Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1555 (0c48c4942b*) started at 2026-01-14T05:41:53.218 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 9.62s ################################################################################ # 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 [70df07ce] + BracketingNonlinearSolve v1.6.2 [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 v6.197.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.13 [c823fa1f] + DirectTrajOpt v0.6.0 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.5 [f151be2c] + EnzymeCore v0.8.18 [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 [bb5d69b7] + MaybeInplace v0.1.4 [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 [be0214bd] + NonlinearSolveBase v2.9.1 [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 v1.0.0 [aea7be01] + PrecompileTools v1.3.3 [21216c6a] + Preferences v1.5.1 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v3.44.0 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.16 [94e857df] + SIMDTypes v0.1.0 [0bca4576] + SciMLBase v2.132.0 [19f34311] + SciMLJacobianOperators v0.1.12 [a6db7da4] + SciMLLogging v1.8.0 [c0aeaf25] + SciMLOperators v1.14.1 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [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 v2.6.1 [2efcf032] + SymbolicIndexingInterface v0.3.46 [f8b46487] + TestItemRunner v1.1.4 [1c621080] + TestItems v1.0.0 [8290d209] + ThreadingUtilities v0.5.5 [a759f4b9] + TimerOutputs v0.5.29 [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 v8.18.0+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 5.7s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 4202.5 ms ✓ SciMLBase → SciMLBaseChainRulesCoreExt 10370.8 ms ✓ NamedTrajectories 4169.5 ms ✓ NonlinearSolveBase → NonlinearSolveBaseChainRulesCoreExt 4467.1 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 45954.3 ms ✓ Ipopt → IpoptMathOptInterfaceExt 5834.3 ms ✓ DiffEqBase → DiffEqBaseChainRulesCoreExt 12068.9 ms ✓ OrdinaryDiffEqCore 7304.0 ms ✓ OrdinaryDiffEqCore → OrdinaryDiffEqCoreEnzymeCoreExt 15182.2 ms ✓ OrdinaryDiffEqTsit5 27039.0 ms ✓ DirectTrajOpt 10 dependencies successfully precompiled in 146 seconds. 214 already precompiled. Precompilation completed after 147.58s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_8Iwyut/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_8Iwyut/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 [70df07ce] BracketingNonlinearSolve v1.6.2 [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 v6.197.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.13 [c823fa1f] DirectTrajOpt v0.6.0 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.5 [f151be2c] EnzymeCore v0.8.18 [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 [bb5d69b7] MaybeInplace v0.1.4 [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 [be0214bd] NonlinearSolveBase v2.9.1 [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 v1.0.0 [aea7be01] PrecompileTools v1.3.3 [21216c6a] Preferences v1.5.1 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v3.44.0 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.16 [94e857df] SIMDTypes v0.1.0 [0bca4576] SciMLBase v2.132.0 [19f34311] SciMLJacobianOperators v0.1.12 [a6db7da4] SciMLLogging v1.8.0 [c0aeaf25] SciMLOperators v1.14.1 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [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 v2.6.1 [2efcf032] SymbolicIndexingInterface v0.3.46 [f8b46487] TestItemRunner v1.1.4 [1c621080] TestItems v1.0.0 [8290d209] ThreadingUtilities v0.5.5 [a759f4b9] TimerOutputs v0.5.29 [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 v8.18.0+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 1.3831397e+00 3.81e+00 1.56e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8660014e+00 1.59e-02 8.02e-01 -1.1 2.38e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2977605e+00 3.29e-02 1.11e-01 -1.8 4.26e-01 -1.6 9.84e-01 1.00e+00h 1 3 2.1662877e+00 3.50e-03 3.73e-01 -2.5 8.68e-02 -1.1 8.98e-01 1.00e+00h 1 4 2.0993431e+00 8.49e-04 1.34e-01 -3.7 7.29e-02 -1.6 1.00e+00 8.21e-01h 1 5 2.0921118e+00 3.62e-04 1.01e+00 -4.0 9.35e-01 -2.1 1.00e+00 4.11e-01h 1 6 2.0909705e+00 7.72e-04 5.16e-01 -4.0 9.50e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909293e+00 2.30e-06 4.12e-02 -4.0 7.78e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909647e+00 5.65e-07 2.39e-05 -4.0 7.03e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909443e+00 5.01e-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 2.0908826e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907006e+00 1.29e-06 4.95e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901821e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888416e+00 8.18e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861589e+00 4.38e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830933e+00 9.11e-04 4.70e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828625e+00 9.36e-04 2.34e-02 -4.0 5.41e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823470e+00 4.02e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820404e+00 9.24e-05 1.86e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.70e-03 -4.0 9.94e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.69e-05 8.48e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.33e-07 1.39e-05 -4.0 4.46e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.82e-10 3.28e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-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...............: 2.0819382907191004e+00 2.0819382907191004e+00 Dual infeasibility......: 1.2212096243101322e-11 1.2212096243101322e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000063e-04 1.0000000000000063e-04 Overall NLP error.......: 1.2212096243101322e-11 1.2212096243101322e-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 = 19.912 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 2.9396721e+00 3.18e+00 1.93e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9607851e+00 3.88e-02 7.08e-01 -1.1 2.28e+00 -2.0 9.95e-01 1.00e+00h 1 2 2.2190327e+00 3.64e-02 1.64e-01 -1.6 5.29e-01 -1.6 9.76e-01 9.53e-01f 1 3 2.1237195e+00 1.77e-03 2.45e-01 -2.7 9.76e-02 -1.1 9.82e-01 9.73e-01h 1 4 2.0958780e+00 6.24e-04 1.76e-01 -4.0 1.51e-01 -1.6 1.00e+00 7.90e-01h 1 5 2.0936520e+00 4.66e-04 1.60e+00 -4.0 6.47e-01 -2.1 1.00e+00 2.30e-01h 1 6 2.0907822e+00 3.50e-04 7.43e-01 -4.0 9.54e-01 -2.6 1.00e+00 9.70e-01h 1 7 2.0908666e+00 3.86e-06 4.08e-02 -4.0 5.54e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909065e+00 1.62e-06 2.84e-05 -4.0 7.25e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908864e+00 1.63e-07 3.95e-05 -4.0 2.00e-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 2.0908451e+00 1.10e-07 2.42e-04 -4.0 5.13e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907460e+00 5.77e-07 7.67e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904661e+00 6.00e-06 6.66e-04 -4.0 4.23e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903445e+00 7.73e-07 5.49e-04 -4.0 1.53e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0902093e+00 1.32e-06 1.87e-02 -4.0 6.32e+00 -5.5 1.00e+00 2.12e-01h 2 15 2.0890841e+00 5.95e-05 2.35e-03 -4.0 1.35e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0876269e+00 1.31e-04 6.26e-02 -4.0 3.77e+01 -6.4 1.00e+00 4.52e-01h 1 17 2.0837663e+00 1.68e-03 5.81e-02 -4.0 6.77e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0835877e+00 4.32e-04 3.02e-03 -3.8 5.21e+00 -6.5 1.00e+00 9.58e-01h 1 19 2.0827799e+00 2.57e-03 4.23e-03 -4.0 2.89e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825046e+00 6.26e-05 3.34e-03 -4.0 7.41e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821313e+00 8.61e-04 9.22e-03 -4.0 1.76e+02 -7.9 6.21e-01 1.00e+00h 1 22 2.2289165e+00 6.91e-04 5.93e-01 -4.0 3.12e+02 -8.4 9.42e-02 4.16e-01h 1 23 2.2145786e+00 2.46e-08 5.74e-01 -4.1 2.10e-02 1.4 1.00e+00 1.00e+00h 1 24 2.1844236e+00 4.31e-08 4.81e-01 -4.1 4.94e-02 1.0 3.63e-01 1.00e+00f 1 25 2.1355085e+00 7.75e-08 3.40e-01 -4.1 1.10e-01 0.5 1.00e+00 1.00e+00f 1 26 2.0943770e+00 2.43e-07 5.27e-01 -4.1 1.65e-01 0.0 6.72e-01 1.00e+00f 1 27 2.0824503e+00 2.79e-07 1.46e+00 -4.1 1.20e-01 -0.5 6.66e-01 1.00e+00f 1 28 2.0820758e+00 1.13e-07 4.40e-01 -4.0 2.37e-02 -0.9 1.00e+00 8.42e-01h 1 29 2.0824481e+00 9.05e-09 7.57e-04 -4.0 1.63e-02 -1.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0822460e+00 1.23e-09 1.16e-04 -4.0 8.05e-03 -1.9 1.00e+00 1.00e+00h 1 31 2.0821959e+00 7.64e-10 8.60e-06 -4.0 2.66e-03 -2.4 1.00e+00 1.00e+00h 1 32 2.0821886e+00 6.97e-10 3.90e-06 -4.0 2.81e-03 -2.9 1.00e+00 1.00e+00h 1 33 2.0821881e+00 1.51e-10 3.90e-06 -4.0 8.41e-03 -3.3 1.00e+00 1.00e+00h 1 34 2.0821870e+00 8.17e-10 3.89e-06 -4.0 2.52e-02 -3.8 1.00e+00 1.00e+00h 1 35 2.0821836e+00 7.11e-09 3.87e-06 -4.0 7.52e-02 -4.3 1.00e+00 1.00e+00h 1 36 2.0821740e+00 5.85e-08 3.82e-06 -4.0 2.23e-01 -4.8 1.00e+00 1.00e+00h 1 37 2.0821501e+00 4.09e-07 1.92e-05 -4.0 6.46e-01 -5.2 1.00e+00 1.00e+00h 1 38 2.0819147e+00 4.25e-05 1.13e-04 -4.1 1.94e+00 -5.7 1.00e+00 1.00e+00h 1 39 2.0820392e+00 9.87e-05 4.50e-04 -4.0 4.86e+00 -6.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817377e+00 3.01e-04 4.73e-04 -4.1 1.37e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0823872e+00 6.86e-07 7.61e-02 -4.0 6.90e+01 -7.2 3.70e-01 1.00e+00H 1 42 2.0819443e+00 2.14e-05 5.64e-01 -4.2 2.10e+00 -4.9 1.00e+00 3.21e-01h 2 43 2.0818039e+00 6.29e-06 5.79e-04 -4.0 7.78e-01 -5.4 1.00e+00 1.00e+00h 1 44 2.0819633e+00 9.27e-05 1.12e-03 -4.0 2.32e+00 -5.9 1.00e+00 1.00e+00h 1 45 2.0817911e+00 7.53e-05 4.42e-04 -4.1 6.51e+00 -6.4 1.00e+00 1.00e+00h 1 46 2.0821794e+00 1.80e-03 7.45e-02 -4.0 3.82e+01 -6.8 5.37e-01 1.00e+00h 1 47 2.0818793e+00 6.88e-06 4.98e-04 -4.1 2.31e-01 -4.6 1.00e+00 1.00e+00h 1 48 2.0812473e+00 1.21e-04 4.10e-03 -6.2 1.35e+00 -5.1 9.65e-01 1.00e+00h 1 49 2.0819765e+00 3.88e-04 3.22e-03 -4.0 2.90e+00 -5.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816018e+00 1.65e-04 1.58e-02 -4.1 3.75e+00 -6.0 8.63e-01 1.00e+00h 1 51 2.0817502e+00 1.78e-04 3.18e-01 -4.0 5.03e+00 -4.7 2.21e-01 1.52e-01h 1 52 2.0817766e+00 3.73e-05 2.49e-03 -4.0 7.21e-01 -5.2 1.00e+00 1.00e+00h 1 53 2.0818301e+00 3.38e-05 6.42e-04 -4.0 1.08e+00 -5.7 1.00e+00 1.00e+00h 1 54 2.0816664e+00 2.45e-05 6.80e-04 -4.1 1.21e+00 -6.1 1.00e+00 1.00e+00h 1 55 2.0818756e+00 5.87e-05 1.79e-04 -4.0 2.50e+00 -6.6 1.00e+00 1.00e+00h 1 56 2.0816568e+00 1.08e-04 6.00e-04 -4.1 6.29e+00 -7.1 1.00e+00 1.00e+00h 1 57 2.0818739e+00 2.96e-04 4.31e-04 -4.0 1.29e+01 -7.6 1.00e+00 1.00e+00h 1 58 2.0816038e+00 5.17e-04 3.46e-04 -4.1 2.29e+01 -8.0 1.00e+00 1.00e+00h 1 59 2.0806178e+00 4.27e-03 7.30e-04 -6.1 5.23e+01 -8.5 9.77e-01 9.51e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818853e+00 5.50e-03 1.84e-03 -4.0 4.65e+01 -9.0 1.00e+00 1.00e+00f 1 61 2.0816169e+00 4.90e-04 2.80e-04 -4.1 2.08e+01 -9.5 1.00e+00 1.00e+00h 1 62 2.0806010e+00 3.48e-03 1.75e-04 -6.1 4.16e+01 -9.9 9.76e-01 9.64e-01h 1 63 2.0818809e+00 6.16e-03 3.65e-04 -4.0 5.77e+01 -10.4 1.00e+00 1.00e+00f 1 64 2.0816088e+00 4.26e-04 1.76e-05 -4.1 1.85e+01 -10.9 1.00e+00 1.00e+00h 1 65 2.0805974e+00 3.45e-03 1.45e-04 -6.1 4.13e+01 -11.4 9.77e-01 9.66e-01h 1 66 2.0818835e+00 6.32e-03 2.89e-04 -4.0 5.90e+01 -11.9 1.00e+00 1.00e+00f 1 67 2.0816104e+00 4.45e-04 8.29e-06 -4.1 1.90e+01 -12.3 1.00e+00 1.00e+00h 1 68 2.0805979e+00 3.46e-03 1.45e-04 -6.1 4.13e+01 -12.8 9.76e-01 9.65e-01h 1 69 2.0805507e+00 8.23e-05 2.16e-06 -6.1 1.68e+01 -13.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0810943e+00 1.74e-03 1.58e-02 -4.0 8.44e+01 -13.8 1.00e+00 4.05e-01f 1 71 2.0814715e+00 5.84e-04 1.19e-05 -4.2 1.63e+01 -14.2 1.00e+00 1.00e+00f 1 72 2.0805627e+00 2.74e-03 2.07e-04 -6.2 3.62e+01 -14.7 9.80e-01 9.93e-01h 1 73 2.0805462e+00 1.94e-05 1.41e-06 -6.2 1.12e+01 -15.2 1.00e+00 1.00e+00h 1 74 2.0805910e+00 3.21e-05 2.71e-02 -4.0 9.36e+01 -15.7 1.00e+00 3.46e-02f 1 75 2.0813433e+00 1.73e-03 7.70e-05 -4.2 2.76e+01 -16.1 1.00e+00 1.00e+00f 1 76 2.0813653e+00 5.52e-05 4.51e-06 -4.2 4.65e+01 -16.6 1.00e+00 1.00e+00h 1 77 2.0805923e+00 2.09e-03 2.87e-04 -6.3 3.43e+01 -17.1 9.80e-01 9.54e-01h 1 78 2.0805466e+00 6.58e-05 1.43e-06 -6.3 1.50e+01 -17.6 1.00e+00 1.00e+00h 1 79 2.0805428e+00 4.16e-08 1.84e-08 -6.3 3.04e+00 -18.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0820276e+00 1.25e-02 4.24e-04 -4.0 1.01e+02 -18.5 1.00e+00 1.00e+00f 1 81 2.0817227e+00 1.05e-03 7.13e-05 -4.1 5.59e+01 -19.0 1.00e+00 1.00e+00h 1 82 2.0816691e+00 1.37e-06 1.04e-06 -4.1 1.12e+01 -19.5 1.00e+00 1.00e+00h 1 83 2.0805917e+00 3.79e-03 1.68e-04 -6.1 4.22e+01 -20.0 9.76e-01 9.75e-01h 1 84 2.0805515e+00 7.00e-05 2.03e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805472e+00 5.06e-08 2.17e-08 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 9.66e-07 8.16e-07 -9.0 9.63e-01 -20.0 1.00e+00 9.97e-01h 1 87 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 88 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 91 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 94 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 95 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 96 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 99 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805472260807263e+00 2.0805472260807263e+00 Dual infeasibility......: 2.2181656186474015e-08 2.2181656186474015e-08 Constraint violation....: 5.1662720546019614e-08 5.1662720546019614e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.0761640507770077e-07 9.0761640507770077e-07 Overall NLP error.......: 9.9187067308855752e-05 9.9187067308855752e-05 Number of objective function evaluations = 108 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 108 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 = 19.760 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7339242e+00 9.84e-01 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.3958115e+00 2.64e-01 1.79e+00 -0.9 9.84e-01 0.0 9.96e-01 1.00e+00h 1 2 1.5035799e+00 1.96e-01 1.88e+00 -0.5 1.39e+01 - 5.15e-01 2.58e-01h 1 3 1.3318874e+00 6.65e-02 5.60e-01 -1.2 3.40e-01 -0.5 9.79e-01 6.61e-01h 1 4 1.1475603e+00 3.57e-02 4.72e+00 -4.0 3.73e+01 - 1.10e-01 4.64e-01f 2 5 1.2677722e+00 8.38e-02 1.02e+01 -2.1 2.58e-01 -1.0 1.00e+00 1.00e+00h 1 6 1.1785802e+00 6.73e-02 7.17e+00 -1.4 1.37e+00 -1.4 1.00e+00 1.67e-01h 1 7 1.2580541e+00 2.61e-02 3.22e+00 -1.6 1.58e+00 -1.9 1.00e+00 5.00e-01f 2 8 1.2407879e+00 2.27e-02 3.76e+00 -2.3 1.81e+00 -2.4 1.00e+00 5.00e-01h 2 9 1.1298730e+00 4.53e-02 2.81e+00 -3.1 3.99e+00 -2.9 1.00e+00 5.47e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0585636e+00 2.71e-02 4.28e+00 -3.2 1.51e+01 -2.4 1.00e+00 8.71e-02f 1 11 1.0535617e+00 2.43e-02 3.73e+00 -4.0 2.39e+01 - 4.79e-01 9.55e-02h 1 12 1.1080013e+00 1.12e-02 8.58e-01 -2.2 6.33e-01 -2.9 1.00e+00 5.94e-01h 1 13 1.1115142e+00 3.09e-03 2.06e+00 -4.0 1.24e+01 - 6.69e-01 1.00e+00h 1 14 1.0930602e+00 4.36e-05 7.33e-02 -3.7 6.99e-01 - 1.00e+00 9.78e-01h 1 15 1.0908863e+00 1.12e-07 1.46e-03 -4.0 2.75e-01 - 1.00e+00 1.00e+00h 1 16 1.0908997e+00 2.61e-11 3.18e-05 -4.0 1.04e-02 - 1.00e+00 1.00e+00h 1 17 1.0908997e+00 4.95e-19 1.82e-12 -4.0 3.96e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 17 (scaled) (unscaled) Objective...............: 1.0908997263265299e+00 1.0908997263265299e+00 Dual infeasibility......: 1.8171026749252972e-12 1.8171026749252972e-12 Constraint violation....: 4.9459967446826293e-19 4.9459967446826293e-19 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000044540e-04 1.0000000000044540e-04 Overall NLP error.......: 1.8171026749252972e-12 1.8171026749252972e-12 Number of objective function evaluations = 27 Number of objective gradient evaluations = 18 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 18 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 17 Total seconds in IPOPT = 18.642 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 3.3226520e+00 3.33e+00 7.05e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7427137e+00 2.79e-02 2.44e-01 -1.0 2.29e+00 - 1.00e+00 1.00e+00f 1 2 2.2920632e+00 3.76e-03 1.38e-01 -2.0 7.79e-02 - 8.61e-01 1.00e+00h 1 3 2.1079559e+00 9.08e-04 1.02e-02 -2.8 4.61e-02 - 9.71e-01 9.82e-01h 1 4 2.0908916e+00 1.14e-04 3.59e-03 -4.0 5.01e-02 - 1.00e+00 1.00e+00h 1 5 2.0908885e+00 5.89e-06 1.66e-04 -4.0 4.28e-01 - 1.00e+00 1.00e+00h 1 6 2.0908970e+00 5.46e-09 1.77e-08 -4.0 1.29e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.05e-11 1.80e-11 -4.0 6.32e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971977697521e+00 2.0908971977697521e+00 Dual infeasibility......: 1.8033904746047810e-11 1.8033904746047810e-11 Constraint violation....: 1.0520920994214894e-11 1.0520920994214894e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000082673641715e-04 1.0000082673641715e-04 Overall NLP error.......: 8.2673641714557482e-10 8.2673641714557482e-10 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 17.726 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.0001926e+00 1.45e+00 5.84e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.8562418e+00 8.87e-01 1.30e+00 -0.8 7.44e+00 -4.0 7.42e-01 3.88e-01f 1 2 1.9039295e+00 9.77e-01 1.43e+00 -0.8 2.42e+01 -2.7 3.54e-01 4.55e-01f 1 3 2.4997839e+00 2.24e-01 2.32e+00 -0.8 2.91e+00 -2.2 5.89e-01 1.00e+00f 1 4 2.3800703e+00 4.28e-02 2.61e-01 -1.5 5.59e-01 -1.8 9.87e-01 1.00e+00h 1 5 2.1883397e+00 1.28e-02 2.58e-01 -2.2 4.53e-01 -2.3 9.53e-01 1.00e+00h 1 6 2.1192071e+00 3.97e-03 1.26e-01 -2.9 5.32e-01 -2.8 1.00e+00 6.98e-01h 1 7 2.0963175e+00 1.05e-03 4.93e-02 -3.7 2.65e-01 -3.3 9.99e-01 8.22e-01h 1 8 2.0909303e+00 1.40e-04 3.58e-03 -4.0 1.30e-01 -3.7 1.00e+00 1.00e+00h 1 9 2.0908569e+00 4.96e-06 1.81e-04 -4.0 3.12e-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 2.0907732e+00 2.77e-07 1.05e-04 -4.0 8.81e-01 -4.7 1.00e+00 1.00e+00h 1 11 2.0905652e+00 1.82e-06 6.88e-04 -4.0 2.22e+00 -5.2 1.00e+00 1.00e+00h 1 12 2.0902071e+00 4.65e-06 2.62e-03 -4.0 4.15e+00 -5.6 1.00e+00 1.00e+00h 1 13 2.0899536e+00 4.37e-06 3.12e-03 -4.0 5.38e+00 -6.1 1.00e+00 1.00e+00h 1 14 2.0898547e+00 1.61e-06 1.73e-03 -4.0 7.49e+00 -6.6 1.00e+00 1.00e+00h 1 15 2.0898291e+00 6.99e-07 1.23e-03 -4.0 1.14e+01 -7.1 1.00e+00 1.00e+00h 1 16 2.0898240e+00 1.37e-06 8.58e-04 -4.0 9.68e+00 -7.5 1.00e+00 1.00e+00h 1 17 2.0898222e+00 5.60e-07 1.36e-04 -4.0 3.64e+00 -8.0 1.00e+00 1.00e+00h 1 18 2.0898219e+00 1.66e-08 2.94e-06 -4.0 6.07e-01 -8.5 1.00e+00 1.00e+00h 1 19 2.0898219e+00 3.10e-11 9.36e-09 -4.0 4.13e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 2.0898218500692844e+00 2.0898218500692844e+00 Dual infeasibility......: 9.3567486440326950e-09 9.3567486440326950e-09 Constraint violation....: 3.1031982539175829e-11 3.1031982539175829e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 9.3567486440326950e-09 9.3567486440326950e-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 = 17.604 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 2.7236188e+00 2.26e+00 6.30e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8623443e+00 1.84e+00 2.17e+01 -0.2 2.42e+00 0.0 8.12e-03 1.83e-01f 1 2 2.8416459e+00 1.76e+00 2.10e+01 -0.8 1.46e+00 0.4 3.04e-01 4.53e-02h 1 3 3.2313357e+00 1.45e+00 7.01e+01 -0.3 2.15e+00 -0.1 7.43e-01 1.99e-01h 1 4 3.3465485e+00 1.35e+00 6.90e+02 0.5 3.27e+00 0.4 8.44e-01 6.86e-02h 1 5 4.2443049e+00 1.73e+00 1.07e+03 1.4 1.92e+01 -0.1 3.50e-01 2.16e-01h 1 6 4.6488992e+00 1.48e+00 4.11e+03 1.5 1.42e+01 0.3 6.20e-01 1.52e-01h 1 7 4.6999812e+00 1.42e+00 3.62e+03 -4.0 1.73e+01 -0.2 7.95e-02 4.21e-02h 1 8 4.7030591e+00 1.42e+00 1.27e+04 -4.0 6.23e+00 -0.6 1.47e-01 1.67e-03h 1 9 4.9108624e+00 1.30e+00 7.69e+04 1.1 7.73e+00 -1.1 4.01e-01 7.84e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.9608490e+00 1.28e+00 9.86e+05 0.1 7.28e+00 -0.7 2.16e-01 1.71e-02h 1 11 4.9676957e+00 1.27e+00 1.29e+08 0.8 4.76e+00 0.6 2.84e-01 2.28e-03h 1 12 4.9691101e+00 1.27e+00 1.53e+12 2.5 1.12e+02 0.2 1.00e+00 8.33e-05h 1 13r 4.9691101e+00 1.27e+00 8.14e+02 2.5 0.00e+00 -0.3 0.00e+00 3.04e-07R 5 14r 4.9746897e+00 5.18e-01 5.85e+02 -3.6 1.04e+01 - 5.27e-01 2.32e-01f 1 15r 4.9746897e+00 5.18e-01 9.99e+02 -0.3 0.00e+00 -0.8 0.00e+00 2.14e-07R 2 16r 4.2480555e+00 2.99e-01 9.96e+02 1.5 2.54e+02 - 2.29e-03 2.73e-03f 1 17 4.0755206e+00 2.05e-01 3.12e+00 -0.9 4.07e-01 -1.3 8.45e-01 3.14e-01h 1 18 4.1030133e+00 2.04e-01 2.85e+01 -4.0 4.01e+00 -1.7 2.18e-01 8.10e-03h 1 19 4.2821671e+00 1.99e-01 1.38e+03 -0.2 1.60e+01 -2.2 1.00e+00 2.29e-02h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 4.3185475e+00 1.99e-01 6.37e+05 1.9 4.06e+02 -2.7 1.90e-01 4.11e-04h 2 21 4.3491528e+00 1.99e-01 1.18e+07 2.4 8.88e+01 -3.2 1.70e-02 9.14e-04h 1 22 4.3495481e+00 1.99e-01 3.32e+10 2.5 6.84e+01 -3.6 2.91e-02 1.01e-05h 1 23r 4.3495481e+00 1.99e-01 9.83e+02 2.5 0.00e+00 -4.1 0.00e+00 1.04e-07R 2 24r 4.2929342e+00 2.04e-01 2.25e+02 0.8 4.17e-01 - 7.78e-01 8.46e-01f 1 25r 4.2245099e+00 2.01e-01 2.70e+01 0.3 8.04e-01 - 9.06e-01 8.79e-01f 1 26r 4.1861953e+00 2.00e-01 5.87e+00 -0.3 6.00e-01 - 9.44e-01 9.99e-01f 1 27r 4.2001598e+00 1.99e-01 1.34e+01 -1.1 4.68e-01 - 9.91e-01 8.85e-01f 1 28r 4.2271796e+00 1.99e-01 2.39e-01 -1.8 3.30e-02 0.0 1.00e+00 1.00e+00f 1 29r 4.2037714e+00 1.99e-01 1.77e-01 -2.8 1.33e-01 - 9.73e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.2147323e+00 1.99e-01 2.34e-03 -4.0 1.11e-02 -0.5 1.00e+00 1.00e+00f 1 31r 4.2407469e+00 1.99e-01 3.40e-04 -4.0 6.63e-02 - 1.00e+00 1.00e+00h 1 32r 4.2718199e+00 1.99e-01 8.94e-06 -4.0 2.13e-02 - 1.00e+00 1.00e+00h 1 33r 4.2730600e+00 1.99e-01 4.87e-08 -4.0 1.60e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 4.2730426578881104e+00 4.2730426578881104e+00 Dual infeasibility......: 1.9342535724702477e+00 1.9342535724702477e+00 Constraint violation....: 1.9875045034316063e-01 1.9875045034316063e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000578536933e-04 1.0000000578536933e-04 Overall NLP error.......: 1.9342535724702477e+00 1.9342535724702477e+00 Number of objective function evaluations = 46 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 46 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 38 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 34 Total seconds in IPOPT = 19.418 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 4.0098486e+00 1.94e+00 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.1055763e+00 9.04e-02 3.90e+00 -0.9 1.92e+00 0.0 7.57e-01 1.00e+00f 1 2 2.7479166e+00 1.00e-02 1.12e+00 -0.9 2.71e-01 0.4 9.36e-01 1.00e+00f 1 3 2.5469923e+00 1.22e-03 3.69e-01 -1.6 9.37e-02 -0.1 9.76e-01 1.00e+00h 1 4 2.1230057e+00 3.30e-03 1.18e-01 -2.3 1.72e-01 -0.5 9.91e-01 9.86e-01f 1 5 2.0965760e+00 7.87e-04 7.89e-02 -3.2 2.01e-02 -1.0 9.95e-01 7.67e-01h 1 6 2.0909839e+00 4.78e-06 2.22e-03 -4.0 3.17e-03 -1.5 1.00e+00 1.00e+00h 1 7 2.0909433e+00 5.78e-09 6.11e-05 -4.0 5.56e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909416e+00 7.43e-10 3.16e-05 -4.0 8.64e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909399e+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 2.0909350e+00 9.66e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909200e+00 8.70e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908752e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907408e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903387e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891411e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856307e+00 5.52e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796296e+00 2.32e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.33e-01h 1 18 2.0807489e+00 1.53e-04 1.83e-01 -4.0 6.60e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775330e+00 7.30e-03 2.49e-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 2.0769412e+00 1.15e-03 4.85e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759914e+00 9.25e-04 2.34e-02 -4.0 3.09e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754461e+00 5.03e-04 2.85e-02 -4.0 4.58e+02 -9.1 1.00e+00 7.24e-01H 1 23 2.0757716e+00 2.01e-03 1.11e-02 -4.0 1.39e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753725e+00 1.48e-03 4.98e-04 -4.1 7.77e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.91e-04 7.04e-06 -4.0 2.18e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753424e+00 6.30e-04 1.03e-06 -4.1 2.58e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.19e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 1.11e-07 1.14e-08 -4.0 2.00e+00 -12.0 1.00e+00 1.00e+00h 1 29 2.0756712e+00 6.03e-14 3.51e-12 -4.0 1.53e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 29 (scaled) (unscaled) Objective...............: 2.0756712120666267e+00 2.0756712120666267e+00 Dual infeasibility......: 3.5117788126266813e-12 3.5117788126266813e-12 Constraint violation....: 6.0285110237146000e-14 6.0285110237146000e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000071e-04 1.0000000000000071e-04 Overall NLP error.......: 3.5117788126266813e-12 3.5117788126266813e-12 Number of objective function evaluations = 32 Number of objective gradient evaluations = 30 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 30 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 29 Total seconds in IPOPT = 28.621 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8904599e+00 3.61e+00 1.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9235316e+00 3.62e+00 5.09e+01 1.2 4.61e+02 -2.0 5.92e-02 6.17e-03f 1 2 1.8454707e+00 4.24e+00 3.73e+01 0.7 5.13e+01 -2.5 5.39e-01 3.35e-01f 1 3 2.0663030e+00 4.51e+00 2.80e+01 0.4 5.29e+01 -3.0 4.41e-01 6.86e-01h 1 4 2.0438329e+00 8.68e+00 8.77e+00 0.2 4.92e+01 -3.4 9.67e-01 7.98e-01h 1 5 1.9669371e+00 8.70e-02 2.54e+00 -1.0 1.65e+01 -3.9 9.95e-01 1.00e+00h 1 6 1.6935182e+00 3.09e-03 1.38e-02 -1.6 2.54e-01 -4.4 1.00e+00 1.00e+00h 1 7 1.3530537e+00 8.33e-03 1.19e-01 -2.9 2.89e-01 -4.9 7.33e-01 1.00e+00f 1 8 1.2024222e+00 3.73e-01 5.05e-02 -2.7 1.08e+00 -5.3 9.98e-01 9.64e-01h 1 9 1.1733049e+00 2.02e+00 4.10e-02 -3.0 4.33e+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 1.1757044e+00 1.50e+00 1.27e-01 -2.7 5.77e+01 -6.3 1.00e+00 5.00e-01h 2 11 1.1567689e+00 2.83e+00 7.62e-01 -3.5 1.30e+02 -6.8 1.00e+00 1.00e+00h 1 12 1.1760394e+00 1.56e+00 5.64e-02 -3.0 1.25e+02 -7.2 1.00e+00 1.00e+00h 1 13 1.1565707e+00 2.29e+00 5.72e-01 -4.0 1.82e+02 -7.7 1.00e+00 1.00e+00h 1 14 1.1622490e+00 5.75e-01 1.78e-01 -3.9 1.66e+02 -8.2 1.00e+00 1.00e+00h 1 15 1.1603685e+00 4.03e-01 8.36e-02 -4.0 1.60e+02 -8.7 1.00e+00 1.00e+00h 1 16 1.1608788e+00 2.13e-02 3.03e-03 -4.0 9.21e+01 -9.2 1.00e+00 1.00e+00h 1 17 1.1608368e+00 9.23e-03 2.62e-04 -4.0 3.90e+01 -9.6 1.00e+00 1.00e+00h 1 18 1.1608492e+00 9.51e-06 4.86e-06 -4.0 7.57e-01 -10.1 1.00e+00 1.00e+00h 1 19 1.1608491e+00 8.57e-09 1.64e-09 -4.0 3.82e-02 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 19 (scaled) (unscaled) Objective...............: 1.1608491311157925e+00 1.1608491311157925e+00 Dual infeasibility......: 1.6447299488065587e-09 1.6447299488065587e-09 Constraint violation....: 8.5655464943101833e-09 8.5655464943101833e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000708038621e-04 1.0000000708038621e-04 Overall NLP error.......: 8.5655464943101833e-09 8.5655464943101833e-09 Number of objective function evaluations = 23 Number of objective gradient evaluations = 20 Number of equality constraint evaluations = 23 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 = 19.061 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 1.5476044e+00 7.79e-01 1.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6714200e+00 1.21e-01 1.76e+00 -0.9 7.79e-01 0.0 1.00e+00 1.00e+00h 1 2 1.6696510e+00 4.72e-02 6.43e-01 -0.9 3.38e-01 -0.5 6.48e-01 6.10e-01h 1 3 1.8627115e+00 2.14e-02 1.18e+00 -1.7 3.98e-01 -1.0 9.24e-01 1.00e+00h 1 4 1.4573876e+00 1.51e-02 3.26e-01 -2.0 3.51e+00 -1.4 9.99e-01 2.51e-01f 1 5 1.1785022e+00 4.90e-03 4.44e-01 -2.4 3.97e+00 - 1.00e+00 6.64e-01f 1 6 1.1001617e+00 4.75e-04 2.08e-01 -3.1 2.91e+00 - 1.00e+00 1.00e+00h 1 7 1.0920065e+00 6.81e-05 2.56e-02 -4.0 1.20e+00 - 1.00e+00 8.56e-01h 1 8 1.0910262e+00 1.08e-07 4.10e-03 -4.0 6.03e-01 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 8.05e-12 7.68e-05 -4.0 4.38e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 1.33e-20 7.53e-05 -4.0 4.50e-05 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 3.96e-35 7.52e-05 -4.0 2.02e-10 - 1.00e+00 1.00e+00h 1 12 1.0908587e+00 4.54e-35 4.10e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 13 1.0910386e+00 8.88e-16 4.22e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 4.2161619284806356e-09 4.2161619284806356e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619609e-04 1.0000114091619609e-04 Overall NLP error.......: 4.2161619284806356e-09 4.2161619284806356e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 15.312 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 1.5711206e+00 2.16e+00 6.57e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.0106262e+00 6.59e-01 1.34e+00 -0.9 1.96e+00 0.0 9.76e-01 6.95e-01f 1 Hello, world! 2 2.5793792e+00 1.94e-02 2.15e+00 -1.2 6.09e-01 -0.5 7.21e-01 1.00e+00h 1 Hello, world! 3 2.3458451e+00 1.98e-02 4.52e-01 -1.5 2.74e-01 -1.0 9.94e-01 8.22e-01h 1 Hello, world! 4 2.1374716e+00 2.71e-03 3.27e-02 -2.5 8.93e-02 -1.4 9.92e-01 1.00e+00h 1 Hello, world! 5 2.0920799e+00 1.39e-04 5.70e-03 -3.9 2.82e-02 -1.9 9.97e-01 9.64e-01h 1 Hello, world! 6 2.0909561e+00 1.27e-06 4.87e-04 -4.0 8.60e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909535e+00 1.38e-09 2.50e-05 -4.0 1.82e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909469e+00 1.64e-09 2.46e-05 -4.0 5.38e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909290e+00 1.42e-08 2.32e-05 -4.0 1.52e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908906e+00 8.08e-08 1.98e-04 -4.0 3.86e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908204e+00 2.60e-07 7.48e-04 -4.0 9.00e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906406e+00 2.19e-06 1.18e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901155e+00 2.15e-05 6.58e-04 -4.0 8.04e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898572e+00 3.67e-06 1.66e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896195e+00 5.28e-06 2.89e-02 -4.0 1.07e+01 -5.8 1.00e+00 2.34e-01h 2 Hello, world! 16 2.0877263e+00 1.82e-04 1.12e-02 -4.0 2.48e+01 -6.3 1.00e+00 9.20e-01h 1 Hello, world! 17 2.0848204e+00 9.28e-04 5.25e-02 -4.0 5.23e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0835759e+00 5.71e-04 4.06e-02 -4.0 2.37e+01 -6.3 1.00e+00 4.46e-01h 1 Hello, world! 19 2.0827830e+00 1.75e-04 1.62e-02 -4.0 2.01e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827624e+00 2.10e-04 9.17e-03 -4.0 5.23e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823033e+00 5.80e-04 7.66e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0828822e+00 5.18e-06 1.07e-01 -4.0 1.16e+02 -7.3 3.95e-01 1.00e+00H 1 Hello, world! 23 2.0826298e+00 1.67e-05 1.87e-01 -4.0 1.61e+00 -5.1 1.00e+00 3.58e-01h 2 Hello, world! 24 2.0823404e+00 2.91e-06 7.39e-03 -4.0 1.78e+00 -5.6 1.00e+00 9.82e-01H 1 Hello, world! 25 2.0822816e+00 3.57e-04 6.00e-04 -4.0 5.24e+00 -6.0 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0820861e+00 1.32e-04 6.84e-04 -4.0 1.58e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0821769e+00 1.71e-07 4.44e-03 -4.0 1.21e+01 -6.1 1.00e+00 1.00e+00H 1 Hello, world! 28 2.0820405e+00 1.40e-06 4.18e-01 -4.0 2.14e-01 -3.9 1.00e+00 4.28e-01h 2 Hello, world! 29 2.0819568e+00 5.95e-06 2.70e-04 -4.0 2.01e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820519e+00 5.17e-05 1.78e-04 -4.0 6.47e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0820012e+00 4.80e-05 1.47e-03 -4.1 2.43e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0819420e+00 5.68e-07 3.33e-03 -4.1 1.89e+00 -5.8 1.00e+00 1.00e+00H 1 Hello, world! 33 2.0821243e+00 5.13e-05 1.08e-03 -4.0 2.47e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0819005e+00 2.17e-04 1.44e-03 -4.1 8.04e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0820639e+00 2.75e-04 1.56e-03 -4.0 1.26e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0817318e+00 8.10e-04 9.40e-04 -4.1 3.38e+01 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818875e+00 1.22e-03 4.41e-03 -4.0 5.16e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0815911e+00 1.18e-03 2.46e-03 -4.1 5.32e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818451e+00 6.02e-04 4.16e-04 -4.0 2.57e+01 -9.1 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 2.0818434e+00 1.12e-06 1.49e-05 -4.0 4.60e+00 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818434e+00 1.56e-09 7.33e-08 -4.0 3.39e-01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818434e+00 8.70e-13 1.00e-09 -4.0 8.74e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0818434105343373e+00 2.0818434105343373e+00 Dual infeasibility......: 1.0000000041086084e-09 1.0000000041086084e-09 Constraint violation....: 8.7041485130612273e-13 8.7041485130612273e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 1.0000000041086084e-09 1.0000000041086084e-09 Number of objective function evaluations = 56 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 56 Number of inequality constraint evaluations = 56 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 43 Number of Lagrangian Hessian evaluations = 42 Total seconds in IPOPT = 20.754 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 1.5711206e+00 2.16e+00 6.57e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.0106262e+00 6.59e-01 1.34e+00 -0.9 1.96e+00 0.0 9.76e-01 6.95e-01f 1 Hello, world! 2 2.5793792e+00 1.94e-02 2.15e+00 -1.2 6.09e-01 -0.5 7.21e-01 1.00e+00h 1 Hello, world! 3 2.3458451e+00 1.98e-02 4.52e-01 -1.5 2.74e-01 -1.0 9.94e-01 8.22e-01h 1 Hello, world! 4 2.1374716e+00 2.71e-03 3.27e-02 -2.5 8.93e-02 -1.4 9.92e-01 1.00e+00h 1 Hello, world! 5 2.0920799e+00 1.39e-04 5.70e-03 -3.9 2.82e-02 -1.9 9.97e-01 9.64e-01h 1 Hello, world! 6 2.0909561e+00 1.27e-06 4.87e-04 -4.0 8.60e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909535e+00 1.38e-09 2.50e-05 -4.0 1.82e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909469e+00 1.64e-09 2.46e-05 -4.0 5.38e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909290e+00 1.42e-08 2.32e-05 -4.0 1.52e-01 -3.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908906e+00 8.08e-08 1.98e-04 -4.0 3.86e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908204e+00 2.60e-07 7.48e-04 -4.0 9.00e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906406e+00 2.19e-06 1.18e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901155e+00 2.15e-05 6.58e-04 -4.0 8.04e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0898572e+00 3.67e-06 1.66e-03 -4.0 3.06e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0896195e+00 5.28e-06 2.89e-02 -4.0 1.07e+01 -5.8 1.00e+00 2.34e-01h 2 Hello, world! 16 2.0877263e+00 1.82e-04 1.12e-02 -4.0 2.48e+01 -6.3 1.00e+00 9.20e-01h 1 Hello, world! 17 2.0848204e+00 9.28e-04 5.25e-02 -4.0 5.23e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0835759e+00 5.71e-04 4.06e-02 -4.0 2.37e+01 -6.3 1.00e+00 4.46e-01h 1 Hello, world! 19 2.0827830e+00 1.75e-04 1.62e-02 -4.0 2.01e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827624e+00 2.10e-04 9.17e-03 -4.0 5.23e+01 -7.3 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0823033e+00 5.80e-04 7.66e-03 -4.0 1.26e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0828822e+00 5.18e-06 1.07e-01 -4.0 1.16e+02 -7.3 3.95e-01 1.00e+00H 1 Hello, world! 23 2.0826298e+00 1.67e-05 1.87e-01 -4.0 1.61e+00 -5.1 1.00e+00 3.58e-01h 2 Hello, world! 24 2.0823404e+00 2.91e-06 7.39e-03 -4.0 1.78e+00 -5.6 1.00e+00 9.82e-01H 1 Hello, world! 25 2.0822816e+00 3.57e-04 6.00e-04 -4.0 5.24e+00 -6.0 1.00e+00 1.00e+00f 1 Hello, world! 26 2.0820861e+00 1.32e-04 6.84e-04 -4.0 1.58e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0821769e+00 1.71e-07 4.44e-03 -4.0 1.21e+01 -6.1 1.00e+00 1.00e+00H 1 Hello, world! 28 2.0820405e+00 1.40e-06 4.18e-01 -4.0 2.14e-01 -3.9 1.00e+00 4.28e-01h 2 Hello, world! 29 2.0819568e+00 5.95e-06 2.70e-04 -4.0 2.01e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820519e+00 5.17e-05 1.78e-04 -4.0 6.47e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0820012e+00 4.80e-05 1.47e-03 -4.1 2.43e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0819420e+00 5.68e-07 3.33e-03 -4.1 1.89e+00 -5.8 1.00e+00 1.00e+00H 1 Hello, world! 33 2.0821243e+00 5.13e-05 1.08e-03 -4.0 2.47e+00 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0819005e+00 2.17e-04 1.44e-03 -4.1 8.04e+00 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0820639e+00 2.75e-04 1.56e-03 -4.0 1.26e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0817318e+00 8.10e-04 9.40e-04 -4.1 3.38e+01 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 37 2.0818875e+00 1.22e-03 4.41e-03 -4.0 5.16e+01 -8.1 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0815911e+00 1.18e-03 2.46e-03 -4.1 5.32e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0818451e+00 6.02e-04 4.16e-04 -4.0 2.57e+01 -9.1 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 2.0818434e+00 1.12e-06 1.49e-05 -4.0 4.60e+00 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0818434e+00 1.56e-09 7.33e-08 -4.0 3.39e-01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0818434e+00 8.70e-13 1.00e-09 -4.0 8.74e-03 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 42 (scaled) (unscaled) Objective...............: 2.0818434105343373e+00 2.0818434105343373e+00 Dual infeasibility......: 1.0000000041086084e-09 1.0000000041086084e-09 Constraint violation....: 8.7041485130612273e-13 8.7041485130612273e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 1.0000000041086084e-09 1.0000000041086084e-09 Number of objective function evaluations = 56 Number of objective gradient evaluations = 43 Number of equality constraint evaluations = 56 Number of inequality constraint evaluations = 56 Number of equality constraint Jacobian evaluations = 43 Number of inequality constraint Jacobian evaluations = 43 Number of Lagrangian Hessian evaluations = 42 Total seconds in IPOPT = 0.845 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 4.6808360e+00 2.79e+00 5.99e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8871394e+00 9.06e-01 2.03e+00 -1.0 3.05e+00 0.0 9.05e-01 6.76e-01f 1 2 2.8109149e+00 3.26e-01 3.11e+00 -0.8 9.30e-01 0.4 8.16e-01 6.40e-01h 1 3 2.7211352e+00 9.21e-02 5.23e+00 -1.1 2.80e-01 0.9 9.96e-01 7.18e-01h 1 4 2.9033928e+00 9.29e-03 3.27e+00 -0.9 1.69e-01 1.3 1.00e+00 1.00e+00f 1 5 2.8497040e+00 6.06e-04 1.23e+00 -1.6 3.10e-02 1.7 1.00e+00 1.00e+00h 1 6 2.7519357e+00 4.19e-04 5.23e-01 -2.3 2.95e-02 1.2 9.96e-01 1.00e+00f 1 7 2.6297440e+00 9.99e-04 4.06e-01 -2.6 6.34e-02 0.7 1.00e+00 6.07e-01f 1 8 2.4680114e+00 2.12e-03 3.89e-01 -2.9 2.02e-01 0.3 1.00e+00 5.94e-01f 1 9 2.3954934e+00 8.73e-04 4.42e-01 -3.2 9.04e-02 0.7 1.00e+00 7.94e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.3094848e+00 3.13e-03 5.11e-01 -3.3 5.70e-01 0.2 1.00e+00 1.98e-01f 1 11 2.2924901e+00 2.79e-03 3.88e-01 -3.4 1.94e-01 -0.3 1.00e+00 1.08e-01h 1 12 2.0985619e+00 5.88e-02 2.17e-01 -3.2 9.88e-01 -0.7 9.26e-01 3.46e-01f 1 13 2.0991230e+00 5.85e-02 6.74e+00 -2.0 6.85e-01 -0.3 9.68e-01 5.09e-03h 1 14 2.1011042e+00 4.58e-04 5.79e-01 -3.2 1.08e-01 -0.8 1.00e+00 1.00e+00h 1 15 2.0941125e+00 1.62e-05 7.40e-03 -4.0 5.54e-03 -1.3 1.00e+00 1.00e+00h 1 16 2.0909705e+00 2.02e-06 3.63e-04 -4.0 1.98e-02 -1.7 1.00e+00 1.00e+00h 1 17 2.0909553e+00 2.83e-08 2.05e-04 -4.0 3.36e-02 -2.2 1.00e+00 1.00e+00h 1 18 2.0909490e+00 6.73e-10 7.35e-05 -4.0 3.59e-02 -2.7 1.00e+00 1.00e+00h 1 19 2.0909431e+00 9.87e-10 2.25e-05 -4.0 3.33e-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 20 2.0909315e+00 4.69e-09 1.79e-04 -4.0 9.63e-02 -3.6 1.00e+00 1.00e+00h 1 21 2.0909032e+00 3.31e-08 1.19e-04 -4.0 2.62e-01 -4.1 1.00e+00 1.00e+00h 1 22 2.0908477e+00 1.59e-07 3.20e-04 -4.0 6.49e-01 -4.6 1.00e+00 1.00e+00h 1 23 2.0907216e+00 1.06e-06 1.01e-03 -4.0 1.72e+00 -5.1 1.00e+00 1.00e+00h 1 24 2.0903618e+00 1.01e-05 4.39e-04 -4.0 5.46e+00 -5.6 1.00e+00 1.00e+00h 1 25 2.0901967e+00 1.42e-06 8.89e-04 -4.0 2.01e+00 -5.1 1.00e+00 1.00e+00h 1 26 2.0900485e+00 2.03e-06 2.70e-02 -4.0 8.68e+00 -5.6 1.00e+00 1.69e-01h 2 27 2.0886560e+00 9.70e-05 4.00e-03 -4.0 1.71e+01 -6.1 1.00e+00 1.00e+00h 1 28 2.0874283e+00 1.36e-04 9.61e-02 -4.0 4.59e+01 -6.6 1.00e+00 3.07e-01h 1 29 2.0831686e+00 2.06e-03 7.19e-02 -4.0 7.43e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0835281e+00 2.27e-03 1.12e-01 -4.0 1.99e+02 -7.5 3.66e-01 1.00e+00h 1 31 2.0898941e+00 3.98e-03 3.25e-01 -4.0 4.94e+01 -6.2 1.00e+00 7.45e-01h 1 32 2.0822000e+00 8.48e-04 1.04e+00 -4.1 1.65e+00 -4.0 1.00e+00 7.78e-01h 1 33 2.0821051e+00 6.18e-05 7.31e-03 -3.8 7.90e-01 -4.4 1.00e+00 1.00e+00f 1 34 2.0822000e+00 2.34e-05 1.67e-03 -4.0 8.77e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0822883e+00 1.44e-05 8.37e-04 -4.0 1.55e+00 -5.4 1.00e+00 1.00e+00h 1 36 2.0823811e+00 9.00e-06 8.81e-04 -4.0 2.02e+00 -5.9 1.00e+00 1.00e+00h 1 37 2.0822025e+00 1.25e-04 3.23e-04 -4.1 5.36e+00 -6.3 1.00e+00 1.00e+00h 1 38 2.0813079e+00 8.51e-04 4.75e-03 -6.1 1.41e+01 -6.8 9.80e-01 8.04e-01h 1 39 2.0822371e+00 4.12e-03 4.50e-03 -4.0 4.01e+01 -7.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819215e+00 1.91e-03 6.29e-03 -4.1 1.01e+02 -7.8 6.00e-01 1.00e+00h 1 41 2.0818189e+00 1.52e-04 1.74e-03 -4.1 2.98e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0816892e+00 1.54e-04 1.44e-02 -4.1 8.79e+00 -6.0 7.29e-01 1.00e+00h 1 43 2.0818770e+00 2.97e-05 1.14e-01 -4.0 4.18e+00 -4.7 3.26e-01 2.97e-01h 1 44 2.0818731e+00 2.98e-05 2.54e-03 -4.0 9.39e-01 -5.2 1.00e+00 1.00e+00h 1 45 2.0819160e+00 8.72e-06 1.50e-04 -4.0 2.27e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0818875e+00 5.39e-05 1.82e-03 -4.0 1.64e+00 -5.2 1.00e+00 1.00e+00h 1 47 2.0819294e+00 9.02e-06 8.57e-04 -4.0 1.19e+00 -5.7 1.00e+00 1.00e+00h 1 48 2.0817920e+00 2.59e-05 2.42e-04 -4.1 1.35e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0820006e+00 9.37e-05 1.77e-04 -4.0 4.27e+00 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0817628e+00 2.14e-04 1.02e-03 -4.1 1.15e+01 -7.1 1.00e+00 1.00e+00h 1 51 2.0816921e+00 5.10e-05 1.41e-03 -4.1 2.22e+01 -7.6 1.00e+00 1.00e+00h 1 52 2.0818814e+00 9.92e-04 2.43e-03 -4.0 4.19e+01 -8.1 1.00e+00 1.00e+00h 1 53 2.0815924e+00 1.05e-03 1.76e-03 -4.1 4.74e+01 -8.6 1.00e+00 1.00e+00h 1 54 2.0818451e+00 6.12e-04 4.25e-04 -4.0 2.62e+01 -9.0 1.00e+00 1.00e+00h 1 55 2.0815838e+00 2.69e-04 1.80e-05 -4.1 1.20e+01 -9.5 1.00e+00 1.00e+00h 1 56 2.0818445e+00 2.04e-04 1.94e-05 -4.0 9.32e+00 -10.0 1.00e+00 1.00e+00h 1 57 2.0815837e+00 2.14e-04 1.19e-05 -4.1 9.77e+00 -10.5 1.00e+00 1.00e+00h 1 58 2.0818446e+00 2.16e-04 1.04e-05 -4.0 9.84e+00 -10.9 1.00e+00 1.00e+00h 1 59 2.0815837e+00 2.16e-04 9.63e-06 -4.1 9.86e+00 -11.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818446e+00 2.16e-04 9.60e-06 -4.0 9.87e+00 -11.9 1.00e+00 1.00e+00h 1 61 2.0815837e+00 2.16e-04 9.36e-06 -4.1 9.87e+00 -12.4 1.00e+00 1.00e+00h 1 62 2.0818446e+00 2.16e-04 9.51e-06 -4.0 9.87e+00 -12.8 1.00e+00 1.00e+00h 1 63 2.0815837e+00 2.16e-04 9.33e-06 -4.1 9.87e+00 -13.3 1.00e+00 1.00e+00h 1 64 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.8 9.77e-01 9.64e-01h 1 65 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -14.3 1.00e+00 1.00e+00f 1 66 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.8 1.00e+00 1.00e+00h 1 67 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -15.2 9.76e-01 9.58e-01h 1 68 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.7 1.00e+00 1.00e+00h 1 69 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -16.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.7 1.00e+00 1.00e+00h 1 71 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -17.1 1.00e+00 1.00e+00h 1 72 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.6 1.00e+00 1.00e+00h 1 73 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -18.1 1.00e+00 1.00e+00h 1 74 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.6 9.77e-01 9.64e-01h 1 75 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -19.1 1.00e+00 1.00e+00h 1 76 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -19.5 1.00e+00 1.00e+00f 1 77 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 78 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 79 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 81 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 82 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 83 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 86 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 87 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 89 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 93 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 97 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 98 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805978897551314e+00 2.0805978897551314e+00 Dual infeasibility......: 1.6065729868557216e-04 1.6065729868557216e-04 Constraint violation....: 3.7831244346469006e-03 3.7831244346469006e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9554606605874794e-05 1.9554606605874794e-05 Overall NLP error.......: 3.7831244346469006e-03 3.7831244346469006e-03 Number of objective function evaluations = 104 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 104 Number of inequality constraint evaluations = 104 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 21.045 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 2.0561852e+01 1.94e+00 6.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 8.3847654e+00 7.09e-01 3.59e+00 -0.8 1.89e+00 0.0 6.16e-01 6.34e-01f 1 2 5.2891819e+00 1.73e-01 3.58e+00 -0.7 8.08e-01 0.4 7.00e-01 7.57e-01f 1 3 3.1440350e+00 2.84e-02 1.42e+01 -0.7 8.70e-01 -0.1 9.24e-01 1.00e+00f 1 4 2.6686026e+00 9.01e-03 1.47e+00 -1.1 1.71e-01 0.4 1.00e+00 8.89e-01h 1 5 2.3911279e+00 1.11e-02 1.74e-01 -1.5 1.54e-01 -0.1 9.38e-01 1.00e+00f 1 6 2.1380781e+00 1.89e-03 7.68e-02 -2.3 7.19e-02 -0.6 9.93e-01 9.64e-01h 1 7 2.0942559e+00 1.64e-04 1.10e-02 -3.4 1.83e-02 -1.1 9.86e-01 9.42e-01h 1 8 2.0909434e+00 3.45e-06 6.93e-04 -4.0 5.91e-03 -1.5 1.00e+00 1.00e+00h 1 9 2.0909320e+00 3.02e-09 3.38e-05 -4.0 3.46e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909310e+00 3.68e-11 2.09e-05 -4.0 6.43e-03 -2.5 1.00e+00 1.00e+00h 1 11 2.0909286e+00 2.00e-10 2.07e-05 -4.0 1.91e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0909225e+00 1.44e-09 2.03e-05 -4.0 5.61e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0909067e+00 1.09e-08 2.37e-05 -4.0 1.59e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908708e+00 6.87e-08 1.31e-04 -4.0 4.20e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907883e+00 3.68e-07 5.75e-04 -4.0 1.08e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905589e+00 3.83e-06 6.78e-04 -4.0 3.38e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0903084e+00 3.68e-06 7.64e-03 -4.0 1.27e+01 -5.8 3.77e-01 1.83e-01h 1 18 2.0895859e+00 3.22e-04 6.03e-02 -4.0 3.17e+01 -6.3 1.00e+00 1.00e+00f 1 19 2.0873683e+00 1.74e-04 7.07e-02 -4.0 6.69e+00 -5.0 1.00e+00 5.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0873137e+00 3.89e-05 1.00e-02 -4.0 3.98e+00 -5.5 1.00e+00 1.00e+00h 1 21 2.0861912e+00 6.00e-05 7.56e-03 -4.0 1.18e+01 -5.9 1.00e+00 1.00e+00h 1 22 2.0845864e+00 2.23e-04 1.17e-02 -4.0 2.62e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827806e+00 2.29e-04 2.46e-02 -4.0 3.51e+01 -6.9 1.00e+00 9.14e-01h 1 24 2.0830845e+00 1.30e-03 3.82e-02 -4.0 6.21e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0821239e+00 1.30e-03 9.25e-03 -4.1 1.48e+02 -7.8 1.00e+00 1.00e+00h 1 26 2.0831111e+00 9.21e-06 1.12e-01 -4.0 1.32e+02 -7.4 3.08e-01 1.00e+00H 1 27 2.0832719e+00 4.22e-04 2.79e-01 -3.5 3.92e+00 -5.2 9.86e-01 5.51e-01h 1 28 2.0831292e+00 4.39e-04 1.87e-01 -3.7 8.43e+00 -5.7 1.20e-01 1.61e-02h 2 29 2.0831026e+00 6.02e-04 4.07e+00 -3.7 1.16e+02 -6.1 1.00e+00 1.70e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0832608e+00 2.57e-04 1.92e-02 -3.7 1.30e+01 -6.6 1.00e+00 1.00e+00h 1 31 2.0836578e+00 5.83e-03 5.63e-02 -3.7 7.33e+01 -7.1 4.98e-01 1.00e+00h 1 32 2.0831524e+00 6.87e-04 2.54e-02 -3.7 8.56e-01 -4.9 1.00e+00 8.77e-01h 1 33 2.0835798e+00 9.94e-05 4.78e-03 -3.7 1.37e+00 -5.3 1.00e+00 1.00e+00f 1 34 2.0836134e+00 7.46e-04 2.53e-03 -3.7 6.38e+00 -5.8 1.00e+00 1.00e+00h 1 35 2.0836491e+00 2.80e-05 2.07e-04 -3.7 2.15e+00 -5.4 1.00e+00 1.00e+00h 1 36 2.0827840e+00 8.63e-04 3.22e-01 -5.5 1.13e+01 -5.9 7.73e-01 3.17e-01h 1 37 2.0810757e+00 2.14e-03 4.08e-03 -5.5 1.37e+01 -6.3 1.00e+00 9.52e-01h 1 38 2.0812777e+00 2.67e-04 3.50e-03 -4.4 1.19e+01 -6.8 1.00e+00 1.00e+00h 1 39 2.0820290e+00 4.45e-03 2.00e-02 -4.0 5.65e+01 -7.3 6.64e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0840874e+00 4.36e-03 1.02e+00 -4.2 3.28e+01 -6.0 1.00e+00 4.01e-01h 1 41 2.0829857e+00 3.38e-03 1.63e+00 -4.2 1.70e+00 -3.7 2.94e-01 2.23e-01f 1 42 2.0820938e+00 1.68e-03 2.29e-01 -4.2 5.69e-01 -4.2 6.57e-01 5.04e-01f 1 43 2.0817346e+00 1.11e-03 7.18e-01 -4.2 1.60e+00 -4.7 6.72e-01 3.41e-01f 1 44 2.0814428e+00 1.02e-04 7.39e-02 -4.2 3.04e+00 -5.2 1.00e+00 8.63e-01f 1 45 2.0818434e+00 1.08e-04 1.35e-03 -4.0 2.19e+00 -5.6 1.00e+00 1.00e+00f 1 46 2.0817939e+00 2.87e-04 2.19e-03 -4.1 7.20e+00 -6.1 9.89e-01 1.00e+00h 1 47 2.0829539e+00 2.35e-04 4.65e-01 -4.1 2.91e+00 -4.8 3.77e-01 6.48e-01H 1 48 2.0821262e+00 4.16e-04 2.19e-01 -4.1 2.63e+00 -5.3 1.45e-01 1.00e+00f 1 49 2.0818770e+00 6.85e-07 2.89e-03 -4.1 4.98e-02 -1.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0821001e+00 6.00e-07 8.04e-04 -4.0 1.88e-02 -1.7 1.00e+00 1.00e+00h 1 51 2.0819741e+00 1.04e-07 1.56e-04 -4.1 2.11e-02 -2.2 1.00e+00 1.00e+00h 1 52 2.0813631e+00 3.14e-06 8.62e-02 -6.1 9.40e-02 -2.7 7.64e-01 1.00e+00h 1 53 2.0822002e+00 6.64e-06 2.04e-03 -4.0 1.09e-01 -3.1 1.00e+00 1.00e+00f 1 54 2.0819424e+00 2.61e-06 8.31e-05 -4.1 5.61e-02 -3.6 1.00e+00 1.00e+00h 1 55 2.0813247e+00 1.90e-05 9.76e-02 -6.1 1.86e-01 -4.1 7.81e-01 1.00e+00h 1 56 2.0821166e+00 8.13e-05 2.30e-03 -4.0 5.93e-01 -4.6 1.00e+00 1.00e+00f 1 57 2.0817994e+00 3.25e-05 6.83e-04 -4.1 5.20e-01 -5.0 1.00e+00 1.00e+00h 1 58 2.0811531e+00 2.42e-04 2.03e-02 -6.2 2.55e+00 -5.5 9.61e-01 1.00e+00h 1 59 2.0811790e+00 1.34e-04 2.16e-01 -4.8 5.63e-01 -4.2 1.00e+00 4.44e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0814935e+00 9.20e-05 1.57e-01 -4.0 1.43e+00 -4.7 1.00e+00 3.37e-01f 1 61 2.0816724e+00 1.38e-05 8.33e-04 -4.1 4.11e-01 -5.1 1.00e+00 1.00e+00h 1 62 2.0817078e+00 9.39e-06 8.01e-04 -4.1 1.30e+00 -5.6 1.00e+00 1.00e+00h 1 63 2.0816976e+00 2.13e-06 7.78e-04 -4.1 1.29e+00 -6.1 1.00e+00 1.00e+00h 1 64 2.0816951e+00 1.03e-05 1.41e-04 -4.1 2.40e+00 -6.6 1.00e+00 1.00e+00h 1 65 2.0808391e+00 1.35e-03 5.46e-04 -6.2 1.87e+01 -7.1 9.86e-01 9.39e-01h 1 66 2.0813621e+00 9.60e-04 5.03e-02 -4.0 2.34e+01 -7.5 1.00e+00 4.78e-01f 1 67 2.0815935e+00 1.02e-03 3.50e-03 -4.1 4.14e+01 -8.0 1.00e+00 1.00e+00h 1 68 2.0817334e+00 7.64e-05 7.74e-03 -4.1 1.12e+00 -4.9 1.00e+00 1.00e+00h 1 69 2.0815607e+00 1.42e-04 1.05e-03 -4.1 1.08e+00 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815915e+00 2.15e-05 2.26e-04 -4.1 9.32e-01 -5.8 1.00e+00 1.00e+00h 1 71 2.0807998e+00 6.48e-04 7.31e-03 -6.2 8.84e+00 -6.3 9.93e-01 1.00e+00h 1 72 2.0807967e+00 5.91e-04 4.68e-01 -5.1 3.93e+00 -5.0 1.00e+00 8.80e-02h 1 73 2.0813312e+00 4.15e-04 2.62e-01 -4.0 5.29e+00 -5.5 1.00e+00 3.78e-01h 1 74 2.0814473e+00 5.54e-05 1.81e-01 -4.1 1.46e+00 -5.9 4.08e-01 1.00e+00h 1 75 2.0814161e+00 5.69e-05 6.03e-02 -4.1 1.22e+00 -4.6 6.54e-01 6.36e-01h 1 76 2.0814119e+00 2.75e-05 1.83e-01 -4.1 1.59e+00 -5.1 1.00e+00 3.68e-01f 2 77 2.0819136e+00 2.88e-05 1.64e-01 -4.1 3.17e+00 -5.6 4.91e-01 6.83e-01H 1 78 2.0816110e+00 8.70e-06 1.09e-01 -4.1 9.93e-01 -6.0 1.17e-01 1.00e+00f 1 79 2.0815656e+00 1.43e-07 3.38e-04 -4.1 2.07e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0817273e+00 2.42e-07 1.96e-04 -4.0 1.14e-02 -2.5 1.00e+00 1.00e+00h 1 81 2.0816078e+00 1.50e-07 1.07e-04 -4.1 1.47e-02 -2.9 1.00e+00 1.00e+00h 1 82 2.0810822e+00 3.97e-06 1.68e-01 -6.1 7.44e-02 -3.4 7.21e-01 1.00e+00h 1 83 2.0818622e+00 8.57e-06 3.08e-03 -4.0 1.03e-01 -3.9 1.00e+00 1.00e+00f 1 84 2.0815854e+00 1.06e-05 5.87e-05 -4.1 2.66e-01 -4.4 1.00e+00 1.00e+00h 1 85 2.0810158e+00 1.02e-04 5.72e-02 -6.1 1.07e+00 -4.9 8.79e-01 1.00e+00h 1 86 2.0818128e+00 8.14e-05 3.39e-02 -4.0 8.07e-01 -4.4 1.00e+00 9.73e-01h 1 87 2.0814001e+00 4.57e-05 2.34e-03 -4.1 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 88 2.0814911e+00 9.04e-06 1.24e-03 -4.1 9.08e-01 -5.4 1.00e+00 1.00e+00h 1 89 2.0815316e+00 5.51e-06 2.95e-04 -4.1 1.11e+00 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0807845e+00 4.63e-04 1.18e-02 -6.2 6.80e+00 -6.3 9.75e-01 1.00e+00h 1 91 2.0807784e+00 7.02e-05 2.02e-03 -4.9 6.48e+00 -6.8 1.00e+00 1.00e+00h 1 92 2.0812229e+00 9.98e-05 4.78e-02 -4.0 1.89e+01 -7.3 7.08e-01 2.47e-01h 1 93 2.0813962e+00 1.33e-03 7.00e-03 -4.3 6.07e+01 -7.8 8.63e-01 1.00e+00h 1 94 2.0813695e+00 1.42e-06 4.57e-04 -4.3 2.13e-01 -4.6 1.00e+00 1.00e+00h 1 95 2.0817210e+00 2.46e-05 3.98e-04 -4.0 4.37e-01 -5.1 1.00e+00 1.00e+00h 1 96 2.0815728e+00 1.33e-05 1.64e-04 -4.1 7.18e-01 -5.6 1.00e+00 1.00e+00h 1 97 2.0808313e+00 5.31e-04 4.58e-03 -6.1 5.42e+00 -6.1 9.98e-01 1.00e+00h 1 98 2.0807847e+00 8.13e-07 2.52e-02 -6.1 2.31e-01 -3.8 6.81e-01 1.00e+00h 1 99 2.0808422e+00 4.69e-07 3.53e-01 -4.0 1.35e+01 -4.3 1.10e-01 3.50e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0808673e+00 4.94e-06 3.50e-04 -4.9 5.00e-01 -4.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0808672970479942e+00 2.0808672970479942e+00 Dual infeasibility......: 3.4976408179327855e-04 3.4976408179327855e-04 Constraint violation....: 4.9380308249358240e-06 4.9380308249358240e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9197627089047878e-04 1.9197627089047878e-04 Overall NLP error.......: 3.4976408179327855e-04 3.4976408179327855e-04 Number of objective function evaluations = 109 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 109 Number of inequality constraint evaluations = 109 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 21.833 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0063816e+02 3.95e+00 3.15e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1371412e+01 1.56e+00 1.27e+01 -0.6 2.47e+00 0.0 5.17e-01 6.06e-01f 1 2 4.1021601e+00 3.21e-01 7.38e+00 -0.3 8.03e-01 0.4 8.44e-01 7.94e-01f 1 3 3.0768597e+00 9.33e-03 5.45e+00 -0.5 2.79e-01 -0.1 8.49e-01 1.00e+00f 1 4 2.8182801e+00 1.05e-02 5.68e-01 -1.2 2.35e-01 -0.5 1.00e+00 1.00e+00h 1 5 2.3602702e+00 3.77e-02 1.02e-01 -1.8 3.19e-01 -1.0 9.32e-01 1.00e+00f 1 6 2.1439319e+00 1.13e-02 6.33e-02 -2.2 3.07e-01 -1.5 8.52e-01 9.52e-01h 1 7 2.0954686e+00 3.20e-04 4.57e-03 -3.3 3.30e-02 -2.0 9.72e-01 1.00e+00h 1 8 2.0909784e+00 4.66e-06 3.58e-04 -4.0 6.85e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909608e+00 7.73e-08 2.22e-04 -4.0 2.15e-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 2.0909523e+00 1.92e-09 2.22e-04 -4.0 6.29e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909305e+00 1.33e-08 2.22e-04 -4.0 1.78e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908854e+00 7.84e-08 2.22e-04 -4.0 4.41e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908067e+00 3.35e-07 1.03e-03 -4.0 1.01e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0906049e+00 3.11e-06 1.23e-03 -4.0 3.05e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900129e+00 2.76e-05 7.74e-04 -4.0 9.05e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897264e+00 4.78e-06 1.91e-03 -4.0 3.46e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0895058e+00 6.05e-06 3.93e-02 -4.0 1.30e+01 -5.8 1.00e+00 1.76e-01h 2 18 2.0873235e+00 2.59e-04 9.20e-03 -4.0 2.71e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0840543e+00 9.75e-04 3.94e-02 -4.0 5.42e+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 2.0831003e+00 7.30e-04 1.50e-02 -3.8 3.31e+01 -7.3 1.00e+00 6.30e-01H 1 21 2.0824100e+00 7.97e-03 2.42e-02 -4.0 1.15e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0821945e+00 2.41e-03 2.60e-02 -4.0 2.70e+02 -8.2 3.23e-01 1.00e+00h 1 23 2.0820474e+00 5.48e-05 7.10e-04 -4.0 2.69e+00 -6.0 1.00e+00 1.00e+00h 1 24 2.0819766e+00 1.04e-05 7.05e-04 -4.0 9.09e+00 -6.5 1.00e+00 1.00e+00h 1 25 2.0818264e+00 1.38e-04 1.02e-02 -4.0 3.15e+01 -6.9 7.75e-01 1.00e+00h 1 26 2.0818547e+00 1.45e-04 7.89e-01 -4.0 1.80e+02 -6.5 2.72e-01 1.40e-02h 3 27 2.0817712e+00 1.05e-07 4.88e-03 -4.1 7.22e+00 -7.0 1.00e+00 1.00e+00H 1 28 2.0817560e+00 3.11e-07 2.63e-04 -4.0 4.38e-02 -2.0 1.00e+00 1.00e+00h 1 29 2.0817805e+00 4.08e-08 2.22e-04 -4.0 3.04e-02 -2.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0816731e+00 1.74e-07 1.78e-04 -4.1 2.45e-02 -3.0 1.00e+00 1.00e+00h 1 31 2.0817851e+00 6.22e-07 2.22e-04 -4.0 2.92e-02 -3.5 1.00e+00 1.00e+00h 1 32 2.0816726e+00 1.67e-06 1.78e-04 -4.1 7.54e-02 -4.0 1.00e+00 1.00e+00h 1 33 2.0817918e+00 4.87e-06 2.22e-04 -4.0 2.23e-01 -4.4 1.00e+00 1.00e+00h 1 34 2.0816814e+00 1.69e-05 2.28e-04 -4.1 4.35e-01 -4.9 1.00e+00 1.00e+00h 1 35 2.0810867e+00 1.71e-04 1.49e-02 -6.1 1.95e+00 -5.4 9.42e-01 1.00e+00h 1 36 2.0818886e+00 7.33e-06 2.09e-03 -4.0 1.65e-01 -3.2 1.00e+00 1.00e+00h 1 37 2.0815905e+00 2.17e-06 8.02e-04 -4.1 1.07e-01 -3.6 1.00e+00 1.00e+00h 1 38 2.0817057e+00 3.13e-06 2.22e-04 -4.0 1.39e-01 -4.1 1.00e+00 1.00e+00h 1 39 2.0816085e+00 4.70e-06 1.78e-04 -4.1 1.65e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0810790e+00 9.63e-05 5.13e-02 -6.1 1.06e+00 -5.1 8.33e-01 1.00e+00h 1 41 2.0810995e+00 3.83e-05 8.79e-04 -4.6 1.84e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0817882e+00 1.13e-04 1.08e-02 -4.0 1.12e+01 -6.0 2.22e-01 2.72e-01h 2 43 2.0814529e+00 1.79e-05 7.96e-02 -4.5 4.25e-02 -1.1 1.00e+00 8.41e-01h 1 44 2.0819964e+00 3.46e-06 3.43e-03 -4.0 4.39e-02 -1.6 1.00e+00 1.00e+00f 1 45 2.0817750e+00 2.63e-07 5.50e-04 -4.1 5.47e-02 -2.0 1.00e+00 1.00e+00h 1 46 2.0811465e+00 3.03e-06 3.63e-01 -6.1 1.40e-01 -2.5 6.61e-01 1.00e+00h 1 47 2.0819490e+00 5.50e-06 3.44e-03 -4.0 1.29e-01 -3.0 1.00e+00 1.00e+00f 1 48 2.0816875e+00 1.25e-06 1.83e-04 -4.1 3.62e-02 -3.5 1.00e+00 1.00e+00h 1 49 2.0811319e+00 1.32e-05 2.09e-01 -6.1 1.36e-01 -3.9 7.10e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819000e+00 2.70e-05 3.07e-03 -4.0 2.52e-01 -4.4 1.00e+00 1.00e+00h 1 51 2.0815985e+00 3.19e-05 1.78e-04 -4.1 8.39e-01 -4.9 1.00e+00 1.00e+00h 1 52 2.0810010e+00 2.26e-04 2.04e-01 -6.1 2.40e+00 -5.4 5.53e-01 1.00e+00h 1 53 2.0809825e+00 2.11e-04 1.01e-01 -4.0 5.46e+00 -4.0 5.09e-02 6.20e-02h 1 54 2.0817734e+00 1.34e-04 3.35e-01 -4.0 1.16e+00 -4.5 8.01e-01 6.91e-01h 1 55 2.0815510e+00 3.38e-04 1.43e-02 -4.1 3.47e+00 -5.0 1.00e+00 1.00e+00h 1 56 2.0815660e+00 2.33e-05 8.49e-04 -4.1 9.05e-01 -5.5 1.00e+00 1.00e+00h 1 57 2.0822998e+00 1.26e-05 1.28e-02 -4.1 3.89e+00 -5.9 8.44e-01 1.00e+00h 1 58 2.0818545e+00 6.52e-07 4.81e-03 -4.1 4.67e-02 -1.0 1.00e+00 1.00e+00h 1 59 2.0818998e+00 1.87e-07 1.02e-03 -4.1 2.99e-02 -1.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818528e+00 1.15e-08 6.60e-04 -4.1 6.12e-02 -2.0 1.00e+00 1.00e+00h 1 61 2.0811510e+00 3.94e-06 4.96e-01 -6.1 1.86e-01 -2.4 6.16e-01 9.88e-01h 1 62 2.0810685e+00 2.18e-07 3.24e-03 -6.1 8.95e-03 -2.9 1.00e+00 9.70e-01h 1 63 2.0824738e+00 7.83e-06 1.03e-02 -4.0 3.42e-01 -3.4 1.00e+00 1.00e+00f 1 64 2.0819738e+00 2.51e-06 2.59e-01 -4.0 9.16e-02 -2.1 8.49e-01 6.80e-01h 1 65 2.0820248e+00 5.03e-07 6.29e-04 -4.0 1.23e-01 -2.5 1.00e+00 1.00e+00f 1 66 2.0816030e+00 2.33e-06 5.89e-01 -6.0 1.12e+00 -3.0 1.55e-01 2.55e-01h 1 67 2.0811367e+00 3.38e-06 2.20e-01 -6.0 4.22e-02 -3.5 7.74e-01 9.28e-01h 1 68 2.0810596e+00 1.08e-06 3.31e-05 -6.0 9.97e-02 -4.0 1.00e+00 1.00e+00h 1 69 2.0825285e+00 5.26e-05 1.52e-02 -4.0 4.65e-01 -4.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818329e+00 4.83e-05 7.97e-02 -4.0 9.15e-01 -4.9 1.00e+00 9.26e-01h 1 71 2.0818791e+00 1.64e-05 4.36e-04 -4.0 5.88e-01 -5.4 1.00e+00 1.00e+00f 1 72 2.0809575e+00 5.81e-04 5.17e-02 -5.9 4.57e+00 -5.9 6.81e-01 1.00e+00h 1 73 2.0813222e+00 5.48e-04 4.61e-01 -4.0 3.31e+01 -5.5 1.55e-01 6.54e-02h 1 74 2.0813810e+00 1.85e-03 3.86e-01 -4.5 8.87e+00 -5.9 1.00e+00 5.89e-01h 1 75 2.0812274e+00 7.33e-04 4.74e-02 -4.5 3.42e+00 -6.4 1.00e+00 7.07e-01f 1 76 2.0810905e+00 1.61e-03 1.51e-03 -4.5 8.78e+00 -6.9 1.00e+00 1.00e+00f 1 77 2.0810568e+00 1.02e-04 9.55e-04 -4.5 1.03e+01 -7.4 1.00e+00 1.00e+00h 1 78 2.0813698e+00 2.70e-04 2.48e-02 -4.0 2.28e+01 -7.8 1.00e+00 3.91e-01h 2 79 2.0815032e+00 5.91e-04 1.29e-03 -4.1 3.86e+01 -8.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0814880e+00 1.58e-05 5.79e-04 -4.1 3.13e+01 -8.8 1.00e+00 1.00e+00h 1 81 2.0805932e+00 3.08e-03 1.77e-04 -6.2 4.15e+01 -9.3 9.80e-01 9.61e-01h 1 82 2.0818927e+00 6.38e-03 7.45e-04 -4.0 5.92e+01 -9.7 1.00e+00 1.00e+00f 1 83 2.0816187e+00 5.24e-04 1.83e-04 -4.1 2.24e+01 -10.2 1.00e+00 1.00e+00h 1 84 2.0806004e+00 3.49e-03 1.62e-04 -6.1 4.17e+01 -10.7 9.76e-01 9.64e-01h 1 85 2.0805510e+00 8.80e-05 3.73e-06 -6.1 1.73e+01 -11.2 1.00e+00 1.00e+00h 1 86 2.0819781e+00 1.03e-02 3.98e-04 -4.0 8.41e+01 -11.7 1.00e+00 1.00e+00f 1 87 2.0816828e+00 9.31e-04 1.89e-04 -4.1 4.54e+01 -12.1 1.00e+00 1.00e+00h 1 88 2.0816472e+00 4.59e-07 1.89e-04 -4.1 8.46e+00 -12.6 1.00e+00 1.00e+00h 1 89 2.0805905e+00 3.66e-03 1.59e-04 -6.1 4.16e+01 -13.1 9.77e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805510e+00 6.72e-05 1.94e-06 -6.1 1.62e+01 -13.6 1.00e+00 1.00e+00h 1 91 2.0819822e+00 1.05e-02 3.95e-04 -4.0 8.47e+01 -14.0 1.00e+00 1.00e+00f 1 92 2.0816857e+00 9.43e-04 1.90e-04 -4.1 4.63e+01 -14.5 1.00e+00 1.00e+00h 1 93 2.0816488e+00 5.09e-07 1.90e-04 -4.1 8.71e+00 -15.0 1.00e+00 1.00e+00h 1 94 2.0805906e+00 3.67e-03 1.59e-04 -6.1 4.16e+01 -15.5 9.77e-01 9.75e-01h 1 95 2.0805510e+00 6.74e-05 1.94e-06 -6.1 1.62e+01 -16.0 1.00e+00 1.00e+00h 1 96 2.0805469e+00 4.69e-08 1.75e-06 -6.1 2.94e+00 -16.4 1.00e+00 1.00e+00h 1 97 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -16.9 1.00e+00 1.00e+00f 1 98 2.0817160e+00 1.04e-03 1.92e-04 -4.1 5.46e+01 -17.4 1.00e+00 1.00e+00h 1 99 2.0816649e+00 1.22e-06 1.92e-04 -4.1 1.10e+01 -17.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -18.3 9.76e-01 9.75e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805915262842620e+00 2.0805915262842620e+00 Dual infeasibility......: 1.6607003864597549e-04 1.6607003864597549e-04 Constraint violation....: 3.7644600610162726e-03 3.7644600610162726e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.9323453321029990e-05 1.9323453321029990e-05 Overall NLP error.......: 3.7644600610162726e-03 3.7644600610162726e-03 Number of objective function evaluations = 116 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 116 Number of inequality constraint evaluations = 116 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 26.441 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 2.6047600e+00 4.01e+00 4.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7934173e+00 3.98e+00 1.40e+01 1.2 1.88e+01 0.0 2.66e-02 8.96e-03f 1 2 3.0686484e+00 1.37e-01 1.27e+01 0.0 3.88e+00 -0.5 6.78e-01 1.00e+00f 1 3 3.0985150e+00 2.25e-01 2.90e+00 -0.4 1.76e+00 -1.0 9.87e-01 1.00e+00f 1 4 2.8879018e+00 4.02e-02 9.14e-01 -0.8 2.94e-01 -0.5 9.27e-01 1.00e+00h 1 5 2.5270565e+00 9.17e-03 6.54e-02 -1.6 1.80e-01 -1.0 9.84e-01 1.00e+00h 1 6 2.1581051e+00 1.16e-02 4.09e-02 -2.6 2.74e-01 -1.5 9.09e-01 8.93e-01f 1 7 2.0961879e+00 5.09e-04 8.11e-03 -3.2 5.32e-02 -2.0 9.31e-01 9.87e-01h 1 8 2.0908836e+00 6.29e-06 8.15e-05 -4.0 5.59e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908645e+00 1.06e-07 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 2.0908595e+00 9.52e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908446e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907998e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906654e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902635e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890665e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855580e+00 5.53e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796252e+00 2.28e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0806818e+00 1.34e-04 1.73e-01 -4.0 6.77e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775213e+00 6.90e-03 2.29e-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 2.0769608e+00 1.21e-03 4.99e-02 -4.0 1.93e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762673e+00 1.21e-03 2.90e-02 -4.0 3.41e+02 -8.6 1.00e+00 7.02e-01h 1 22 2.0755131e+00 3.03e-03 3.20e-02 -4.0 5.99e+02 -9.1 1.00e+00 7.48e-01h 1 23 2.0758032e+00 3.22e-03 1.73e-02 -4.0 1.78e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756803e+00 4.98e-04 8.39e-04 -4.0 9.42e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.28e-06 1.35e-05 -4.0 2.28e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.02e-08 1.25e-06 -4.0 1.38e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.48e-09 1.04e-07 -4.0 4.43e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.33e-11 1.71e-09 -4.0 6.98e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121637224e+00 2.0756712121637224e+00 Dual infeasibility......: 1.7139543864307539e-09 1.7139543864307539e-09 Constraint violation....: 4.3273828964629502e-11 4.3273828964629502e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 1.7139543864307539e-09 1.7139543864307539e-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 = 21.737 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 3.8622476e+00 1.75e+00 4.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8473224e+00 6.18e-02 2.63e+00 -1.0 1.97e+00 0.0 1.00e+00 1.00e+00f 1 2 2.4742971e+00 8.89e-03 4.38e-01 -1.2 1.45e-01 0.4 9.91e-01 1.00e+00h 1 3 2.3082641e+00 3.10e-03 2.63e-01 -2.0 9.26e-02 -0.1 9.88e-01 8.26e-01h 1 4 2.1679626e+00 2.52e-03 3.74e-01 -2.8 1.19e-01 -0.5 9.97e-01 5.72e-01f 1 5 2.1138974e+00 9.24e-04 3.03e-01 -3.9 6.17e-02 -1.0 1.00e+00 6.83e-01h 1 6 2.0973696e+00 8.74e-04 7.43e-01 -4.0 4.66e-01 -1.5 1.00e+00 5.40e-01h 1 7 2.0912355e+00 7.15e-04 1.14e-01 -4.0 4.10e-01 -2.0 1.00e+00 8.84e-01h 1 8 2.0908681e+00 1.24e-05 6.89e-02 -4.0 1.01e-01 -2.4 1.00e+00 1.00e+00h 1 9 2.0908580e+00 1.01e-06 8.05e-04 -4.0 1.89e-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 2.0908554e+00 2.14e-07 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908405e+00 9.06e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907957e+00 7.86e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906614e+00 7.09e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902594e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890625e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855542e+00 5.54e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796306e+00 2.27e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.26e-01h 1 18 2.0807134e+00 1.56e-04 1.80e-01 -4.0 6.56e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775311e+00 7.35e-03 2.44e-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 2.0769529e+00 1.13e-03 5.06e-02 -4.0 1.75e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759775e+00 9.18e-04 2.35e-02 -4.0 3.12e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754426e+00 4.92e-04 2.82e-02 -4.0 4.57e+02 -9.1 1.00e+00 7.30e-01H 1 23 2.0757718e+00 2.09e-03 1.06e-02 -4.0 1.38e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753808e+00 1.42e-03 4.75e-04 -4.1 7.71e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 3.88e-04 7.16e-06 -4.0 1.76e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.26e-04 7.12e-07 -4.1 2.56e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.15e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.02e-04 2.62e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722588841e-02 1.4164404722588841e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728786e-04 2.3095644031728786e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 21.938 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.7363708e+00 2.99e+00 4.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7243314e+00 7.01e-02 3.08e+00 -0.9 1.98e+00 0.0 9.63e-01 1.00e+00f 1 2 2.4821231e+00 1.76e-02 1.06e+00 -1.0 2.27e-01 0.4 8.12e-01 8.95e-01h 1 3 2.4189288e+00 1.34e-03 5.26e-01 -1.8 1.12e-01 -0.1 9.82e-01 1.00e+00h 1 4 2.1947801e+00 1.49e-03 2.48e-01 -2.2 2.17e-01 -0.5 9.97e-01 6.42e-01f 1 5 2.1087219e+00 7.72e-04 8.11e-02 -3.5 5.66e-02 -1.0 9.97e-01 7.29e-01h 1 6 2.0910819e+00 4.02e-05 2.18e-02 -4.0 1.13e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0908591e+00 1.58e-07 5.11e-04 -4.0 6.89e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908620e+00 9.37e-09 3.91e-05 -4.0 1.07e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908603e+00 1.08e-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 2.0908553e+00 9.75e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908404e+00 8.78e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0907956e+00 7.90e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906613e+00 7.13e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902593e+00 6.45e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890624e+00 5.90e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855541e+00 5.56e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796418e+00 2.26e-03 1.37e-01 -4.0 9.54e+01 -6.7 1.00e+00 6.25e-01h 1 18 2.0806345e+00 1.84e-04 1.93e-01 -4.0 7.10e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0776131e+00 7.94e-03 2.99e-02 -4.0 1.19e+02 -7.7 1.00e+00 9.70e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0770221e+00 2.99e-03 6.61e-02 -4.0 2.03e+02 -8.2 9.87e-01 6.59e-01h 1 21 2.0774163e+00 2.96e-02 4.74e-02 -3.8 3.45e+02 -8.6 1.00e+00 8.92e-01h 1 22 2.0762031e+00 1.56e-02 2.43e-02 -3.9 5.36e+02 -9.1 1.00e+00 9.17e-01h 1 23 2.0757620e+00 1.15e-02 1.10e-02 -4.0 1.60e+02 -9.6 1.00e+00 1.00e+00f 1 24 2.0756807e+00 6.46e-04 3.87e-04 -4.0 6.11e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 9.58e-06 6.42e-06 -4.0 2.35e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 3.77e-08 1.32e-06 -4.0 1.43e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.73e-09 1.13e-07 -4.0 4.67e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.82e-11 1.88e-09 -4.0 7.42e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121671144e+00 2.0756712121671144e+00 Dual infeasibility......: 1.8848931933497515e-09 1.8848931933497515e-09 Constraint violation....: 4.8214765513421298e-11 4.8214765513421298e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000041e-04 1.0000000000000041e-04 Overall NLP error.......: 1.8848931933497515e-09 1.8848931933497515e-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 = 19.605 EXIT: Optimal Solution Found. Difference in Hessian initializing optimizer... applying constraint: timesteps all equal constraint applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4155114e+00 2.40e+00 2.17e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7606590e+00 3.28e-02 1.90e+00 -1.0 1.93e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3377171e+00 7.79e-02 4.09e-01 -1.8 1.77e+00 -2.5 9.97e-01 1.00e+00h 1 3 2.1994076e+00 1.22e-02 5.76e-02 -2.0 7.75e-01 -3.0 9.36e-01 1.00e+00h 1 4 2.0988043e+00 9.64e-03 3.36e-02 -3.1 8.43e-01 -3.4 9.71e-01 1.00e+00h 1 5 2.0910274e+00 1.05e-04 1.23e-03 -4.0 1.58e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908926e+00 6.43e-06 7.94e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907448e+00 8.28e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903024e+00 7.66e-06 3.45e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889858e+00 6.99e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851353e+00 6.53e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797700e+00 1.92e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.28e-01h 1 12 2.0802955e+00 5.30e-05 1.86e-01 -4.0 7.04e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0776948e+00 4.96e-03 1.43e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.04e-01h 1 14 2.0784762e+00 2.72e-02 1.05e-01 -3.7 2.39e+02 -8.2 9.46e-01 1.00e+00h 1 15 2.0769572e+00 8.16e-03 2.42e-02 -3.8 3.67e+02 -8.7 1.00e+00 8.67e-01h 1 16 2.0763747e+00 4.65e-03 2.19e-02 -3.8 4.23e+02 -9.2 1.00e+00 9.22e-01f 1 17 2.0758066e+00 7.98e-03 6.17e-03 -4.0 1.20e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0757726e+00 6.85e-05 1.56e-04 -4.0 3.81e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757705e+00 4.91e-08 4.04e-06 -4.0 2.24e+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 2.0757704e+00 3.09e-09 1.07e-06 -4.0 1.29e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757704e+00 1.42e-10 7.99e-08 -4.0 4.03e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0757704e+00 2.41e-12 1.14e-09 -4.0 5.85e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0757703961170777e+00 2.0757703961170777e+00 Dual infeasibility......: 1.1420317131750381e-09 1.1420317131750381e-09 Constraint violation....: 2.4064389803762909e-12 2.4064389803762909e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 1.1420317131750381e-09 1.1420317131750381e-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 = 20.581 EXIT: Optimal Solution Found. 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 1.7049616e+00 8.63e-01 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5719042e+00 5.94e-01 4.87e+00 -1.1 5.17e+00 - 9.74e-01 9.81e-01h 1 2 1.9348702e+00 5.04e-01 2.36e+00 -0.7 6.38e-01 0.0 1.00e+00 1.00e+00f 1 3 2.0860200e+00 2.43e-01 1.09e+00 -0.9 4.88e-01 -0.5 4.44e-01 1.00e+00h 1 4 1.7454867e+00 1.69e-01 8.20e-01 -1.2 2.05e+00 -1.0 9.42e-01 2.65e-01h 1 5 1.3121906e+00 1.01e-01 1.17e+00 -2.0 5.02e-01 -1.4 9.95e-01 9.84e-01h 1 6 1.1218401e+00 1.40e-02 1.01e-01 -3.1 2.82e+00 - 1.00e+00 1.00e+00h 1 7 1.0931055e+00 1.63e-04 1.48e-01 -3.8 3.07e+00 - 1.00e+00 9.86e-01h 1 8 1.0908269e+00 4.39e-06 1.67e-02 -4.0 1.27e+00 - 1.00e+00 9.70e-01h 1 9 1.0909006e+00 9.77e-10 5.88e-04 -4.0 2.43e-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 1.0908997e+00 9.16e-17 1.92e-07 -4.0 4.36e-03 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 7.28e-27 7.45e-15 -4.0 8.65e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 7.4485773451926640e-15 7.4485773451926640e-15 Constraint violation....: 7.2846346239556544e-27 7.2846346239556544e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000010950e-04 1.0000000000010950e-04 Overall NLP error.......: 7.4485773451926640e-15 7.4485773451926640e-15 Number of objective function evaluations = 12 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 12 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 12 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 11 Total seconds in IPOPT = 16.761 EXIT: Optimal Solution Found. Test Summary: | Pass Total Time Package | 174 174 14m56.2s Testing DirectTrajOpt tests passed Testing completed after 1006.24s PkgEval succeeded after 1212.52s