.6 1.00e+00 5.44e-01h 1 39 2.0829335e+00 9.74e-03 2.84e-01 -3.7 1.28e+02 -7.1 8.31e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0831110e+00 7.99e-03 4.34e+00 -3.7 4.65e+01 -5.8 1.00e+00 2.06e-01h 2 41 2.0829672e+00 5.33e-03 2.51e+00 -3.7 1.44e+01 -6.2 4.09e-01 3.88e-01h 2 42 2.0830488e+00 5.54e-04 1.60e-02 -3.7 1.53e+01 -6.7 1.00e+00 1.00e+00h 1 43 2.0833765e+00 4.34e-03 7.86e-03 -3.7 4.44e+01 -7.2 1.00e+00 1.00e+00h 1 44 2.0832706e+00 1.16e-03 1.22e-02 -3.7 3.78e+01 -7.7 1.00e+00 1.00e+00h 1 45 2.0833221e+00 6.96e-04 4.66e-03 -3.7 4.21e+01 -8.2 1.00e+00 1.00e+00h 1 46 2.0833458e+00 1.64e-04 1.74e-03 -3.7 3.16e+01 -8.6 1.00e+00 1.00e+00h 1 47 2.0818762e+00 3.90e-03 8.35e-04 -4.0 3.12e+01 -9.1 1.00e+00 1.00e+00h 1 48 2.0815926e+00 3.36e-04 3.55e-05 -4.1 1.47e+01 -9.6 1.00e+00 1.00e+00h 1 49 2.0818417e+00 1.82e-04 3.50e-05 -4.0 8.62e+00 -10.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818407e+00 1.85e-08 3.49e-05 -4.0 2.80e-01 -10.5 1.00e+00 1.00e+00h 1 51 2.0818407e+00 4.65e-14 3.49e-05 -4.0 1.24e-03 -11.0 1.00e+00 1.00e+00h 1 52 2.0818407e+00 8.88e-16 3.49e-05 -4.0 1.75e-05 -11.5 1.00e+00 1.00e+00H 1 53 2.0818407e+00 2.22e-16 3.49e-05 -4.0 1.75e-05 -12.0 1.00e+00 1.00e+00h 1 54 2.0815814e+00 2.08e-04 2.85e-05 -4.1 9.47e+00 -12.5 1.00e+00 1.00e+00h 1 55 2.0818419e+00 2.15e-04 3.50e-05 -4.0 9.79e+00 -12.9 1.00e+00 1.00e+00h 1 56 2.0815819e+00 2.14e-04 2.85e-05 -4.1 9.75e+00 -13.4 1.00e+00 1.00e+00h 1 57 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.9 9.77e-01 9.68e-01h 1 58 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -14.4 1.00e+00 1.00e+00f 1 59 2.0816124e+00 4.95e-04 2.90e-05 -4.1 2.07e+01 -14.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -15.3 9.76e-01 9.61e-01h 1 61 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.8 1.00e+00 1.00e+00h 1 62 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -16.3 1.00e+00 1.00e+00f 1 63 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.7 1.00e+00 1.00e+00h 1 64 2.0816420e+00 4.58e-07 2.99e-05 -4.1 8.54e+00 -17.2 1.00e+00 1.00e+00h 1 65 2.0818414e+00 1.26e-04 3.50e-05 -4.0 7.46e+00 -17.7 1.00e+00 1.00e+00h 1 66 2.0815817e+00 2.11e-04 2.85e-05 -4.1 9.63e+00 -18.2 1.00e+00 1.00e+00h 1 67 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.7 9.77e-01 9.68e-01h 1 68 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -19.1 1.00e+00 1.00e+00h 1 69 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0816444e+00 5.44e-07 3.00e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 73 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805468e+00 5.07e-08 2.99e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 76 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0816573e+00 1.18e-06 3.03e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 79 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+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 80 2.0805469e+00 5.37e-08 3.04e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 82 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 83 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0816639e+00 1.62e-06 3.05e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 86 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805470e+00 5.53e-08 3.07e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 89 2.0805365e+00 8.67e-11 3.49e-10 -9.0 2.64e-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 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816640e+00 1.63e-06 3.05e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 94 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805470e+00 5.54e-08 3.07e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 8.67e-11 3.49e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 2.22e-16 3.49e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 3.49e-10 -9.0 1.74e-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 4.44e-16 3.49e-10 -9.0 1.74e-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......: 3.4850665063311069e-10 3.4850665063311069e-10 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-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 = 114 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 114 Number of inequality constraint evaluations = 114 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 24.033 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 5.3905391e+01 2.81e+00 2.25e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0843361e+01 2.09e+00 1.75e+01 -0.3 1.93e+00 0.0 1.00e+00 2.58e-01f 1 2 3.0441972e+00 1.04e-01 9.17e+00 -0.0 1.85e+00 -0.5 1.00e+00 1.00e+00f 1 3 2.8393982e+00 3.03e-02 6.71e+00 -0.7 5.33e-01 -0.1 7.14e-01 1.00e+00h 1 4 2.7406165e+00 1.54e-03 2.56e-01 -1.3 8.30e-02 -0.5 9.98e-01 1.00e+00h 1 5 2.3007103e+00 2.09e-02 1.03e-01 -1.8 2.44e-01 -1.0 9.22e-01 9.51e-01f 1 6 2.1249138e+00 5.40e-03 2.53e-02 -2.5 1.85e-01 -1.5 8.73e-01 9.34e-01h 1 7 2.0920306e+00 9.06e-05 1.32e-03 -3.7 1.95e-02 -2.0 9.91e-01 9.94e-01h 1 8 2.0908828e+00 9.81e-07 2.26e-04 -4.0 1.84e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908759e+00 3.51e-09 2.26e-04 -4.0 3.01e-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 2.0908704e+00 7.65e-10 2.26e-04 -4.0 4.50e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908578e+00 5.63e-09 2.26e-04 -4.0 1.30e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908269e+00 4.02e-08 2.26e-04 -4.0 3.59e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907522e+00 3.33e-07 3.32e-04 -4.0 9.64e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905404e+00 2.96e-06 3.68e-04 -4.0 2.89e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904529e+00 4.11e-07 3.26e-04 -4.0 1.11e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901095e+00 7.16e-07 2.54e-03 -4.0 3.98e+00 -5.4 1.00e+00 8.44e-01H 1 17 2.0895303e+00 5.19e-05 1.26e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 18 2.1000118e+00 1.27e-02 1.71e-01 -2.5 1.69e+02 -5.4 1.84e-01 1.53e-01f 2 19 2.0951516e+00 5.35e-03 2.32e-01 -3.3 8.74e-01 -3.2 5.10e-01 6.08e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0938557e+00 5.38e-03 2.35e-01 -3.3 2.73e+01 -2.7 7.03e-03 1.58e-03h 1 21 2.0965639e+00 5.53e-03 2.15e+00 -3.3 5.79e+00 -3.2 1.00e+00 2.18e-02f 4 22 2.0953623e+00 4.14e-04 1.33e-02 -3.3 3.49e-01 -3.7 1.00e+00 1.00e+00h 1 23 2.0942242e+00 1.09e-04 1.13e-03 -3.3 4.53e-01 -4.2 1.00e+00 1.00e+00h 1 24 2.0895802e+00 4.75e-04 9.26e-04 -5.0 9.43e-01 -4.7 9.78e-01 1.00e+00h 1 25 2.0892274e+00 1.42e-05 7.86e-04 -5.0 2.74e+00 -5.1 1.00e+00 1.00e+00h 1 26 2.0884866e+00 8.97e-05 1.13e-02 -4.7 8.43e+00 -5.6 6.56e-01 1.00e+00h 1 27 2.0886351e+00 8.07e-05 3.76e-01 -4.0 1.86e+01 -5.2 1.00e+00 6.85e-02h 1 28 2.0888783e+00 8.75e-04 7.70e-03 -4.0 6.70e+00 -5.7 1.00e+00 1.00e+00h 1 29 2.0877399e+00 1.13e-03 2.24e-03 -4.1 2.00e+01 -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 2.0857635e+00 1.59e-03 1.51e-02 -4.0 5.20e+01 -6.6 1.00e+00 1.00e+00h 1 31 2.0828489e+00 3.08e-03 6.53e-02 -4.0 1.01e+02 -7.1 1.00e+00 1.00e+00h 1 32 2.0830988e+00 2.86e-03 6.40e-02 -4.0 8.91e+01 -7.6 1.00e+00 1.00e+00h 1 33 2.0820205e+00 7.36e-04 1.12e-02 -4.0 1.16e+02 -8.0 1.00e+00 1.00e+00h 1 34 2.0818852e+00 7.19e-04 1.30e-02 -4.0 8.53e+01 -8.5 1.00e+00 1.00e+00h 1 35 2.0818410e+00 1.17e-04 1.65e-03 -4.0 4.77e+01 -9.0 1.00e+00 1.00e+00h 1 36 2.0818383e+00 3.12e-06 2.26e-04 -4.0 1.12e+01 -9.5 1.00e+00 1.00e+00h 1 37 2.0818383e+00 1.76e-08 2.26e-04 -4.0 9.83e-01 -10.0 1.00e+00 1.00e+00h 1 38 2.0818383e+00 1.28e-11 2.26e-04 -4.0 3.10e-02 -10.4 1.00e+00 1.00e+00h 1 39 2.0818383e+00 6.40e-12 1.13e-04 -4.0 3.41e-04 -10.9 1.00e+00 5.00e-01h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818383e+00 8.88e-16 2.26e-04 -4.0 1.72e-04 -11.9 1.00e+00 1.00e+00H 1 41 2.0818383e+00 4.44e-16 2.26e-04 -4.0 2.00e-05 -12.3 1.00e+00 1.00e+00h 1 42 2.0815797e+00 2.05e-04 1.81e-04 -4.1 9.35e+00 -12.8 1.00e+00 1.00e+00h 1 43 2.0818395e+00 2.13e-04 2.26e-04 -4.0 9.67e+00 -13.3 1.00e+00 1.00e+00h 1 44 2.0815804e+00 2.11e-04 1.81e-04 -4.1 9.63e+00 -13.8 1.00e+00 1.00e+00h 1 45 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.2 9.78e-01 9.71e-01h 1 46 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.7 1.00e+00 1.00e+00f 1 47 2.0816136e+00 4.88e-04 1.85e-04 -4.1 2.07e+01 -15.2 1.00e+00 1.00e+00h 1 48 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.7 9.76e-01 9.65e-01h 1 49 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -16.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.6 1.00e+00 1.00e+00f 1 51 2.0816837e+00 9.34e-04 1.93e-04 -4.1 4.57e+01 -17.1 1.00e+00 1.00e+00h 1 52 2.0816477e+00 4.73e-07 1.93e-04 -4.1 8.53e+00 -17.6 1.00e+00 1.00e+00h 1 53 2.0818389e+00 1.15e-04 2.26e-04 -4.0 7.07e+00 -18.1 1.00e+00 1.00e+00h 1 54 2.0815801e+00 2.08e-04 1.81e-04 -4.1 9.50e+00 -18.5 1.00e+00 1.00e+00h 1 55 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -19.0 9.78e-01 9.71e-01h 1 56 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -19.5 1.00e+00 1.00e+00h 1 57 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 58 2.0816887e+00 9.54e-04 1.93e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0816504e+00 5.63e-07 1.93e-04 -4.1 8.93e+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 60 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 61 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 62 2.0805469e+00 4.72e-08 1.78e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 63 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 64 2.0817159e+00 1.04e-03 1.96e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 65 2.0816648e+00 1.22e-06 1.96e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 67 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0805471e+00 4.99e-08 1.82e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 69 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 71 2.0817306e+00 1.08e-03 1.97e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0816723e+00 1.67e-06 1.97e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 74 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0805472e+00 5.15e-08 1.84e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 76 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 77 2.0805365e+00 9.27e-11 2.05e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 78 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 79 2.0817309e+00 1.08e-03 1.97e-04 -4.1 5.84e+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 80 2.0816725e+00 1.68e-06 1.97e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 82 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0805472e+00 5.16e-08 1.84e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 85 2.0805365e+00 9.28e-11 2.05e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 8.88e-16 2.05e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 6.66e-16 2.05e-09 -9.0 1.03e-10 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 4.44e-16 2.05e-09 -9.0 1.03e-10 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 4.44e-16 2.05e-09 -9.0 1.03e-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 2.22e-16 2.05e-09 -9.0 1.03e-10 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 4.44e-16 2.05e-09 -9.0 1.03e-10 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 4.44e-16 2.05e-09 -9.0 1.03e-10 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 2.05e-09 -9.0 1.03e-10 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 4.44e-16 2.05e-09 -9.0 1.03e-10 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 2.05e-09 -9.0 1.03e-10 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 2.22e-16 2.05e-09 -9.0 1.03e-10 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 2.05e-09 -9.0 1.03e-10 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 2.05e-09 -9.0 1.03e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 2.05e-09 -9.0 1.03e-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 4.44e-16 2.05e-09 -9.0 1.03e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 2.0549456663629238e-09 2.0549456663629238e-09 Constraint violation....: 4.4408920985006262e-16 4.4408920985006262e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 112 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 112 Number of inequality constraint evaluations = 112 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 30.244 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 1.0183379e+00 2.56e+00 6.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2675751e+00 3.42e-01 5.39e+00 -0.8 1.87e+00 0.0 1.00e+00 8.72e-01h 1 2 3.2185122e+00 5.77e-02 1.55e+00 -0.5 3.51e-01 0.4 9.56e-01 1.00e+00f 1 3 3.0107681e+00 8.39e-03 5.93e-01 -0.9 1.31e-01 -0.1 8.95e-01 1.00e+00h 1 4 2.5126078e+00 1.82e-02 1.68e-01 -1.5 1.97e-01 -0.5 9.46e-01 9.71e-01f 1 5 2.2849107e+00 1.59e-02 1.36e-01 -4.0 3.90e-01 -1.0 7.39e-01 6.40e-01h 1 6 2.1158090e+00 2.29e-03 2.80e-02 -2.8 1.59e-01 -1.5 9.93e-01 8.69e-01h 1 7 2.0911448e+00 6.96e-05 1.92e-03 -3.9 1.56e-02 -2.0 9.95e-01 9.84e-01h 1 8 2.0908700e+00 3.46e-07 2.76e-05 -4.0 5.63e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908681e+00 1.47e-09 2.06e-05 -4.0 1.69e-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 2.0908631e+00 9.72e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908482e+00 8.76e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908033e+00 7.88e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906690e+00 7.11e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902670e+00 6.43e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890700e+00 5.89e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855615e+00 5.56e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796333e+00 2.28e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.26e-01h 1 18 2.0806599e+00 1.29e-04 1.66e-01 -4.0 6.95e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775564e+00 7.12e-03 2.24e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.88e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769160e+00 1.31e-03 4.74e-02 -4.0 2.05e+02 -8.2 9.83e-01 8.90e-01h 1 21 2.0763412e+00 1.55e-03 4.78e-02 -4.0 3.60e+02 -8.6 1.00e+00 6.35e-01h 1 22 2.0755402e+00 4.40e-03 3.57e-02 -4.0 6.58e+02 -9.1 1.00e+00 7.53e-01h 1 23 2.0758221e+00 3.87e-03 2.05e-02 -4.0 1.97e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756817e+00 6.69e-04 1.06e-03 -4.0 1.07e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 4.79e-06 1.75e-05 -4.0 2.24e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 9.99e-08 1.23e-06 -4.0 1.37e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.51e-09 1.06e-07 -4.0 4.55e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.51e-11 1.78e-09 -4.0 7.22e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121656289e+00 2.0756712121656289e+00 Dual infeasibility......: 1.7768442428121520e-09 1.7768442428121520e-09 Constraint violation....: 4.5149550764733704e-11 4.5149550764733704e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 1.7768442428121520e-09 1.7768442428121520e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 21.150 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 3.0753263e+00 3.70e+00 6.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6332481e+00 1.80e-01 1.02e+00 -1.0 2.48e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.4602127e+00 3.40e-02 4.01e-01 -1.3 1.18e+00 -2.5 8.35e-01 1.00e+00h 1 3 2.1919859e+00 4.79e-02 6.72e-02 -2.2 1.31e+00 -3.0 9.78e-01 1.00e+00h 1 4 2.0990746e+00 5.91e-03 2.37e-02 -3.1 6.97e-01 -3.4 9.94e-01 9.93e-01h 1 5 2.0909119e+00 2.71e-04 3.14e-03 -4.0 3.92e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908333e+00 8.50e-06 8.89e-04 -4.0 5.08e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906857e+00 8.49e-07 6.80e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902446e+00 7.76e-06 3.76e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889321e+00 7.09e-05 3.07e-04 -4.0 1.33e+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 2.0850947e+00 6.72e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796265e+00 2.13e-03 1.75e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.40e-01h 1 12 2.0803106e+00 1.66e-04 1.75e-01 -4.0 6.53e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0773534e+00 8.57e-03 2.40e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.85e-01h 1 14 2.0772125e+00 1.93e-03 8.05e-02 -4.0 2.12e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761224e+00 9.31e-04 1.93e-02 -3.9 3.49e+02 -8.7 1.00e+00 8.43e-01H 1 16 2.0755081e+00 4.59e-03 2.18e-02 -4.0 4.35e+02 -9.2 1.00e+00 7.59e-01h 1 17 2.0757413e+00 2.19e-03 8.90e-03 -4.0 1.25e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756793e+00 1.94e-04 2.93e-04 -4.0 5.73e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 4.64e-06 5.23e-06 -4.0 2.06e+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 2.0756713e+00 3.45e-08 1.05e-06 -4.0 1.32e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756713e+00 2.37e-09 9.50e-08 -4.0 4.92e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756713e+00 4.13e-11 1.72e-09 -4.0 7.40e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712527871279e+00 2.0756712527871279e+00 Dual infeasibility......: 1.7217534907564350e-09 1.7217534907564350e-09 Constraint violation....: 4.1297076869284410e-11 4.1297076869284410e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000022e-04 1.0000000000000022e-04 Overall NLP error.......: 1.7217534907564350e-09 1.7217534907564350e-09 Number of objective function evaluations = 25 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 20.405 EXIT: Optimal Solution Found. 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 3.3216278e+00 2.78e+00 5.50e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6360104e+00 1.62e-01 7.18e-01 -1.2 2.25e+00 -2.0 9.69e-01 1.00e+00h 1 2 2.2675071e+00 1.14e-01 3.18e-01 -1.5 2.02e+00 -2.5 8.30e-01 9.15e-01h 1 3 2.1676304e+00 4.02e-02 1.58e-01 -2.1 1.39e+00 -3.0 9.31e-01 1.00e+00h 1 4 2.1004410e+00 5.71e-03 1.69e-02 -3.1 5.35e-01 -3.4 9.92e-01 1.00e+00h 1 5 2.0910529e+00 1.90e-04 6.42e-04 -4.0 1.81e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908962e+00 9.78e-06 6.29e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907487e+00 8.04e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903075e+00 7.71e-06 3.45e-05 -4.0 4.49e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889946e+00 7.06e-05 3.07e-04 -4.0 1.33e+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 2.0851555e+00 6.70e-04 2.78e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796517e+00 2.15e-03 1.75e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.42e-01h 1 12 2.0802962e+00 1.38e-04 1.63e-01 -4.0 6.92e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0774854e+00 7.72e-03 2.46e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.44e-01h 1 14 2.0768351e+00 1.12e-03 4.47e-02 -4.0 2.06e+02 -8.2 1.00e+00 9.59e-01h 1 15 2.0762079e+00 1.80e-03 4.11e-02 -4.0 3.57e+02 -8.7 1.00e+00 7.71e-01h 1 16 2.0755137e+00 2.95e-03 3.53e-02 -4.0 6.20e+02 -9.2 1.00e+00 6.82e-01h 1 17 2.0757823e+00 2.91e-03 1.64e-02 -4.0 1.72e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756775e+00 4.02e-04 6.02e-04 -4.0 7.89e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 2.86e-06 9.58e-06 -4.0 2.30e+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 2.0756712e+00 5.90e-08 1.16e-06 -4.0 1.35e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 2.20e-09 8.89e-08 -4.0 4.30e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 3.33e-11 1.30e-09 -4.0 6.29e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121412311e+00 2.0756712121412311e+00 Dual infeasibility......: 1.2968754116394685e-09 1.2968754116394685e-09 Constraint violation....: 3.3274494271040567e-11 3.3274494271040567e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000059e-04 1.0000000000000059e-04 Overall NLP error.......: 1.2968754116394685e-09 1.2968754116394685e-09 Number of objective function evaluations = 24 Number of objective gradient evaluations = 23 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 23 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 22 Total seconds in IPOPT = 20.988 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 4.1749846e+00 2.90e+00 2.38e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2577849e+00 5.73e+00 1.48e+01 -1.1 9.65e+01 -4.0 9.35e-01 1.00e+00f 1 2 2.2457236e+00 3.22e-01 4.41e+00 -1.3 2.73e+01 -4.5 9.97e-01 1.00e+00h 1 3 2.1675556e+00 1.86e-01 1.17e+00 -2.1 2.14e+01 -5.0 1.00e+00 1.00e+00h 1 4 2.1104795e+00 1.27e-01 4.02e-01 -2.6 1.95e+01 -5.4 9.98e-01 1.00e+00h 1 5 2.0912623e+00 7.56e-02 2.19e-01 -3.6 3.17e+01 -5.9 1.00e+00 1.00e+00h 1 6 2.0829593e+00 2.52e-02 3.30e-02 -4.0 3.09e+01 -6.4 1.00e+00 1.00e+00h 1 7 2.0816397e+00 1.44e-03 3.29e-02 -3.5 2.57e+01 -6.9 1.00e+00 1.00e+00h 1 8 2.0785805e+00 1.61e-02 1.22e-02 -4.0 4.94e+01 -7.3 1.00e+00 1.00e+00h 1 9 2.0772523e+00 1.75e-03 9.74e-03 -4.0 1.14e+02 -7.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0764910e+00 1.16e-04 2.19e-02 -4.0 2.10e+02 -8.3 1.00e+00 9.63e-01h 1 11 2.0761094e+00 4.98e-04 2.42e-02 -4.0 3.49e+02 -8.8 1.00e+00 1.00e+00h 1 12 2.0756127e+00 6.30e-05 1.95e-02 -4.0 3.58e+02 -9.2 1.00e+00 6.61e-01h 1 13 2.0758220e+00 4.74e-04 7.34e-03 -4.0 1.17e+02 -9.7 1.00e+00 1.00e+00h 1 14 2.0754410e+00 9.28e-04 1.22e-04 -4.1 3.80e+01 -10.2 1.00e+00 1.00e+00h 1 15 2.0757716e+00 6.70e-04 3.88e-06 -4.0 2.66e+01 -10.7 1.00e+00 1.00e+00h 1 16 2.0754220e+00 6.79e-04 1.06e-06 -4.1 2.56e+01 -11.2 1.00e+00 1.00e+00h 1 17 2.0757717e+00 3.71e-04 7.13e-07 -4.0 1.40e+01 -11.6 1.00e+00 1.00e+00h 1 18 2.0754219e+00 5.52e-04 2.41e-07 -4.1 2.08e+01 -12.1 1.00e+00 1.00e+00h 1 19 2.0757717e+00 6.04e-04 9.83e-08 -4.0 2.28e+01 -12.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.02e-04 1.03e-07 -4.1 2.27e+01 -13.1 1.00e+00 1.00e+00h 1 21 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -13.5 9.28e-01 1.00e+00h 1 22 2.0758523e+00 1.72e-01 1.56e-04 -4.0 1.29e+03 -14.0 1.00e+00 1.00e+00h 1 23 2.0754378e+00 2.85e-02 8.78e-05 -4.1 1.05e+03 -14.5 1.00e+00 1.00e+00h 1 24 2.0754277e+00 1.24e-05 2.11e-06 -4.1 1.63e+02 -15.0 1.00e+00 1.00e+00h 1 25 2.0757717e+00 7.84e-04 1.74e-07 -4.0 3.01e+01 -15.5 1.00e+00 1.00e+00h 1 26 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -15.9 1.00e+00 1.00e+00h 1 27 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -16.4 9.28e-01 1.00e+00h 1 28 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -16.9 8.16e-01 1.00e+00h 1 29 2.0743069e+00 2.58e-02 1.46e-02 -4.0 8.97e+03 -17.4 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0749156e+00 3.43e-02 4.23e-05 -4.3 7.15e+02 -17.8 1.00e+00 1.00e+00h 1 31 2.0749194e+00 4.29e-04 1.42e-05 -4.3 5.34e+02 -18.3 1.00e+00 1.00e+00h 1 32 2.0757799e+00 1.06e-02 3.26e-06 -4.0 1.65e+02 -18.8 1.00e+00 1.00e+00h 1 33 2.0754236e+00 2.17e-03 7.34e-07 -4.1 8.12e+01 -19.3 1.00e+00 1.00e+00h 1 34 2.0754217e+00 1.05e-06 2.50e-08 -4.1 1.90e+01 -19.7 1.00e+00 1.00e+00h 1 35 2.0757718e+00 7.83e-04 1.70e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 36 2.0754219e+00 6.34e-04 1.30e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 37 2.0740276e+00 1.24e-02 4.38e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 38 2.0739729e+00 7.49e-04 2.53e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 39 2.0739618e+00 7.48e-07 1.83e-05 -6.1 5.36e+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 40 2.0741610e+00 2.72e-02 1.81e-02 -4.0 3.03e+04 -20.0 1.00e+00 8.17e-02f 1 41 2.0748450e+00 7.42e-02 5.83e-05 -4.3 1.43e+03 -20.0 1.00e+00 1.00e+00f 1 42 2.0748594e+00 4.17e-04 5.58e-06 -4.3 3.96e+02 -20.0 1.00e+00 1.00e+00h 1 43 2.0740038e+00 1.17e-02 4.14e-04 -6.5 1.83e+02 -20.0 8.92e-01 1.00e+00h 1 44 2.0739628e+00 2.48e-04 2.84e-04 -6.5 7.31e+02 -20.0 7.61e-01 1.00e+00h 1 45 2.0739529e+00 2.78e-07 2.04e-05 -6.5 6.29e+02 -20.0 1.00e+00 1.00e+00h 1 46 2.0741325e+00 2.58e-02 1.91e-02 -4.0 3.70e+04 -20.0 1.00e+00 7.19e-02f 1 47 2.0748276e+00 8.42e-02 6.63e-05 -4.3 1.60e+03 -20.0 1.00e+00 1.00e+00f 1 48 2.0748443e+00 3.56e-04 3.40e-06 -4.3 3.15e+02 -20.0 1.00e+00 1.00e+00h 1 49 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 50 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 51 2.0739527e+00 2.69e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 52 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 53 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+03 -20.0 1.00e+00 1.00e+00f 1 54 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 55 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 56 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 57 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 58 2.0741318e+00 2.58e-02 1.92e-02 -4.0 3.72e+04 -20.0 1.00e+00 7.16e-02f 1 59 2.0748272e+00 8.45e-02 6.65e-05 -4.3 1.61e+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 60 2.0748440e+00 3.54e-04 3.34e-06 -4.3 3.13e+02 -20.0 1.00e+00 1.00e+00h 1 61 2.0740032e+00 1.17e-02 4.13e-04 -6.5 1.85e+02 -20.0 8.90e-01 1.00e+00h 1 62 2.0739626e+00 2.39e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 63 2.0739527e+00 2.68e-07 2.05e-05 -6.5 6.32e+02 -20.0 1.00e+00 1.00e+00h 1 64 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 65 2.0741226e+00 2.63e-02 1.95e-02 -4.0 4.26e+04 -20.0 1.00e+00 6.77e-02f 1 66 2.0748234e+00 8.99e-02 7.10e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 67 2.0748412e+00 3.13e-04 2.43e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 68 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 69 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 72 2.0741225e+00 2.63e-02 1.95e-02 -4.0 4.27e+04 -20.0 1.00e+00 6.76e-02f 1 73 2.0748233e+00 9.00e-02 7.11e-05 -4.3 1.70e+03 -20.0 1.00e+00 1.00e+00f 1 74 2.0748411e+00 3.13e-04 2.42e-06 -4.3 2.70e+02 -20.0 1.00e+00 1.00e+00h 1 75 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 76 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 77 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0739520e+00 4.54e-09 7.52e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 79 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 81 2.0748092e+00 1.02e-01 8.36e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 82 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 83 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 84 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 85 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 86 2.0739518e+00 4.59e-09 7.61e-07 -6.5 1.66e+02 -20.0 1.00e+00 1.00e+00h 1 87 2.0741220e+00 2.63e-02 1.96e-02 -4.0 4.28e+04 -20.0 1.00e+00 6.75e-02f 1 88 2.0748230e+00 9.02e-02 7.13e-05 -4.3 1.71e+03 -20.0 1.00e+00 1.00e+00f 1 89 2.0748409e+00 3.11e-04 2.38e-06 -4.3 2.68e+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 2.0740031e+00 1.17e-02 4.13e-04 -6.5 1.86e+02 -20.0 8.90e-01 1.00e+00h 1 91 2.0739625e+00 2.37e-04 2.84e-04 -6.5 7.28e+02 -20.0 7.60e-01 1.00e+00h 1 92 2.0739527e+00 2.66e-07 2.04e-05 -6.5 6.31e+02 -20.0 1.00e+00 1.00e+00h 1 93 2.0739520e+00 4.54e-09 7.53e-07 -6.5 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 94 2.0739440e+00 6.21e-05 3.00e-06 -9.0 1.42e+02 -20.0 9.56e-01 1.00e+00h 1 95 2.0740989e+00 2.54e-02 2.06e-02 -4.0 5.21e+04 -20.0 1.00e+00 5.99e-02f 1 96 2.0748092e+00 1.02e-01 8.37e-05 -4.3 1.92e+03 -20.0 1.00e+00 1.00e+00f 1 97 2.0748293e+00 2.04e-04 1.06e-06 -4.3 1.65e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0740026e+00 1.16e-02 4.11e-04 -6.5 1.88e+02 -20.0 8.89e-01 1.00e+00h 1 99 2.0739622e+00 2.30e-04 2.84e-04 -6.5 7.25e+02 -20.0 7.59e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0739525e+00 2.60e-07 1.99e-05 -6.5 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0739525125989102e+00 2.0739525125989102e+00 Dual infeasibility......: 1.9893600830392442e-05 1.9893600830392442e-05 Constraint violation....: 2.6030378874608573e-07 2.6030378874608573e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.1601907672001725e-07 6.1601907672001725e-07 Overall NLP error.......: 9.9745518747822260e-05 9.9745518747822260e-05 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 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 = 22.214 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 1.4737583e+00 1.08e+00 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.0681226e+00 2.75e-01 2.26e+00 -0.8 9.39e-01 0.0 9.66e-01 1.00e+00h 1 2 1.9911551e+00 4.83e-02 6.85e-01 -0.8 3.57e-01 -0.5 6.99e-01 8.25e-01h 1 3 2.9698457e+00 1.58e-02 3.22e+01 -1.3 2.62e+01 - 7.41e-01 7.53e-01H 1 4 1.2957412e+00 4.10e-03 4.46e+00 -1.9 1.93e+00 -1.0 1.00e+00 7.26e-01f 1 5 1.1456373e+00 6.61e-05 2.35e-02 -2.5 7.51e-02 -1.4 1.00e+00 9.96e-01h 1 6 1.1150422e+00 1.65e-07 2.20e-03 -3.5 1.60e-01 -1.9 9.79e-01 1.00e+00f 1 7 1.1107242e+00 1.93e-10 3.00e-03 -4.0 4.65e-01 -2.4 1.00e+00 1.00e+00f 1 8 1.1079146e+00 2.63e-13 1.70e-02 -4.0 1.30e+00 -2.9 1.00e+00 1.00e+00f 1 9 1.1013405e+00 1.32e-13 1.49e+00 -4.0 1.79e+01 - 1.35e-01 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0959798e+00 1.01e-13 2.35e-02 -4.0 1.51e+00 -2.4 1.00e+00 2.33e-01f 1 11 1.0963971e+00 5.57e-16 8.64e-01 -4.0 8.84e+00 - 1.00e+00 1.00e+00f 1 12 1.0929368e+00 4.46e-16 1.01e-01 -3.9 3.30e+00 -2.9 1.00e+00 2.00e-01f 1 13 1.0909453e+00 4.21e-21 4.48e-03 -4.0 1.92e+00 - 7.34e-01 1.00e+00f 1 14 1.0909923e+00 3.16e-21 4.55e-03 -4.0 2.25e+00 - 2.16e-01 2.50e-01f 3 15 1.0907416e+00 8.00e-26 3.53e-03 -4.1 2.87e-01 -2.5 1.00e+00 1.00e+00f 1 16 1.0908121e+00 4.00e-26 3.18e-04 -4.0 2.88e-01 - 6.40e-01 5.00e-01f 2 17 1.0906269e+00 1.78e-31 5.79e-04 -4.2 8.01e-02 -2.1 1.00e+00 1.00e+00f 1 18 1.0909020e+00 1.65e-32 4.96e-04 -4.0 6.34e-02 - 1.00e+00 1.00e+00f 1 19 1.0907049e+00 2.99e-34 1.48e-04 -4.1 2.81e-02 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0900063e+00 4.82e-34 1.19e-06 -6.2 2.11e-03 - 1.00e+00 1.00e+00f 1 21 1.0901665e+00 7.15e-34 1.75e-08 -4.0 1.42e+00 - 1.00e+00 1.79e-01f 1 22 1.0904552e+00 3.27e-33 7.25e-06 -4.3 1.25e-01 - 1.00e+00 1.00e+00f 1 23 1.0900032e+00 8.54e-34 9.39e-08 -6.4 8.63e-04 - 1.00e+00 1.00e+00f 1 24 1.0900130e+00 8.45e-34 5.55e-06 -4.0 3.33e+01 - 1.00e+00 1.09e-02f 1 25 1.0904008e+00 3.71e-34 1.48e-06 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 26 1.0900026e+00 1.87e-34 6.84e-09 -6.5 9.09e-04 - 1.00e+00 1.00e+00f 1 27 1.0900101e+00 1.86e-34 6.46e-09 -4.0 4.55e+01 - 1.00e+00 8.36e-03f 1 28 1.0903995e+00 8.00e-35 4.04e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 29 1.0900026e+00 2.41e-34 6.47e-09 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0900101e+00 2.40e-34 5.86e-08 -4.0 4.57e+01 - 1.00e+00 8.32e-03f 1 31 1.0903995e+00 3.20e-34 1.56e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 32 1.0900026e+00 1.39e-35 6.47e-09 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 33 1.0899999e+00 3.22e-35 2.93e-13 -9.0 4.16e-04 - 1.00e+00 1.00e+00f 1 34 1.0899999e+00 3.22e-35 2.93e-13 -4.0 1.48e+04 - 1.00e+00 2.56e-05f 1 35 1.0903958e+00 2.63e-36 6.44e-09 -4.4 1.08e-01 - 1.00e+00 1.00e+00f 1 36 1.0900026e+00 2.87e-36 6.35e-09 -6.5 9.10e-04 - 1.00e+00 1.00e+00f 1 37 1.0899999e+00 4.30e-37 2.85e-13 -9.0 4.24e-04 - 1.00e+00 1.00e+00f 1 38 1.0899999e+00 4.22e-43 1.04e-15 -9.0 1.36e-01 - 1.00e+00 1.00e+00f 1 39 1.0899999e+00 3.83e-45 3.35e-16 -9.0 1.61e-14 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.0899999e+00 1.77e-45 3.35e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00 0 41 1.0899999e+00 3.73e-46 3.35e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 41 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 3.3471862163469285e-16 3.3471862163469285e-16 Constraint violation....: 3.7343978938069546e-46 3.7343978938069546e-46 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 48 Number of objective gradient evaluations = 42 Number of equality constraint evaluations = 48 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 42 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 42 Total seconds in IPOPT = 17.601 EXIT: Search Direction is becoming Too Small. Test Summary: | Pass Total Time Package | 174 174 15m32.2s Testing DirectTrajOpt tests passed Testing completed after 1219.96s PkgEval succeeded after 1319.65s