Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1563 (14ca1abc72*) started at 2026-01-16T00:12:08.321 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 10.6s ################################################################################ # 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 v6.198.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.14 [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 v1.4.0 [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 v2.6.2 [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 5.69s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 2427.3 ms ✓ ExponentialAction 33768.9 ms ✓ SciMLBase 2651.7 ms ✓ RecursiveArrayTools → RecursiveArrayToolsForwardDiffExt 11554.9 ms ✓ NamedTrajectories 4134.5 ms ✓ SciMLBase → SciMLBaseChainRulesCoreExt 4979.0 ms ✓ SciMLBase → SciMLBaseForwardDiffExt 4121.0 ms ✓ SciMLBase → SciMLBaseDifferentiationInterfaceExt 9784.4 ms ✓ SciMLJacobianOperators 17064.4 ms ✓ NonlinearSolveBase 5392.3 ms ✓ NonlinearSolveBase → NonlinearSolveBaseSparseArraysExt 4447.0 ms ✓ NonlinearSolveBase → NonlinearSolveBaseChainRulesCoreExt 5672.8 ms ✓ NonlinearSolveBase → NonlinearSolveBaseForwardDiffExt 10870.9 ms ✓ BracketingNonlinearSolve 4834.8 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveForwardDiffExt 9253.9 ms ✓ DiffEqBase 4818.8 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 5481.7 ms ✓ DiffEqBase → DiffEqBaseSparseArraysExt 5679.8 ms ✓ DiffEqBase → DiffEqBaseChainRulesCoreExt 5856.8 ms ✓ DiffEqBase → DiffEqBaseForwardDiffExt 11789.5 ms ✓ OrdinaryDiffEqCore 5812.9 ms ✓ OrdinaryDiffEqCore → OrdinaryDiffEqCoreEnzymeCoreExt 16091.5 ms ✓ OrdinaryDiffEqTsit5 28525.1 ms ✓ DirectTrajOpt 23 dependencies successfully precompiled in 224 seconds. 201 already precompiled. Precompilation completed after 230.92s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_fir4Is/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_fir4Is/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 v6.198.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.14 [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 v1.4.0 [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 v2.6.2 [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 2.3251317e+00 2.51e+00 1.68e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9077784e+00 2.02e-02 4.27e-01 -1.0 2.52e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3085179e+00 1.57e-02 4.60e-02 -1.8 2.43e-01 -1.6 9.45e-01 1.00e+00h 1 3 2.1379573e+00 5.71e-03 1.58e-01 -2.8 1.39e-01 -1.1 9.53e-01 9.37e-01h 1 4 2.0942128e+00 9.83e-04 7.31e-02 -4.0 1.19e-01 -1.6 1.00e+00 9.77e-01h 1 5 2.0916858e+00 4.67e-04 8.73e-01 -4.0 6.44e-01 -2.1 1.00e+00 4.12e-01h 1 6 2.0909873e+00 1.99e-04 6.76e-02 -4.0 5.00e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909696e+00 9.98e-07 2.57e-03 -4.0 2.35e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909761e+00 3.79e-07 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909553e+00 1.75e-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 2.0908935e+00 1.47e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907112e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901916e+00 1.09e-05 4.20e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888484e+00 8.19e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861604e+00 4.39e-04 1.74e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830891e+00 9.08e-04 4.71e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828608e+00 9.31e-04 2.32e-02 -4.0 5.38e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823458e+00 3.98e-04 9.99e-03 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820401e+00 9.38e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.69e-04 8.67e-03 -4.0 9.92e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.69e-05 8.46e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.32e-07 1.39e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.81e-10 3.27e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.52e-13 1.22e-11 -4.0 4.60e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190978e+00 2.0819382907190978e+00 Dual infeasibility......: 1.2187671282349460e-11 1.2187671282349460e-11 Constraint violation....: 2.5224267119483557e-13 2.5224267119483557e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000037e-04 1.0000000000000037e-04 Overall NLP error.......: 1.2187671282349460e-11 1.2187671282349460e-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 = 20.353 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 2.1526793e+00 1.93e+00 1.94e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7620624e+00 2.87e-02 3.84e-01 -1.0 2.11e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3028968e+00 1.85e-02 5.76e-02 -1.8 2.90e-01 -1.6 9.51e-01 1.00e+00h 1 3 2.1194148e+00 1.30e-03 1.05e-01 -3.1 6.84e-02 -1.1 9.75e-01 1.00e+00h 1 4 2.0965009e+00 5.84e-04 7.35e-01 -3.9 2.93e-01 -1.6 1.00e+00 7.60e-01h 1 5 2.0918398e+00 5.75e-04 4.12e-01 -4.0 4.20e-01 -2.1 1.00e+00 4.48e-01h 1 6 2.0909599e+00 1.55e-04 4.60e-01 -4.0 8.57e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909218e+00 1.67e-06 8.60e-03 -4.0 3.38e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909514e+00 8.61e-07 4.55e-05 -4.0 6.95e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909321e+00 1.68e-08 2.93e-05 -4.0 1.96e-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 2.0908877e+00 9.76e-08 1.67e-04 -4.0 5.16e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907844e+00 5.34e-07 6.54e-04 -4.0 1.33e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904935e+00 5.81e-06 4.94e-04 -4.0 4.11e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903665e+00 8.34e-07 6.13e-04 -4.0 1.57e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0902176e+00 1.47e-06 1.82e-02 -4.0 6.41e+00 -5.5 1.00e+00 2.28e-01h 2 15 2.0890322e+00 6.50e-05 2.51e-03 -4.0 1.39e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0862053e+00 4.37e-04 2.42e-02 -4.0 3.70e+01 -6.4 1.00e+00 9.67e-01h 1 17 2.0834062e+00 1.07e-03 4.91e-02 -4.0 5.62e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0829204e+00 6.73e-04 4.45e-02 -4.0 1.28e+02 -7.4 7.30e-01 1.00e+00h 1 19 2.0827258e+00 3.86e-05 1.33e-03 -4.0 3.91e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0825873e+00 1.78e-05 9.93e-04 -4.0 9.80e+00 -6.5 1.00e+00 1.00e+00h 1 21 2.0824905e+00 6.63e-05 8.72e-04 -4.0 3.25e+01 -7.0 1.00e+00 1.00e+00h 1 22 2.0824859e+00 5.56e-05 8.98e-04 -4.0 1.47e+01 -6.6 1.00e+00 1.00e+00h 1 23 2.0825009e+00 3.06e-05 4.78e-04 -4.0 6.69e+00 -6.2 1.00e+00 1.00e+00h 1 24 2.0825417e+00 1.50e-04 5.71e-03 -4.0 1.77e+02 -6.7 6.46e-02 5.78e-02h 5 25 2.0825995e+00 1.80e-04 5.11e-01 -4.1 1.52e+01 -5.3 3.47e-01 8.48e-02h 2 26 2.0824287e+00 1.25e-04 5.72e-02 -4.1 8.15e+00 -5.8 1.00e+00 2.34e-01H 1 27 2.0824963e+00 9.16e-04 6.26e-03 -4.0 4.17e+00 -6.3 1.00e+00 1.00e+00f 1 28 2.0821332e+00 1.66e-03 6.72e-04 -4.1 1.29e+01 -6.8 1.00e+00 1.00e+00h 1 29 2.0822304e+00 4.47e-04 3.62e-03 -4.0 2.19e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818048e+00 1.26e-03 4.08e-03 -4.1 5.01e+01 -7.7 1.00e+00 1.00e+00h 1 31 2.0818953e+00 1.55e-03 8.60e-03 -4.0 6.49e+01 -8.2 1.00e+00 1.00e+00h 1 32 2.0815858e+00 1.42e-03 3.93e-03 -4.1 6.22e+01 -8.7 1.00e+00 1.00e+00h 1 33 2.0818402e+00 6.56e-04 4.72e-04 -4.0 2.78e+01 -9.1 1.00e+00 1.00e+00h 1 34 2.0818383e+00 1.30e-06 1.40e-05 -4.0 4.49e+00 -9.6 1.00e+00 1.00e+00h 1 35 2.0818383e+00 1.26e-09 5.72e-08 -4.0 3.01e-01 -10.1 1.00e+00 1.00e+00h 1 36 2.0818383e+00 5.78e-13 3.27e-11 -4.0 7.04e-03 -10.6 1.00e+00 1.00e+00h 1 Number of Iterations....: 36 (scaled) (unscaled) Objective...............: 2.0818383021801488e+00 2.0818383021801488e+00 Dual infeasibility......: 3.2672993244319340e-11 3.2672993244319340e-11 Constraint violation....: 5.7820415122478153e-13 5.7820415122478153e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000028e-04 1.0000000000000028e-04 Overall NLP error.......: 3.2672993244319340e-11 3.2672993244319340e-11 Number of objective function evaluations = 50 Number of objective gradient evaluations = 37 Number of equality constraint evaluations = 50 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 37 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 36 Total seconds in IPOPT = 17.216 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.9352792e+00 9.18e-01 1.07e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1339595e+00 6.01e-01 1.98e+00 -0.8 4.17e+00 - 9.11e-01 6.01e-01h 1 2 1.5840979e+00 3.53e-01 3.62e+00 -1.1 5.53e-01 0.0 9.72e-01 1.00e+00f 1 3 1.5946685e+00 1.02e-01 1.10e+00 -0.9 3.53e-01 -0.5 8.34e-01 8.12e-01f 1 4 1.5202687e+00 9.06e-02 1.55e+00 -1.4 4.80e-01 -1.0 8.25e-01 1.00e+00f 1 5 1.3054473e+00 4.59e-02 7.06e-01 -1.6 8.89e-01 -1.4 9.97e-01 4.97e-01h 1 6 1.2278931e+00 2.39e-02 1.64e-01 -2.3 5.20e-01 -1.9 9.99e-01 4.81e-01h 1 7 1.1211070e+00 2.63e-04 1.14e-01 -2.6 8.36e-01 - 1.00e+00 9.77e-01h 1 8 1.1004744e+00 6.89e-05 1.06e-01 -3.6 2.41e+00 - 1.00e+00 7.52e-01h 1 9 1.0907984e+00 2.28e-06 2.83e-02 -4.0 1.12e+00 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0909024e+00 2.45e-09 2.19e-03 -4.0 3.82e-01 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 2.92e-15 6.44e-05 -4.0 3.35e-01 - 1.00e+00 1.00e+00f 1 12 1.0908997e+00 9.64e-25 6.40e-05 -4.0 1.47e-01 - 1.00e+00 1.00e+00f 1 13 1.0907198e+00 1.12e-27 9.52e-08 -4.1 5.65e-04 - 1.00e+00 1.00e+00f 1 14 1.0908997e+00 6.49e-27 7.93e-09 -4.0 4.72e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0908997336737318e+00 1.0908997336737318e+00 Dual infeasibility......: 7.9348688730718209e-09 7.9348688730718209e-09 Constraint violation....: 6.4941051856516328e-27 6.4941051856516328e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000384701958686e-04 1.0000384701958686e-04 Overall NLP error.......: 7.9348688730718209e-09 7.9348688730718209e-09 Number of objective function evaluations = 15 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 20.061 EXIT: Optimal Solution Found. Difference in Jacobian NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/mI0oj/src/constraints/_constraints.jl:201 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:773 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#31#32"{typeof(Main.var"##158".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/mI0oj/src/constraints/_constraints.jl:201 NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/mI0oj/src/constraints/_constraints.jl:201 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:773 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#31#32"{typeof(Main.var"##158".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/mI0oj/src/constraints/_constraints.jl:201 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 5.5443464e+00 3.23e+00 4.23e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6915842e+00 7.19e-02 5.46e-01 -1.1 2.05e+00 - 1.00e+00 1.00e+00f 1 2 2.4474366e+00 8.01e-03 2.56e-01 -1.4 2.11e-01 - 8.60e-01 1.00e+00f 1 3 2.2167139e+00 4.79e-03 1.17e-01 -2.1 7.62e-02 - 9.77e-01 7.91e-01h 1 4 2.0953030e+00 3.82e-04 8.69e-03 -3.4 2.57e-02 - 9.99e-01 1.00e+00h 1 5 2.0908936e+00 3.33e-05 1.30e-03 -4.0 5.30e-02 - 1.00e+00 1.00e+00h 1 6 2.0908956e+00 8.08e-07 6.84e-06 -4.0 2.05e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 1.86e-10 1.24e-09 -4.0 2.99e-02 - 1.00e+00 1.00e+00h 1 8 2.0908972e+00 1.66e-14 3.27e-14 -4.0 2.51e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0908971978677005e+00 2.0908971978677005e+00 Dual infeasibility......: 3.2669071441115971e-14 3.2669071441115971e-14 Constraint violation....: 1.6569807591987340e-14 1.6569807591987340e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000130176924e-04 1.0000000130176924e-04 Overall NLP error.......: 1.3017692392786051e-12 1.3017692392786051e-12 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 18.707 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 1.5977024e+00 1.69e+00 8.74e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5852159e+00 7.89e-01 1.45e+00 -0.9 7.39e+00 -4.0 6.77e-01 6.01e-01f 1 2 1.6263092e+00 7.15e-01 1.31e+00 -4.0 3.74e+01 -2.7 1.14e-01 9.40e-02h 1 3 2.0875470e+00 2.48e-01 7.45e+00 -1.6 4.97e+00 -1.3 1.80e-01 7.26e-01h 1 4 2.2183950e+00 1.71e-01 5.64e+00 -1.1 2.13e+00 -0.9 3.60e-01 2.60e-01f 1 5 2.5399799e+00 1.34e-02 1.90e+00 -1.6 2.25e-01 -0.5 6.18e-01 1.00e+00h 1 6 2.4647810e+00 2.67e-02 6.11e-01 -1.0 4.77e-01 -1.0 7.82e-01 9.11e-01f 1 7 2.3787125e+00 1.59e-02 5.51e-01 -1.5 4.07e-01 -1.4 8.94e-01 1.00e+00f 1 8 2.2524964e+00 5.90e-03 1.53e-01 -1.8 2.53e-01 -1.9 9.93e-01 1.00e+00h 1 9 2.1276400e+00 7.68e-03 5.62e-02 -2.5 2.96e-01 -2.4 9.93e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0924095e+00 3.35e-04 2.99e-02 -3.5 6.86e-02 -2.9 9.96e-01 9.65e-01h 1 11 2.0908713e+00 1.90e-05 2.23e-03 -4.0 4.19e-02 -3.4 1.00e+00 1.00e+00h 1 12 2.0908573e+00 9.91e-07 2.83e-05 -4.0 1.30e-01 -3.8 1.00e+00 1.00e+00h 1 13 2.0908206e+00 4.98e-08 2.08e-05 -4.0 3.80e-01 -4.3 1.00e+00 1.00e+00h 1 14 2.0907198e+00 3.64e-07 1.60e-04 -4.0 1.05e+00 -4.8 1.00e+00 1.00e+00h 1 15 2.0904850e+00 1.95e-06 9.44e-04 -4.0 2.51e+00 -5.3 1.00e+00 1.00e+00h 1 16 2.0901489e+00 4.32e-06 2.87e-03 -4.0 4.42e+00 -5.7 1.00e+00 1.00e+00h 1 17 2.0899557e+00 1.91e-06 2.90e-03 -4.0 5.90e+00 -6.2 1.00e+00 1.00e+00h 1 18 2.0898584e+00 1.88e-06 1.62e-03 -4.0 8.09e+00 -6.7 1.00e+00 1.00e+00h 1 19 2.0898267e+00 6.66e-07 1.12e-03 -4.0 1.05e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898235e+00 1.46e-06 5.27e-04 -4.0 7.96e+00 -7.6 1.00e+00 1.00e+00h 1 21 2.0898220e+00 2.30e-07 5.46e-05 -4.0 2.21e+00 -8.1 1.00e+00 1.00e+00h 1 22 2.0898219e+00 3.85e-09 7.68e-07 -4.0 3.33e-01 -8.6 1.00e+00 1.00e+00h 1 23 2.0898218e+00 4.82e-12 1.92e-09 -4.0 2.03e-02 -9.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0898218498919534e+00 2.0898218498919534e+00 Dual infeasibility......: 1.9215406465696114e-09 1.9215406465696114e-09 Constraint violation....: 4.8189360488115618e-12 4.8189360488115618e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 1.9215406465696114e-09 1.9215406465696114e-09 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 = 20.795 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: bounds constraint on trajectory variable x applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5464186e+00 2.68e+00 4.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7531008e+00 2.33e+00 1.01e+01 -0.1 2.74e+00 0.0 1.21e-02 1.33e-01h 1 2 1.8070380e+00 2.26e+00 2.19e+01 -0.2 3.01e+00 -0.5 2.71e-01 3.00e-02h 1 3 2.3996363e+00 2.27e+00 1.08e+02 0.3 1.56e+01 -1.0 5.69e-01 1.37e-01f 1 4 2.6818560e+00 1.90e+00 3.20e+02 0.7 2.01e+01 -1.4 7.37e-01 1.03e-01h 1 5 2.8555623e+00 1.71e+00 2.67e+02 -4.0 9.42e+01 -1.9 8.79e-02 9.86e-02h 1 6 2.8631891e+00 1.71e+00 7.08e+03 -4.0 7.10e+01 -2.4 2.93e-02 1.14e-03h 1 7 3.0157244e+00 1.71e+00 2.71e+04 1.1 1.54e+03 -2.9 1.24e-02 1.41e-03f 2 8 3.1762310e+00 1.71e+00 2.10e+05 0.4 4.96e+02 -0.6 2.19e-02 2.74e-03h 1 9 3.1779485e+00 1.71e+00 6.62e+07 0.4 1.54e+02 -1.1 1.81e-02 4.28e-05h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 3.1779485e+00 1.71e+00 1.00e+03 0.4 0.00e+00 -0.7 0.00e+00 4.08e-07R 3 11r 3.3560629e+00 7.65e-01 9.92e+02 2.4 2.20e+03 - 1.05e-02 3.20e-03f 1 12 3.3572631e+00 7.62e-01 1.09e+02 -2.6 1.24e+00 -1.2 4.50e-01 4.11e-03h 1 13 3.3579515e+00 7.62e-01 2.65e+06 0.7 1.09e+02 -1.6 1.00e+00 5.35e-05h 1 14r 3.3579515e+00 7.62e-01 1.00e+03 1.7 0.00e+00 -2.1 0.00e+00 3.01e-07R 6 15r 3.6000802e+00 2.02e-01 8.59e+02 1.5 1.98e+01 - 2.36e-01 9.17e-02f 1 16 3.6056232e+00 1.99e-01 3.41e+01 -4.0 2.08e+00 -2.6 4.89e-01 1.38e-02h 1 17 3.6071537e+00 1.99e-01 8.74e+04 0.2 1.06e+02 -3.1 3.06e-01 1.57e-04h 1 18 3.6104692e+00 1.99e-01 1.98e+08 1.0 9.24e+01 -3.5 1.43e-01 6.27e-05h 1 19r 3.6104692e+00 1.99e-01 9.99e+02 1.7 0.00e+00 -4.0 0.00e+00 3.32e-07R 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20r 3.9705587e+00 1.99e-01 6.83e+02 0.2 1.05e+00 - 6.13e-01 2.69e-01f 1 21r 3.9382392e+00 1.99e-01 2.78e+02 -0.4 3.23e-01 - 4.48e-01 6.80e-01f 1 22r 4.0630605e+00 1.99e-01 2.78e+01 -0.4 1.00e+00 - 1.00e+00 8.91e-01f 1 23r 4.2650560e+00 1.99e-01 8.43e+00 -0.8 8.28e-01 - 1.00e+00 9.31e-01f 1 24r 4.1918423e+00 2.13e-01 1.45e+00 -1.4 3.63e+00 - 1.00e+00 9.97e-01f 1 25r 4.1630317e+00 1.99e-01 1.97e+00 -2.0 1.47e+00 - 9.56e-01 1.00e+00f 1 26r 4.0976833e+00 1.99e-01 1.48e-02 -2.8 1.50e-01 - 1.00e+00 1.00e+00f 1 27r 4.0189674e+00 1.99e-01 3.37e-02 -3.6 1.38e-01 - 9.80e-01 1.00e+00f 1 28r 4.0344802e+00 1.99e-01 1.45e-03 -4.0 7.72e-02 - 1.00e+00 1.00e+00h 1 29r 4.0443011e+00 1.99e-01 4.94e-05 -4.0 3.38e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 4.0459735e+00 1.99e-01 5.54e-07 -4.0 6.29e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 4.0459805545240268e+00 4.0459805545240268e+00 Dual infeasibility......: 1.8945428276978260e+00 1.8945428276978260e+00 Constraint violation....: 1.9875045036520977e-01 1.9875045036520977e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001490139646e-04 1.0000001490139646e-04 Overall NLP error.......: 1.8945428276978260e+00 1.8945428276978260e+00 Number of objective function evaluations = 45 Number of objective gradient evaluations = 21 Number of equality constraint evaluations = 45 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 35 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 31 Total seconds in IPOPT = 20.136 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 5.6469686e+00 1.81e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2266844e+00 8.54e-01 1.56e+00 -0.8 1.81e+00 0.0 7.92e-01 5.28e-01f 1 2 2.5504956e+00 2.96e-02 2.51e+00 -1.1 9.77e-01 -0.5 5.05e-01 1.00e+00f 1 3 2.5944950e+00 1.66e-02 1.18e+00 -1.2 3.92e-01 -1.0 9.75e-01 1.00e+00f 1 4 2.3936699e+00 1.68e-02 3.24e-01 -1.5 2.58e-01 -0.5 9.71e-01 5.05e-01h 1 5 2.1410585e+00 4.14e-03 4.84e-02 -2.2 8.73e-02 -1.0 1.00e+00 1.00e+00h 1 6 2.0930650e+00 1.68e-04 3.02e-03 -3.4 3.06e-02 -1.5 9.82e-01 9.89e-01h 1 7 2.0909352e+00 5.35e-06 1.21e-03 -4.0 1.04e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909307e+00 5.72e-09 2.92e-05 -4.0 7.97e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909290e+00 1.21e-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 2.0909240e+00 9.68e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909091e+00 8.71e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908643e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907299e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903278e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891304e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856203e+00 5.53e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796411e+00 2.31e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0807143e+00 1.68e-04 1.88e-01 -4.0 6.81e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775349e+00 7.81e-03 2.61e-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 2.0769393e+00 1.48e-03 7.29e-02 -4.0 1.93e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762994e+00 1.81e-03 2.32e-02 -4.0 3.39e+02 -8.6 1.00e+00 7.19e-01h 1 22 2.0755200e+00 1.82e-03 2.79e-02 -4.0 6.03e+02 -9.1 1.00e+00 7.53e-01h 1 23 2.0758083e+00 3.81e-03 1.60e-02 -4.0 1.80e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753832e+00 1.43e-03 8.36e-04 -4.1 1.04e+02 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.75e-04 8.40e-06 -4.0 2.16e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.19e-07 1.11e-06 -4.0 1.19e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.20e-09 8.27e-08 -4.0 4.27e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 3.72e-11 1.48e-09 -4.0 6.73e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121566032e+00 2.0756712121566032e+00 Dual infeasibility......: 1.4835380772969513e-09 1.4835380772969513e-09 Constraint violation....: 3.7167824373796066e-11 3.7167824373796066e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000045e-04 1.0000000000000045e-04 Overall NLP error.......: 1.4835380772969513e-09 1.4835380772969513e-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 = 30.137 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 1.8981257e+00 3.10e+00 4.96e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2926968e+00 2.36e+00 4.19e+00 -0.8 2.51e+01 -2.0 1.54e-01 2.40e-01h 1 2 1.2697258e+00 2.32e+00 1.84e+01 1.1 6.06e+01 -0.7 4.53e-02 1.45e-02f 1 3 1.1761908e+00 1.51e+00 1.53e+01 0.4 8.02e+00 -1.1 2.95e-01 3.52e-01f 1 4 1.2859467e+00 1.21e+00 2.49e+01 0.4 3.66e+00 0.2 6.11e-01 1.96e-01f 1 5 1.5540598e+00 5.30e-01 1.42e+01 -0.3 3.06e+00 -0.3 4.25e-01 5.62e-01h 1 6 1.6279144e+00 3.98e-01 1.34e+01 -0.3 5.77e+00 0.1 4.77e-01 2.50e-01f 1 7 1.7953090e+00 2.89e-01 7.55e+00 -0.7 3.24e+00 -0.3 4.25e-01 5.71e-01h 1 8 1.9040033e+00 3.79e-02 1.47e+01 -4.0 7.51e-01 0.1 5.39e-01 1.00e+00h 1 9 1.8242918e+00 6.23e-03 8.86e-01 -1.8 8.22e-02 0.5 8.65e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.6179052e+00 2.90e-03 1.16e-01 -1.9 1.09e-01 0.0 9.94e-01 1.00e+00f 1 11 1.4788565e+00 1.06e-03 1.09e-01 -2.3 1.37e-01 -0.4 9.30e-01 6.96e-01h 1 12 1.3554006e+00 5.64e-03 6.04e-02 -2.8 3.03e-01 -0.9 9.93e-01 8.30e-01f 1 13 1.3066861e+00 1.83e-03 3.45e-02 -3.0 1.09e-01 -0.5 9.91e-01 1.00e+00h 1 14 1.2951617e+00 3.34e-03 3.30e-01 -3.4 3.06e-01 -1.0 9.99e-01 2.41e-01h 1 15 1.2771085e+00 3.27e-03 2.47e-01 -4.0 2.94e-01 -1.5 1.00e+00 3.83e-01h 1 16 1.2576984e+00 7.20e-01 3.26e-01 -2.9 3.37e+00 -1.9 9.92e-01 1.00e+00h 1 17 1.2462554e+00 7.06e-01 3.02e+00 -1.6 2.68e+01 -2.4 4.61e-01 1.54e-02f 1 18 1.3360416e+00 1.95e-01 1.79e-01 -2.4 2.22e+00 -2.9 9.57e-01 1.00e+00h 1 19 1.2914637e+00 2.72e-02 5.28e-02 -2.3 5.12e-01 -1.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.2200094e+00 2.49e-02 4.00e-02 -3.4 8.17e-01 -2.0 6.96e-01 1.00e+00h 1 21 1.2112180e+00 2.19e-02 1.89e-02 -3.0 7.97e-01 -2.5 9.39e-01 1.00e+00h 1 22 1.1964055e+00 5.00e-02 2.63e-02 -3.3 1.43e+00 -3.0 1.00e+00 9.63e-01h 1 23 1.1840909e+00 5.64e-02 1.17e-02 -4.0 2.26e+00 -3.5 1.00e+00 1.00e+00h 1 24 1.1786905e+00 7.54e-02 1.42e-02 -4.0 3.37e+00 -3.9 1.00e+00 1.00e+00h 1 25 1.1745791e+00 9.51e-02 1.21e-02 -4.0 5.06e+00 -4.4 1.00e+00 1.00e+00h 1 26 1.1713312e+00 1.16e-01 1.05e-02 -4.0 7.82e+00 -4.9 1.00e+00 1.00e+00h 1 27 1.1686850e+00 1.45e-01 7.39e-03 -4.0 1.20e+01 -5.4 1.00e+00 1.00e+00h 1 28 1.1665862e+00 1.78e-01 4.23e-03 -4.0 1.83e+01 -5.9 1.00e+00 1.00e+00h 1 29 1.1648949e+00 2.18e-01 2.10e-04 -4.0 2.79e+01 -6.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1635531e+00 2.63e-01 4.75e-03 -4.0 4.22e+01 -6.8 1.00e+00 1.00e+00h 1 31 1.1624852e+00 3.16e-01 1.04e-02 -4.0 6.32e+01 -7.3 1.00e+00 1.00e+00h 1 32 1.1616516e+00 3.72e-01 1.64e-02 -4.0 9.35e+01 -7.8 1.00e+00 1.00e+00h 1 33 1.1610186e+00 4.24e-01 2.22e-02 -4.0 1.35e+02 -8.2 1.00e+00 1.00e+00h 1 34 1.1605961e+00 4.43e-01 2.47e-02 -4.0 1.85e+02 -8.7 1.00e+00 1.00e+00h 1 35 1.1605020e+00 3.22e-01 1.42e-02 -4.0 2.10e+02 -9.2 1.00e+00 1.00e+00h 1 36 1.1608415e+00 6.90e-03 3.21e-03 -4.0 6.28e+01 -9.7 1.00e+00 1.00e+00h 1 37 1.1608492e+00 5.82e-06 4.80e-06 -4.0 6.23e-01 -10.1 1.00e+00 1.00e+00h 1 38 1.1608491e+00 3.67e-08 5.02e-09 -4.0 7.78e-02 -10.6 1.00e+00 1.00e+00h 1 39 1.1608491e+00 1.42e-12 1.09e-13 -4.0 4.84e-04 -11.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 39 (scaled) (unscaled) Objective...............: 1.1608491307799242e+00 1.1608491307799242e+00 Dual infeasibility......: 1.0872945881319762e-13 1.0872945881319762e-13 Constraint violation....: 1.4210854715202004e-12 1.4210854715202004e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000560e-04 1.0000000000000560e-04 Overall NLP error.......: 1.4210854715202004e-12 1.4210854715202004e-12 Number of objective function evaluations = 40 Number of objective gradient evaluations = 40 Number of equality constraint evaluations = 40 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 40 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 39 Total seconds in IPOPT = 19.714 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 1.5855050e+00 9.14e-01 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5340148e+00 9.38e-02 1.82e+00 -0.9 6.52e-01 0.0 9.88e-01 1.00e+00h 1 2 1.5248960e+00 3.90e-02 6.73e-01 -1.0 3.47e-01 -0.5 6.36e-01 5.85e-01h 1 3 1.7302308e+00 2.71e-02 5.55e+00 -1.3 2.71e+01 - 8.64e-01 3.60e-01h 2 4 1.6485433e+00 1.49e-02 2.22e+00 -1.9 4.06e-01 -1.0 1.00e+00 7.80e-01h 1 5 1.3394927e+00 1.10e-02 1.14e+00 -1.9 5.68e+00 -1.4 9.98e-01 2.05e-01f 1 6 1.1755666e+00 3.30e-03 1.04e+00 -3.3 9.46e+00 - 9.43e-01 7.12e-01h 1 7 1.1210148e+00 2.74e-05 4.49e-03 -2.5 4.80e-02 -1.9 1.00e+00 1.00e+00h 1 8 1.0925048e+00 2.12e-06 1.40e-01 -4.0 3.00e+00 - 1.00e+00 1.00e+00f 1 9 1.0909557e+00 3.74e-08 9.04e-03 -4.0 9.17e-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 1.0910393e+00 1.29e-11 1.71e-04 -4.0 1.29e-01 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 8.88e-16 8.41e-06 -4.0 2.09e-03 - 1.00e+00 1.00e+00h 1 12 1.0910386e+00 3.31e-28 9.50e-16 -4.0 2.84e-07 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385779862031e+00 1.0910385779862031e+00 Dual infeasibility......: 9.5024899407492036e-16 9.5024899407492036e-16 Constraint violation....: 3.3050038423725919e-28 3.3050038423725919e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000499e-04 1.0000000000000499e-04 Overall NLP error.......: 9.5024899407492036e-16 9.5024899407492036e-16 Number of objective function evaluations = 15 Number of objective gradient evaluations = 13 Number of equality constraint evaluations = 15 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 13 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 12 Total seconds in IPOPT = 16.296 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 3.7150705e+00 2.04e+00 6.19e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5219264e+00 6.21e-01 1.33e+00 -1.0 1.90e+00 0.0 9.44e-01 6.95e-01f 1 Hello, world! 2 2.5289695e+00 1.31e-02 3.69e-01 -1.1 6.24e-01 -0.5 9.22e-01 1.00e+00h 1 Hello, world! 3 2.2956525e+00 1.08e-02 2.15e-01 -1.8 1.95e-01 -1.0 9.55e-01 1.00e+00h 1 Hello, world! 4 2.1168793e+00 4.27e-03 3.23e-02 -2.6 1.49e-01 -1.4 9.88e-01 9.90e-01h 1 Hello, world! 5 2.0920302e+00 1.86e-04 2.33e-03 -3.7 2.28e-02 -1.9 9.90e-01 9.70e-01h 1 Hello, world! 6 2.0909759e+00 1.39e-06 8.94e-05 -4.0 5.58e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909725e+00 2.83e-09 2.27e-05 -4.0 1.65e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909667e+00 1.53e-09 2.22e-05 -4.0 4.87e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909509e+00 1.22e-08 2.10e-05 -4.0 1.38e-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 2.0909150e+00 7.82e-08 1.15e-04 -4.0 3.66e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908446e+00 3.17e-07 5.79e-04 -4.0 8.91e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906633e+00 2.21e-06 9.44e-04 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901032e+00 2.05e-05 9.90e-04 -4.0 7.64e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0897344e+00 1.74e-05 7.59e-02 -4.0 2.86e+01 -6.2 1.00e+00 1.29e-01h 1 Hello, world! 15 2.0858128e+00 1.18e-03 6.35e-02 -4.0 5.84e+01 -6.7 1.00e+00 1.00e+00f 1 Hello, world! 16 2.0847164e+00 1.01e-03 1.76e-01 -4.0 5.73e+01 -6.3 1.00e+00 1.77e-01h 1 Hello, world! 17 2.0832516e+00 1.82e-04 3.05e-02 -4.0 2.82e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0826775e+00 2.44e-04 1.03e-02 -4.0 5.18e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0823774e+00 3.35e-04 9.37e-03 -4.0 1.17e+02 -7.7 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 2.9322816e+01 7.88e-05 2.29e+02 -4.0 2.41e+03 -8.2 1.41e-02 1.00e+00H 1 Hello, world! 21 5.1646250e+00 3.88e-05 8.41e+01 -4.1 5.62e+00 -0.3 1.25e-01 5.08e-01f 1 Hello, world! 22 2.1497395e+00 7.62e-06 1.22e+01 -4.1 1.25e+00 -0.8 1.00e+00 8.04e-01f 1 Hello, world! 23 2.1562303e+00 5.97e-06 2.30e+00 -4.1 1.08e-01 -1.3 1.00e+00 2.16e-01h 3 Hello, world! 24 2.1506428e+00 1.80e-06 1.30e-01 -4.1 2.26e-01 -1.7 1.00e+00 8.21e-01f 1 Hello, world! 25 2.1460521e+00 1.34e-06 1.21e-02 -4.1 6.51e-01 -2.2 1.00e+00 1.00e+00f 1 Hello, world! 26 2.1389234e+00 1.50e-05 3.51e-02 -4.1 1.85e+00 -2.7 1.00e+00 1.00e+00f 1 Hello, world! 27 2.1319195e+00 2.45e-05 1.81e+00 -4.1 4.69e+00 -3.2 1.00e+00 4.13e-01f 1 Hello, world! 28 2.1324779e+00 1.97e-05 7.14e+00 -4.1 5.85e-01 -3.7 1.00e+00 2.78e-01f 2 Hello, world! 29 2.1319018e+00 2.35e-05 5.99e-04 -4.1 4.91e-01 -4.1 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 30 2.1309387e+00 1.64e-04 2.74e-02 -6.1 1.54e+00 -4.6 8.26e-01 9.99e-01h 1 Hello, world! 31 2.1300471e+00 2.04e-04 5.82e-04 -6.1 4.54e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.1289426e+00 1.08e-04 1.62e-01 -6.1 1.33e+01 -5.6 1.00e+00 4.87e-01h 1 Hello, world! 33 2.1279269e+00 6.02e-05 3.71e-01 -6.1 3.20e+01 -6.0 1.00e+00 4.11e-01h 1 Hello, world! 34 2.1207201e+00 4.40e-06 7.22e-02 -6.1 9.05e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.1191613e+00 4.06e-06 2.40e+00 -6.1 2.23e+02 -7.0 1.00e+00 1.01e-01h 1 Hello, world! 36 2.0966193e+00 1.18e-04 3.52e-01 -6.1 5.25e+02 -7.5 7.87e-01 9.86e-01f 1 Hello, world! 37 2.0963803e+00 1.17e-04 3.10e+00 -6.1 7.28e+02 -8.0 9.15e-01 1.33e-02h 1 Hello, world! 38 2.0841027e+00 6.62e-04 4.14e-01 -6.1 3.84e+03 -8.4 2.59e-05 4.98e-01h 1 Hello, world! 39 2.0831718e+00 5.65e-04 3.53e-01 -6.1 2.74e+01 -6.2 1.91e-01 1.48e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821706e+00 4.51e-04 2.76e-01 -6.1 6.41e+01 -6.7 1.00e+00 2.01e-01h 1 Hello, world! 41 6.8352139e+01 2.95e-04 4.52e+02 -4.0 3.66e+03 -7.2 3.42e-02 1.00e+00H 1 Hello, world! 42 2.1683238e+00 1.93e-05 1.60e+01 -3.3 7.16e-01 0.7 1.00e+00 9.35e-01f 1 Hello, world! 43 2.1662229e+00 1.87e-05 7.64e+00 -3.3 5.49e-03 0.2 1.00e+00 2.67e-02h 1 Hello, world! 44 2.1674834e+00 3.41e-06 7.15e-03 -3.3 1.31e-02 -0.3 1.00e+00 1.00e+00f 1 Hello, world! 45 2.1672113e+00 1.76e-06 3.73e-03 -3.3 2.04e-02 -0.7 1.00e+00 1.00e+00h 1 Hello, world! 46 2.1653319e+00 1.95e-05 1.88e-01 -5.0 6.93e-02 -1.2 9.00e-01 8.31e-01h 1 Hello, world! 47 2.1638181e+00 4.92e-06 1.77e-02 -5.0 2.07e-01 -1.7 9.73e-01 1.00e+00h 1 Hello, world! 48 2.1621367e+00 2.50e-06 3.93e-01 -5.0 6.11e-01 -2.2 1.00e+00 5.97e-01h 1 Hello, world! 49 2.1608066e+00 2.02e-06 1.07e+00 -5.0 1.68e+00 -2.6 1.00e+00 1.88e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.1602586e+00 1.62e-05 1.22e+01 -5.0 2.03e-01 -3.1 1.55e-01 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.1602586160982491e+00 2.1602586160982491e+00 Dual infeasibility......: 1.2209496238174127e+01 1.2209496238174127e+01 Constraint violation....: 1.6211596629874328e-05 1.6211596629874328e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.1206545766902157e-05 3.1206545766902157e-05 Overall NLP error.......: 1.2209496238174127e+01 1.2209496238174127e+01 Number of objective function evaluations = 61 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 22.138 EXIT: Stopping optimization at current point as requested by user. 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 3.7150705e+00 2.04e+00 6.19e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5219264e+00 6.21e-01 1.33e+00 -1.0 1.90e+00 0.0 9.44e-01 6.95e-01f 1 Hello, world! 2 2.5289695e+00 1.31e-02 3.69e-01 -1.1 6.24e-01 -0.5 9.22e-01 1.00e+00h 1 Hello, world! 3 2.2956525e+00 1.08e-02 2.15e-01 -1.8 1.95e-01 -1.0 9.55e-01 1.00e+00h 1 Hello, world! 4 2.1168793e+00 4.27e-03 3.23e-02 -2.6 1.49e-01 -1.4 9.88e-01 9.90e-01h 1 Hello, world! 5 2.0920302e+00 1.86e-04 2.33e-03 -3.7 2.28e-02 -1.9 9.90e-01 9.70e-01h 1 Hello, world! 6 2.0909759e+00 1.39e-06 8.94e-05 -4.0 5.58e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0909725e+00 2.83e-09 2.27e-05 -4.0 1.65e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0909667e+00 1.53e-09 2.22e-05 -4.0 4.87e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0909509e+00 1.22e-08 2.10e-05 -4.0 1.38e-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 2.0909150e+00 7.82e-08 1.15e-04 -4.0 3.66e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908446e+00 3.17e-07 5.79e-04 -4.0 8.91e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0906633e+00 2.21e-06 9.44e-04 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0901032e+00 2.05e-05 9.90e-04 -4.0 7.64e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0897344e+00 1.74e-05 7.59e-02 -4.0 2.86e+01 -6.2 1.00e+00 1.29e-01h 1 Hello, world! 15 2.0858128e+00 1.18e-03 6.35e-02 -4.0 5.84e+01 -6.7 1.00e+00 1.00e+00f 1 Hello, world! 16 2.0847164e+00 1.01e-03 1.76e-01 -4.0 5.73e+01 -6.3 1.00e+00 1.77e-01h 1 Hello, world! 17 2.0832516e+00 1.82e-04 3.05e-02 -4.0 2.82e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0826775e+00 2.44e-04 1.03e-02 -4.0 5.18e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 19 2.0823774e+00 3.35e-04 9.37e-03 -4.0 1.17e+02 -7.7 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 2.9322816e+01 7.88e-05 2.29e+02 -4.0 2.41e+03 -8.2 1.41e-02 1.00e+00H 1 Hello, world! 21 5.1646250e+00 3.88e-05 8.41e+01 -4.1 5.62e+00 -0.3 1.25e-01 5.08e-01f 1 Hello, world! 22 2.1497395e+00 7.62e-06 1.22e+01 -4.1 1.25e+00 -0.8 1.00e+00 8.04e-01f 1 Hello, world! 23 2.1562303e+00 5.97e-06 2.30e+00 -4.1 1.08e-01 -1.3 1.00e+00 2.16e-01h 3 Hello, world! 24 2.1506428e+00 1.80e-06 1.30e-01 -4.1 2.26e-01 -1.7 1.00e+00 8.21e-01f 1 Hello, world! 25 2.1460521e+00 1.34e-06 1.21e-02 -4.1 6.51e-01 -2.2 1.00e+00 1.00e+00f 1 Hello, world! 26 2.1389234e+00 1.50e-05 3.51e-02 -4.1 1.85e+00 -2.7 1.00e+00 1.00e+00f 1 Hello, world! 27 2.1319195e+00 2.45e-05 1.81e+00 -4.1 4.69e+00 -3.2 1.00e+00 4.13e-01f 1 Hello, world! 28 2.1324779e+00 1.97e-05 7.14e+00 -4.1 5.85e-01 -3.7 1.00e+00 2.78e-01f 2 Hello, world! 29 2.1319018e+00 2.35e-05 5.99e-04 -4.1 4.91e-01 -4.1 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 30 2.1309387e+00 1.64e-04 2.74e-02 -6.1 1.54e+00 -4.6 8.26e-01 9.99e-01h 1 Hello, world! 31 2.1300471e+00 2.04e-04 5.82e-04 -6.1 4.54e+00 -5.1 1.00e+00 1.00e+00h 1 Hello, world! 32 2.1289426e+00 1.08e-04 1.62e-01 -6.1 1.33e+01 -5.6 1.00e+00 4.87e-01h 1 Hello, world! 33 2.1279269e+00 6.02e-05 3.71e-01 -6.1 3.20e+01 -6.0 1.00e+00 4.11e-01h 1 Hello, world! 34 2.1207201e+00 4.40e-06 7.22e-02 -6.1 9.05e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.1191613e+00 4.06e-06 2.40e+00 -6.1 2.23e+02 -7.0 1.00e+00 1.01e-01h 1 Hello, world! 36 2.0966193e+00 1.18e-04 3.52e-01 -6.1 5.25e+02 -7.5 7.87e-01 9.86e-01f 1 Hello, world! 37 2.0963803e+00 1.17e-04 3.10e+00 -6.1 7.28e+02 -8.0 9.15e-01 1.33e-02h 1 Hello, world! 38 2.0841027e+00 6.62e-04 4.14e-01 -6.1 3.84e+03 -8.4 2.59e-05 4.98e-01h 1 Hello, world! 39 2.0831718e+00 5.65e-04 3.53e-01 -6.1 2.74e+01 -6.2 1.91e-01 1.48e-01h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821706e+00 4.51e-04 2.76e-01 -6.1 6.41e+01 -6.7 1.00e+00 2.01e-01h 1 Hello, world! 41 6.8352139e+01 2.95e-04 4.52e+02 -4.0 3.66e+03 -7.2 3.42e-02 1.00e+00H 1 Hello, world! 42 2.1683238e+00 1.93e-05 1.60e+01 -3.3 7.16e-01 0.7 1.00e+00 9.35e-01f 1 Hello, world! 43 2.1662229e+00 1.87e-05 7.64e+00 -3.3 5.49e-03 0.2 1.00e+00 2.67e-02h 1 Hello, world! 44 2.1674834e+00 3.41e-06 7.15e-03 -3.3 1.31e-02 -0.3 1.00e+00 1.00e+00f 1 Hello, world! 45 2.1672113e+00 1.76e-06 3.73e-03 -3.3 2.04e-02 -0.7 1.00e+00 1.00e+00h 1 Hello, world! 46 2.1653319e+00 1.95e-05 1.88e-01 -5.0 6.93e-02 -1.2 9.00e-01 8.31e-01h 1 Hello, world! 47 2.1638181e+00 4.92e-06 1.77e-02 -5.0 2.07e-01 -1.7 9.73e-01 1.00e+00h 1 Hello, world! 48 2.1621367e+00 2.50e-06 3.93e-01 -5.0 6.11e-01 -2.2 1.00e+00 5.97e-01h 1 Hello, world! 49 2.1608066e+00 2.02e-06 1.07e+00 -5.0 1.68e+00 -2.6 1.00e+00 1.88e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.1602586e+00 1.62e-05 1.22e+01 -5.0 2.03e-01 -3.1 1.55e-01 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.1602586160982491e+00 2.1602586160982491e+00 Dual infeasibility......: 1.2209496238174127e+01 1.2209496238174127e+01 Constraint violation....: 1.6211596629874328e-05 1.6211596629874328e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.1206545766902157e-05 3.1206545766902157e-05 Overall NLP error.......: 1.2209496238174127e+01 1.2209496238174127e+01 Number of objective function evaluations = 61 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 61 Number of inequality constraint evaluations = 61 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.889 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4325074e+00 2.36e+00 1.41e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5155023e+00 2.54e-01 5.67e+00 -0.8 1.94e+00 0.0 8.08e-01 8.96e-01f 1 2 2.4686257e+00 8.85e-02 3.95e+00 -0.5 4.80e-01 0.4 8.67e-01 6.51e-01h 1 3 2.6190627e+00 7.14e-03 2.41e+00 -1.7 2.70e-01 -0.1 6.25e-01 1.00e+00h 1 4 2.4651179e+00 6.75e-03 5.62e-01 -1.4 1.29e-01 -0.5 9.95e-01 8.02e-01h 1 5 2.1614488e+00 3.82e-03 6.55e-02 -2.3 7.92e-02 -1.0 9.96e-01 1.00e+00f 1 6 2.0973149e+00 5.57e-04 1.81e-02 -3.5 4.15e-02 -1.5 9.92e-01 8.86e-01h 1 7 2.0908984e+00 3.86e-06 1.04e-03 -4.0 3.66e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908747e+00 3.86e-08 1.93e-05 -4.0 5.27e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908731e+00 1.04e-10 1.92e-05 -4.0 1.57e-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 2.0908687e+00 9.61e-10 1.88e-05 -4.0 4.64e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908566e+00 7.39e-09 1.80e-05 -4.0 1.33e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908271e+00 4.65e-08 9.00e-05 -4.0 3.62e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907543e+00 2.72e-07 4.00e-04 -4.0 9.62e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905494e+00 2.92e-06 5.52e-04 -4.0 2.95e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0907869e+00 2.87e-05 4.99e-03 -2.7 3.37e+02 -5.8 7.00e-03 6.38e-03f 2 16 2.0903754e+00 2.08e-05 7.04e-02 -4.1 2.52e+01 -6.3 1.00e+00 1.93e-01h 2 17 2.0868346e+00 1.35e-03 3.75e-02 -4.0 7.44e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0828640e+00 5.24e-03 1.09e-01 -4.0 1.34e+02 -7.2 1.00e+00 9.69e-01h 1 19 2.0831959e+00 4.12e-03 8.01e-02 -4.0 1.09e+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 2.0820218e+00 1.71e-03 1.43e-02 -4.0 1.24e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0818928e+00 5.51e-04 9.47e-03 -4.0 8.07e+01 -8.6 1.00e+00 1.00e+00h 1 22 2.0818462e+00 5.86e-05 8.62e-04 -4.0 3.64e+01 -9.1 1.00e+00 1.00e+00h 1 23 2.0818434e+00 1.09e-06 2.63e-05 -4.0 6.72e+00 -9.6 1.00e+00 1.00e+00h 1 24 2.0818434e+00 3.56e-09 1.30e-07 -4.0 4.58e-01 -10.1 1.00e+00 1.00e+00h 1 25 2.0818434e+00 1.56e-12 1.00e-09 -4.0 1.11e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0818434105354995e+00 2.0818434105354995e+00 Dual infeasibility......: 1.0000000039730832e-09 1.0000000039730832e-09 Constraint violation....: 1.5649703755116207e-12 1.5649703755116207e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 1.0000000039730832e-09 1.0000000039730832e-09 Number of objective function evaluations = 32 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 32 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 20.170 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2390011e+01 3.43e+00 5.80e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5265055e+00 4.37e-01 3.86e+00 -0.9 4.92e+00 -2.0 6.22e-01 9.17e-01f 1 2 2.8459249e+00 2.80e-02 1.90e+00 -0.9 5.87e-01 -1.6 9.51e-01 1.00e+00f 1 3 2.4625978e+00 1.79e-01 4.62e-01 -1.3 2.17e+00 -2.1 9.82e-01 1.00e+00h 1 4 2.2916052e+00 1.10e-01 1.75e-01 -1.7 1.63e+00 -2.5 9.95e-01 9.93e-01h 1 5 2.1494767e+00 5.17e-02 2.28e-01 -2.4 2.58e+00 -3.0 9.98e-01 7.24e-01h 1 6 2.1047230e+00 2.94e-03 3.71e-02 -2.9 4.21e-01 -3.5 9.93e-01 1.00e+00h 1 7 2.0907573e+00 3.67e-04 9.92e-04 -4.0 2.16e-01 -4.0 1.00e+00 1.00e+00h 1 8 2.0908435e+00 1.30e-05 1.91e-04 -4.0 4.36e-01 -4.4 1.00e+00 1.00e+00h 1 9 2.0907553e+00 4.77e-07 4.44e-04 -4.0 1.17e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0905029e+00 4.53e-06 5.13e-04 -4.0 3.68e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0903945e+00 6.20e-07 4.61e-04 -4.0 1.36e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902488e+00 1.28e-06 1.39e-02 -4.0 5.27e+00 -5.4 1.00e+00 2.76e-01h 2 13 2.0891742e+00 5.11e-05 1.81e-03 -4.0 1.24e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0868440e+00 3.87e-04 2.28e-02 -4.0 3.37e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0858984e+00 2.25e-04 2.93e-02 -4.0 1.56e+01 -6.0 1.00e+00 5.16e-01h 1 16 2.0843713e+00 2.45e-04 1.68e-02 -4.0 2.68e+01 -6.4 1.00e+00 1.00e+00h 1 17 2.0827201e+00 1.48e-04 1.92e-02 -4.0 3.25e+01 -6.9 1.00e+00 8.26e-01h 1 18 2.0829293e+00 1.16e-03 3.45e-02 -4.0 6.51e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0820327e+00 1.82e-03 1.01e-02 -4.1 1.52e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0310000e+01 1.22e-03 1.04e+02 -4.0 1.02e+03 -7.5 1.25e-02 1.00e+00H 1 21 2.1052795e+00 1.47e-04 3.31e+00 -4.1 9.85e-01 0.4 3.53e-01 8.79e-01f 1 22 2.1051889e+00 1.43e-04 1.76e+00 -4.1 1.45e-03 0.8 1.00e+00 2.62e-02h 1 23 2.1052704e+00 2.80e-08 5.23e-03 -4.1 2.38e-03 0.3 1.00e+00 1.00e+00f 1 24 2.1052420e+00 1.58e-07 3.04e-03 -4.0 4.16e-03 -0.1 1.00e+00 1.00e+00h 1 25 2.1051223e+00 4.86e-07 2.97e-03 -4.0 1.22e-02 -0.6 1.00e+00 1.00e+00h 1 26 2.1049066e+00 2.97e-07 2.85e-03 -4.0 3.51e-02 -1.1 1.00e+00 1.00e+00h 1 27 2.1045832e+00 8.45e-07 2.73e-03 -4.0 1.01e-01 -1.6 1.00e+00 1.00e+00h 1 28 2.1037532e+00 6.76e-07 2.66e-03 -4.0 2.95e-01 -2.0 1.00e+00 1.00e+00h 1 29 2.1015000e+00 1.04e-05 6.68e-03 -4.0 8.21e-01 -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 2.1012737e+00 7.24e-06 2.16e+00 -4.0 3.23e-01 -3.0 1.00e+00 2.50e-01h 1 31 2.1013502e+00 2.23e-06 4.12e-04 -4.0 7.60e-02 -3.5 1.00e+00 1.00e+00f 1 32 2.1011518e+00 4.51e-06 3.06e-05 -4.1 2.32e-01 -4.0 1.00e+00 1.00e+00h 1 33 2.1003657e+00 7.36e-05 1.83e-02 -6.1 7.41e-01 -4.4 8.34e-01 1.00e+00h 1 34 2.1000309e+00 3.13e-05 1.82e-04 -6.1 2.18e+00 -4.9 1.00e+00 1.00e+00h 1 35 2.0992245e+00 6.11e-07 6.20e-04 -6.1 6.41e+00 -5.4 1.00e+00 1.00e+00h 1 36 2.0982823e+00 1.41e-07 1.32e-01 -6.1 1.81e+01 -5.9 1.00e+00 4.29e-01h 1 37 2.0960570e+00 2.88e-05 9.48e-02 -6.1 4.16e+01 -6.3 1.00e+00 9.09e-01h 1 38 2.0916532e+00 8.26e-06 1.85e-01 -6.1 9.84e+01 -6.8 6.26e-01 1.00e+00h 1 39 2.0878760e+00 1.06e-05 5.97e-01 -6.1 1.94e+02 -7.3 1.00e+00 5.16e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821016e+00 9.00e-05 2.57e-01 -6.1 2.99e+02 -7.8 8.89e-01 1.00e+00h 1 41 2.0820791e+00 1.22e-04 6.30e-01 -4.0 3.81e+04 -7.3 1.82e-05 3.49e-03f 1 42 2.0817004e+00 4.23e-04 3.98e-01 -4.0 1.60e+02 -6.0 4.22e-02 1.47e-01f 1 43 2.0822772e+00 3.94e-04 3.64e+00 -4.0 1.58e+02 -6.5 1.00e+00 6.79e-02h 4 44 2.0827087e+00 2.85e-03 1.07e-02 -3.9 4.92e+01 -7.0 1.00e+00 1.00e+00h 1 45 2.0823377e+00 7.00e-03 1.95e-02 -3.9 1.01e+02 -7.4 9.96e-01 1.00e+00h 1 46 2.0823872e+00 3.30e-05 5.70e-04 -3.9 5.40e+00 -6.1 1.00e+00 1.00e+00h 1 47 2.0819399e+00 2.70e-04 1.21e-03 -4.0 1.18e+01 -6.6 1.00e+00 1.00e+00h 1 48 2.0815546e+00 8.18e-04 1.71e-03 -4.1 3.90e+01 -7.1 8.98e-01 1.00e+00h 1 49 2.0825148e+00 8.09e-04 1.68e-02 -4.0 1.29e+01 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820253e+00 7.00e-04 5.47e-01 -4.0 1.07e+00 -3.5 1.13e-01 1.38e-01h 1 51 2.0818285e+00 3.51e-06 6.24e-01 -4.0 1.37e-01 -1.3 8.74e-01 1.00e+00f 1 52 2.0814858e+00 2.29e-06 4.17e-03 -4.0 3.18e-02 -1.8 1.00e+00 1.00e+00h 1 53 2.0815320e+00 2.43e-07 4.94e-04 -4.0 3.95e-02 -2.2 1.00e+00 1.00e+00h 1 54 2.0814578e+00 2.63e-07 1.74e-04 -4.1 5.59e-02 -2.7 1.00e+00 1.00e+00h 1 55 2.0815376e+00 1.09e-06 2.60e-04 -4.0 7.66e-02 -3.2 1.00e+00 1.00e+00h 1 56 2.0814594e+00 2.00e-06 1.61e-04 -4.1 8.24e-02 -3.7 1.00e+00 1.00e+00h 1 57 2.0810865e+00 1.65e-05 1.56e-01 -6.1 1.72e-01 -4.1 6.62e-01 9.51e-01h 1 58 2.0817051e+00 4.95e-06 3.16e-03 -4.0 1.35e-01 -2.8 1.00e+00 1.00e+00f 1 59 2.0814311e+00 1.97e-06 2.80e-04 -4.1 4.48e-02 -3.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815407e+00 3.61e-06 1.87e-04 -4.0 1.52e-01 -3.8 1.00e+00 1.00e+00h 1 61 2.0814699e+00 6.14e-06 3.40e-04 -4.1 2.53e-01 -4.2 1.00e+00 1.00e+00h 1 62 2.0810529e+00 5.07e-05 9.98e-02 -6.1 5.48e-01 -4.7 7.21e-01 9.61e-01h 1 63 2.0816237e+00 2.38e-05 2.32e-01 -4.0 5.34e-01 -3.4 1.00e+00 5.63e-01f 1 64 2.0814514e+00 4.57e-06 3.36e-03 -4.1 1.69e-01 -3.9 1.00e+00 1.00e+00h 1 65 2.0815494e+00 1.44e-05 2.46e-04 -4.0 4.76e-01 -4.3 1.00e+00 1.00e+00h 1 66 2.0814864e+00 1.30e-05 7.23e-04 -4.1 5.37e-01 -4.8 1.00e+00 1.00e+00h 1 67 2.0809697e+00 1.46e-04 3.48e-02 -6.1 1.63e+00 -5.3 8.81e-01 9.77e-01h 1 68 2.0809516e+00 9.92e-05 2.54e-01 -4.6 2.80e+00 -5.8 1.00e+00 2.83e-01f 1 69 2.0880593e+00 1.24e-05 4.16e-02 -4.0 9.77e+00 -6.3 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0849613e+00 6.21e-07 2.46e-02 -4.1 5.75e-02 -0.4 1.00e+00 1.00e+00h 1 71 2.0835098e+00 7.22e-07 4.25e-01 -4.0 6.39e-02 -0.9 1.00e+00 8.55e-01f 1 72 2.0821809e+00 2.91e-07 5.45e-03 -4.1 1.63e-01 -1.4 1.00e+00 1.00e+00h 1 73 2.0817356e+00 1.71e-06 8.69e-02 -4.1 1.31e-01 -1.8 8.69e-01 8.03e-01h 1 74 2.0824587e+00 2.33e-06 1.82e-03 -4.0 7.72e-02 -2.3 1.00e+00 1.00e+00f 1 75 2.0820511e+00 5.01e-07 1.29e-03 -4.1 6.54e-02 -2.8 1.00e+00 1.00e+00h 1 76 2.0819428e+00 6.18e-08 1.47e-04 -4.1 2.49e-02 -3.3 1.00e+00 1.00e+00h 1 77 2.0812946e+00 7.72e-06 4.19e-02 -6.1 7.35e-02 -3.7 8.28e-01 9.84e-01h 1 78 2.0821281e+00 1.25e-05 2.23e-03 -4.0 1.06e-01 -4.2 1.00e+00 1.00e+00f 1 79 2.0818594e+00 9.01e-06 5.10e-05 -4.1 3.19e-01 -4.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0811585e+00 1.71e-04 9.24e-03 -6.1 1.78e+00 -5.2 9.65e-01 9.96e-01h 1 81 2.0808565e+00 4.34e-05 2.29e-03 -6.1 5.03e+00 -5.7 8.28e-01 1.00e+00h 1 82 2.0815261e+00 2.04e-04 1.49e+00 -4.0 7.73e+00 -5.2 1.00e+00 4.72e-01f 1 83 2.0818033e+00 2.92e-04 9.34e-03 -4.0 4.94e+00 -5.7 1.00e+00 1.00e+00f 1 84 2.0817162e+00 3.76e-04 6.36e-02 -4.0 2.51e+00 -6.2 9.26e-01 1.00e+00h 1 85 2.0819865e+00 3.07e-04 2.50e+00 -4.0 4.79e+00 -4.9 8.50e-01 2.36e-01H 1 86 2.0818704e+00 2.70e-04 6.94e-02 -4.0 2.95e+00 -5.3 1.00e+00 7.77e-02f 2 87 2.0816799e+00 8.13e-05 1.94e-03 -4.0 1.70e+00 -5.8 1.00e+00 1.00e+00h 1 88 2.0817522e+00 1.16e-04 3.00e-04 -4.0 3.56e+00 -6.3 1.00e+00 1.00e+00h 1 89 2.0806953e+00 1.24e-03 8.21e-03 -6.0 1.07e+01 -6.8 9.84e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0806487e+00 3.27e-04 2.59e-02 -5.1 6.21e+00 -7.2 1.00e+00 7.41e-01h 1 91 2.0809964e+00 3.10e-04 5.65e-02 -4.0 4.48e+01 -7.7 6.69e-01 1.59e-01h 1 92 2.0814989e+00 5.74e-03 3.32e-02 -4.3 1.79e+02 -8.2 6.10e-01 1.00e+00h 1 93 2.0814385e+00 5.04e-03 3.01e-02 -4.3 7.14e+01 -8.7 3.98e-01 1.22e-01h 2 94 2.0812083e+00 5.09e-05 1.68e-02 -4.3 9.64e+01 -9.2 1.00e+00 1.00e+00h 1 95 2.0811745e+00 6.79e-05 4.79e-04 -4.3 5.53e+01 -9.6 1.00e+00 1.00e+00h 1 96 2.0805760e+00 1.32e-03 2.55e-04 -6.5 2.75e+01 -10.1 9.84e-01 9.54e-01h 1 97 2.0806537e+00 1.27e-03 2.08e-02 -4.0 7.24e+01 -10.6 1.00e+00 6.12e-02f 1 98 2.0813746e+00 1.60e-03 8.46e-05 -4.2 2.61e+01 -11.1 1.00e+00 1.00e+00h 1 99 2.0813862e+00 1.83e-05 2.72e-05 -4.2 2.10e+01 -11.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805871e+00 2.26e-03 2.24e-04 -6.3 3.48e+01 -12.0 9.80e-01 9.59e-01h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805871414882646e+00 2.0805871414882646e+00 Dual infeasibility......: 2.2435601083447984e-04 2.2435601083447984e-04 Constraint violation....: 2.2631377886650483e-03 2.2631377886650483e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.3553960653413426e-05 1.3553960653413426e-05 Overall NLP error.......: 2.2631377886650483e-03 2.2631377886650483e-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 = 23.006 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 1.0671529e+02 2.79e+00 3.30e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.2056271e+01 1.14e+00 1.36e+01 -0.5 1.92e+00 0.0 1.00e+00 5.90e-01f 1 2 3.6620360e+00 4.80e-02 3.53e+00 -0.1 9.32e-01 -0.5 1.00e+00 1.00e+00f 1 3 3.2887939e+00 1.22e-02 1.61e+00 -0.9 4.89e-01 -1.0 9.41e-01 1.00e+00h 1 4 2.7404025e+00 6.98e-02 3.49e-01 -1.4 6.06e-01 -1.4 9.85e-01 1.00e+00f 1 5 2.2237855e+00 3.14e-02 5.84e-02 -2.0 4.55e-01 -1.9 9.26e-01 1.00e+00h 1 6 2.1031023e+00 5.26e-03 3.08e-02 -2.9 3.25e-01 -2.4 9.20e-01 9.84e-01h 1 7 2.0911228e+00 5.39e-05 1.26e-03 -4.0 2.62e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909082e+00 1.45e-06 2.15e-04 -4.0 4.33e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908954e+00 5.80e-09 2.15e-04 -4.0 1.25e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908660e+00 4.32e-08 2.15e-04 -4.0 3.38e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907986e+00 2.44e-07 4.33e-04 -4.0 8.79e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906153e+00 2.34e-06 6.92e-04 -4.0 2.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900931e+00 2.76e-06 6.94e-03 -4.0 7.55e+00 -5.7 1.00e+00 7.97e-01H 1 14 2.0903228e+00 2.13e-04 5.39e-02 -4.0 2.55e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0875656e+00 1.59e-04 1.96e-01 -4.1 1.11e+01 -4.9 1.00e+00 4.51e-01h 1 16 2.0875990e+00 1.70e-05 1.26e-02 -4.0 3.29e+00 -5.4 1.00e+00 1.00e+00f 1 17 2.0866303e+00 3.83e-05 6.04e-03 -4.0 9.81e+00 -5.8 1.00e+00 1.00e+00h 1 18 2.0851221e+00 1.80e-04 8.95e-03 -4.0 2.31e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0829437e+00 3.78e-04 2.64e-02 -4.0 3.77e+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 2.0828113e+00 5.29e-04 1.66e-02 -4.0 5.29e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823257e+00 7.12e-04 8.34e-03 -4.0 1.24e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.1494308e+00 3.42e-05 2.20e+00 -4.0 6.43e+02 -8.2 7.22e-02 1.00e+00H 1 23 2.0841828e+00 5.72e-06 3.63e-01 -4.1 6.13e-02 -0.4 1.00e+00 8.33e-01f 1 24 2.0845083e+00 5.63e-06 1.97e+00 -4.0 5.49e-02 -0.8 1.00e+00 1.56e-02f 7 25 2.0845152e+00 1.06e-07 1.00e-03 -4.0 2.11e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0836103e+00 2.87e-06 8.19e-02 -5.9 6.79e-02 -1.8 7.85e-01 1.00e+00h 1 27 2.0842710e+00 3.85e-06 1.46e-03 -4.0 4.12e-02 -2.3 1.00e+00 1.00e+00h 1 28 2.0840370e+00 3.90e-07 1.74e-04 -4.1 1.37e-02 -2.8 1.00e+00 1.00e+00h 1 29 2.0833734e+00 2.88e-06 3.17e-02 -6.1 3.79e-02 -3.2 7.94e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0842762e+00 6.17e-06 1.54e-03 -4.0 5.52e-02 -3.7 1.00e+00 1.00e+00f 1 31 2.0840036e+00 5.68e-06 1.72e-04 -4.1 1.38e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0833011e+00 6.73e-05 2.02e-02 -6.1 6.95e-01 -4.7 8.62e-01 1.00e+00h 1 33 2.0841312e+00 1.59e-04 2.34e-03 -4.0 1.20e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0836682e+00 1.38e-04 5.18e-04 -4.1 3.20e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0825738e+00 7.29e-04 4.64e-03 -6.2 9.29e+00 -6.1 9.88e-01 9.29e-01h 1 36 2.0822410e+00 2.74e-04 1.72e-02 -6.2 2.11e+01 -6.6 9.68e-01 7.50e-01h 1 37 2.0829075e+00 5.91e-03 5.49e-02 -4.0 5.38e+01 -7.0 4.67e-01 1.00e+00f 1 38 2.0815863e+00 3.89e-03 3.65e-02 -4.3 9.39e+01 -7.5 1.00e+00 1.00e+00h 1 39 2.0817853e+00 9.63e-03 2.44e-02 -4.0 2.18e+02 -8.0 3.25e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0830267e+00 1.98e-03 4.29e-02 -4.2 4.90e+01 -6.7 1.00e+00 1.00e+00h 1 41 2.0818110e+00 1.38e-03 5.53e-01 -4.2 7.50e-01 -1.7 1.03e-01 3.04e-01h 1 42 2.0818537e+00 1.63e-05 3.41e-03 -4.0 2.30e-01 -2.2 1.00e+00 1.00e+00f 1 43 2.0817611e+00 6.79e-06 2.13e-01 -4.0 1.32e-01 -2.7 1.00e+00 7.04e-01h 1 44 2.0818943e+00 5.84e-07 2.15e-04 -4.0 5.74e-02 -3.2 1.00e+00 1.00e+00f 1 45 2.0818777e+00 2.64e-07 2.15e-04 -4.0 1.45e-02 -3.6 1.00e+00 1.00e+00h 1 46 2.0818765e+00 2.61e-08 2.15e-04 -4.0 4.39e-02 -4.1 1.00e+00 1.00e+00h 1 47 2.0818737e+00 1.68e-08 2.15e-04 -4.0 1.32e-01 -4.6 1.00e+00 1.00e+00h 1 48 2.0818662e+00 1.42e-07 2.15e-04 -4.0 4.01e-01 -5.1 1.00e+00 1.00e+00h 1 49 2.0818493e+00 1.14e-06 2.15e-04 -4.0 1.25e+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 2.0818159e+00 1.01e-05 2.15e-04 -4.0 4.16e+00 -6.0 1.00e+00 1.00e+00h 1 51 2.0814978e+00 5.28e-04 3.96e-02 -4.1 1.93e+01 -6.5 6.76e-01 1.00e+00h 1 52 2.0852790e+00 9.67e-04 9.73e-01 -4.0 1.49e+01 -5.2 2.07e-01 3.74e-01h 1 53 2.0820924e+00 1.81e-06 1.47e-02 -4.2 8.91e-02 -1.1 1.00e+00 1.00e+00h 1 54 2.0820426e+00 2.31e-06 5.51e-03 -4.0 4.08e-02 -1.6 1.00e+00 1.00e+00h 1 55 2.0818682e+00 3.06e-07 9.89e-04 -4.1 1.23e-01 -2.1 1.00e+00 1.00e+00h 1 56 2.0818008e+00 1.08e-06 3.71e-04 -4.0 1.68e-01 -2.6 1.00e+00 1.00e+00h 1 57 2.0818347e+00 3.03e-07 2.15e-04 -4.0 1.16e-02 -3.0 1.00e+00 1.00e+00h 1 58 2.0818303e+00 7.44e-08 2.15e-04 -4.0 3.35e-02 -3.5 1.00e+00 1.00e+00h 1 59 2.0818273e+00 6.05e-08 2.15e-04 -4.0 1.03e-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 60 2.0818174e+00 7.18e-07 2.15e-04 -4.0 3.33e-01 -4.5 1.00e+00 1.00e+00h 1 61 2.0817706e+00 1.00e-05 6.23e-04 -4.0 1.29e+00 -5.0 1.00e+00 1.00e+00h 1 62 2.0815470e+00 5.41e-05 1.10e-03 -4.1 1.51e+00 -5.4 1.00e+00 1.00e+00h 1 63 2.0817385e+00 4.57e-05 5.67e-04 -4.0 1.64e+00 -5.9 1.00e+00 1.00e+00h 1 64 2.0817870e+00 2.51e-05 3.30e-04 -4.0 2.19e+00 -6.4 1.00e+00 1.00e+00h 1 65 2.0815887e+00 4.92e-05 1.72e-04 -4.1 2.01e+00 -6.9 1.00e+00 1.00e+00h 1 66 2.0807219e+00 1.01e-03 5.29e-03 -6.1 1.60e+01 -7.3 9.82e-01 8.75e-01h 1 67 2.0818505e+00 2.87e-03 5.20e-03 -4.0 2.88e+01 -7.8 1.00e+00 1.00e+00f 1 68 2.0816169e+00 2.57e-04 4.94e-04 -4.1 1.09e+01 -8.3 1.00e+00 1.00e+00h 1 69 2.0806146e+00 3.08e-03 3.01e-04 -6.1 3.74e+01 -8.8 9.77e-01 9.54e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818801e+00 5.51e-03 1.23e-03 -4.0 5.19e+01 -9.2 1.00e+00 1.00e+00f 1 71 2.0816119e+00 5.07e-04 1.76e-04 -4.1 2.14e+01 -9.7 1.00e+00 1.00e+00h 1 72 2.0805988e+00 3.45e-03 1.54e-04 -6.1 4.13e+01 -10.2 9.76e-01 9.65e-01h 1 73 2.0818824e+00 6.25e-03 3.31e-04 -4.0 5.85e+01 -10.7 1.00e+00 1.00e+00f 1 74 2.0816093e+00 4.37e-04 1.76e-04 -4.1 1.89e+01 -11.2 1.00e+00 1.00e+00h 1 75 2.0805977e+00 3.45e-03 1.45e-04 -6.1 4.13e+01 -11.6 9.77e-01 9.65e-01h 1 76 2.0810023e+00 2.99e-03 1.19e-02 -4.0 5.89e+01 -12.1 1.00e+00 3.22e-01f 1 77 2.0814218e+00 4.04e-04 1.46e-04 -4.2 1.11e+01 -12.6 1.00e+00 1.00e+00h 1 78 2.0818433e+00 6.46e-04 2.15e-04 -4.0 1.82e+01 -13.1 1.00e+00 1.00e+00h 1 79 2.0815825e+00 2.28e-04 1.72e-04 -4.1 1.04e+01 -13.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805906e+00 3.31e-03 1.39e-04 -6.1 4.00e+01 -14.0 9.78e-01 9.71e-01h 1 81 2.0817120e+00 5.37e-03 2.49e-03 -4.0 6.08e+01 -14.5 1.00e+00 8.69e-01f 1 82 2.0815775e+00 1.97e-04 1.71e-04 -4.1 1.73e+01 -15.0 1.00e+00 1.00e+00h 1 83 2.0805950e+00 3.26e-03 1.40e-04 -6.2 4.03e+01 -15.4 9.77e-01 9.66e-01h 1 84 2.0805499e+00 7.55e-05 1.95e-06 -6.2 1.62e+01 -15.9 1.00e+00 1.00e+00h 1 85 2.0806213e+00 1.02e-04 2.53e-02 -4.0 8.49e+01 -16.4 1.00e+00 5.52e-02f 1 86 2.0813490e+00 1.65e-03 1.33e-04 -4.2 2.69e+01 -16.9 1.00e+00 1.00e+00f 1 87 2.0813651e+00 3.98e-05 1.33e-04 -4.2 3.61e+01 -17.4 1.00e+00 1.00e+00h 1 88 2.0818417e+00 7.73e-04 2.15e-04 -4.0 1.84e+01 -17.8 1.00e+00 1.00e+00h 1 89 2.0815818e+00 2.25e-04 1.72e-04 -4.1 1.03e+01 -18.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805901e+00 3.30e-03 1.39e-04 -6.1 4.00e+01 -18.8 9.78e-01 9.71e-01h 1 91 2.0805497e+00 6.57e-05 1.79e-06 -6.1 1.55e+01 -19.3 1.00e+00 1.00e+00h 1 92 2.0819859e+00 1.06e-02 3.98e-04 -4.0 8.58e+01 -19.7 1.00e+00 1.00e+00f 1 93 2.0816886e+00 9.54e-04 1.84e-04 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0816503e+00 5.60e-07 1.84e-04 -4.1 8.92e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0818389e+00 1.12e-04 2.15e-04 -4.0 6.96e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0815801e+00 2.08e-04 1.72e-04 -4.1 9.49e+00 -20.0 1.00e+00 1.00e+00h 1 97 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -20.0 9.78e-01 9.71e-01h 1 98 2.0805497e+00 6.50e-05 1.78e-06 -6.1 1.55e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -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 100 2.0816887e+00 9.54e-04 1.84e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816887083461593e+00 2.0816887083461593e+00 Dual infeasibility......: 1.8368152031256153e-04 1.8368152031256153e-04 Constraint violation....: 9.5441040309252045e-04 9.5441040309252045e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0598163519095364e-04 1.0598163519095364e-04 Overall NLP error.......: 9.5441040309252045e-04 9.5441040309252045e-04 Number of objective function evaluations = 113 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 113 Number of inequality constraint evaluations = 113 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 29.271 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6527429e+00 2.25e+00 3.68e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7870150e+00 3.91e-02 6.92e-01 -1.0 1.94e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3312886e+00 1.10e-01 2.52e-01 -1.6 1.66e+00 -2.5 9.87e-01 1.00e+00h 1 3 2.1662920e+00 1.11e-02 5.93e-02 -2.3 6.39e-01 -3.0 9.62e-01 1.00e+00h 1 4 2.0941520e+00 3.22e-03 9.74e-03 -3.5 3.68e-01 -3.4 9.91e-01 9.83e-01h 1 5 2.0909226e+00 1.19e-04 3.91e-04 -4.0 1.69e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908613e+00 1.24e-06 2.06e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907139e+00 8.41e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902727e+00 7.69e-06 3.45e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889601e+00 7.05e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851218e+00 6.68e-04 2.78e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796346e+00 2.13e-03 1.75e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.41e-01h 1 12 2.0802567e+00 1.41e-04 1.58e-01 -4.0 7.04e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775212e+00 7.52e-03 2.51e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.26e-01h 1 14 2.0768298e+00 1.52e-03 3.70e-02 -4.0 2.03e+02 -8.2 1.00e+00 8.56e-01h 1 15 2.0762240e+00 2.00e-03 4.47e-02 -4.0 3.64e+02 -8.7 1.00e+00 7.52e-01h 1 16 2.0755073e+00 3.22e-03 3.67e-02 -4.0 6.40e+02 -9.2 1.00e+00 6.86e-01h 1 17 2.0757916e+00 3.12e-03 1.71e-02 -4.0 1.75e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0756781e+00 4.49e-04 6.54e-04 -4.0 8.35e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756713e+00 3.15e-06 1.02e-05 -4.0 2.27e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0756712e+00 6.13e-08 1.13e-06 -4.0 1.32e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756712e+00 2.10e-09 8.56e-08 -4.0 4.20e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756712e+00 3.18e-11 1.24e-09 -4.0 6.15e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712121394982e+00 2.0756712121394982e+00 Dual infeasibility......: 1.2433406518437030e-09 1.2433406518437030e-09 Constraint violation....: 3.1774138875562130e-11 3.1774138875562130e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000044e-04 1.0000000000000044e-04 Overall NLP error.......: 1.2433406518437030e-09 1.2433406518437030e-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 = 19.946 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 4.9607624e+00 3.78e+00 3.22e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4682644e+00 1.18e-01 2.50e+00 -0.9 2.10e+00 0.0 8.56e-01 9.70e-01f 1 2 2.7065344e+00 6.98e-02 1.24e+00 -0.6 6.69e-01 -0.5 7.22e-01 6.02e-01f 1 3 2.5220844e+00 9.75e-02 2.23e+00 -1.1 1.07e+00 -1.0 9.93e-01 1.00e+00h 1 4 2.3994600e+00 2.32e-02 5.37e-01 -1.5 6.48e-01 -1.4 9.84e-01 1.00e+00h 1 5 2.1754515e+00 1.42e-02 7.97e-02 -1.9 3.98e-01 -1.9 9.57e-01 1.00e+00h 1 6 2.1023494e+00 1.43e-03 1.38e-02 -2.9 1.24e-01 -2.4 9.62e-01 9.93e-01h 1 7 2.0910302e+00 3.78e-04 2.51e-02 -4.0 2.17e-01 -2.9 1.00e+00 1.00e+00h 1 8 2.0908622e+00 2.41e-06 1.89e-03 -4.0 9.14e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908485e+00 1.25e-07 3.48e-04 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908086e+00 7.82e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906892e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903318e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892664e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861351e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796241e+00 2.49e-03 8.71e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.55e-01h 1 16 2.0812596e+00 1.56e-04 1.91e-01 -4.0 6.71e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778325e+00 5.82e-03 2.67e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781540e+00 1.59e-02 3.72e-02 -3.7 1.50e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767317e+00 1.30e-02 1.86e-02 -3.8 2.82e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0757958e+00 2.04e-04 2.14e-02 -3.9 4.14e+02 -9.1 1.00e+00 9.95e-01H 1 21 2.0757811e+00 6.22e-03 9.53e-03 -4.0 1.43e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756782e+00 3.46e-04 4.17e-04 -4.0 6.17e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.48e-06 7.38e-06 -4.0 2.11e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756713e+00 5.68e-08 1.41e-06 -4.0 1.50e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756713e+00 4.05e-09 1.70e-07 -4.0 6.32e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756713e+00 1.06e-10 4.15e-09 -4.0 1.16e+00 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712528834642e+00 2.0756712528834642e+00 Dual infeasibility......: 4.1493796291449097e-09 4.1493796291449097e-09 Constraint violation....: 1.0559553231814789e-10 1.0559553231814789e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000019e-04 1.0000000000000019e-04 Overall NLP error.......: 4.1493796291449097e-09 4.1493796291449097e-09 Number of objective function evaluations = 29 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 29 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 18.933 EXIT: Optimal Solution Found. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.1. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.4045956e+00 3.66e+00 8.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.6355933e+00 1.80e+00 1.02e+00 -1.1 1.89e+00 0.0 7.95e-01 5.06e-01h 1 2 2.5337909e+00 2.01e-02 7.93e-01 -1.2 1.02e+00 -0.5 9.60e-01 1.00e+00h 1 3 2.2588490e+00 1.81e-02 3.07e-01 -1.8 2.98e-01 -1.0 9.85e-01 8.23e-01h 1 4 2.1168376e+00 1.28e-03 2.41e-02 -2.7 7.31e-02 -1.4 9.93e-01 9.57e-01h 1 5 2.0910072e+00 4.38e-05 1.78e-03 -4.0 9.42e-03 -1.9 9.96e-01 9.90e-01h 1 6 2.0909373e+00 2.22e-07 8.54e-05 -4.0 2.08e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909360e+00 5.98e-10 2.53e-05 -4.0 1.84e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909316e+00 7.64e-10 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909183e+00 6.87e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908785e+00 6.19e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907590e+00 5.58e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0904014e+00 5.05e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893356e+00 4.61e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0862028e+00 4.33e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796271e+00 2.53e-03 8.55e-02 -4.0 8.74e+01 -6.7 1.00e+00 7.61e-01h 1 16 2.0812900e+00 1.54e-04 1.95e-01 -4.0 6.79e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778392e+00 5.82e-03 2.74e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781441e+00 1.58e-02 3.85e-02 -3.7 1.52e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767368e+00 1.30e-02 1.90e-02 -3.8 2.84e+02 -8.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0758358e+00 1.08e-02 2.12e-02 -3.9 4.18e+02 -9.1 1.00e+00 9.92e-01h 1 21 2.0757759e+00 6.14e-03 8.71e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756776e+00 3.63e-04 3.96e-04 -4.0 6.12e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 1.37e-06 7.13e-06 -4.0 2.30e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.07e-08 1.48e-06 -4.0 1.49e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.47e-09 1.48e-07 -4.0 5.21e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.65e-11 3.00e-09 -4.0 9.20e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122083578e+00 2.0756712122083578e+00 Dual infeasibility......: 2.9982324872346918e-09 2.9982324872346918e-09 Constraint violation....: 7.6549433458694693e-11 7.6549433458694693e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000021e-04 1.0000000000000021e-04 Overall NLP error.......: 2.9982324872346918e-09 2.9982324872346918e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 20.364 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 3.9890532e+00 2.24e+00 3.28e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7399739e+00 2.81e-02 3.45e+00 -1.0 1.86e+00 -2.0 9.84e-01 1.00e+00f 1 2 2.3028989e+00 1.12e-01 4.72e-01 -1.8 2.29e+00 -2.5 1.00e+00 1.00e+00h 1 3 2.1753456e+00 1.14e-02 1.00e-01 -2.2 8.02e-01 -3.0 9.65e-01 1.00e+00h 1 4 2.0952848e+00 4.93e-03 1.42e-02 -3.3 5.41e-01 -3.4 9.87e-01 1.00e+00h 1 5 2.0909813e+00 6.15e-05 3.06e-04 -4.0 1.67e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0909056e+00 1.96e-06 2.25e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907577e+00 8.38e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903153e+00 7.65e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889986e+00 6.98e-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 2.0851477e+00 6.53e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797657e+00 1.93e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.30e-01h 1 12 2.0803389e+00 5.13e-05 1.80e-01 -4.0 6.75e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0776084e+00 5.40e-03 1.78e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.38e-01h 1 14 2.0769178e+00 9.62e-04 6.49e-02 -4.0 2.05e+02 -8.2 1.00e+00 9.50e-01h 1 15 2.0762976e+00 9.10e-04 2.30e-02 -4.0 3.56e+02 -8.7 1.00e+00 7.91e-01h 1 16 2.0756144e+00 1.26e-03 2.57e-02 -4.0 6.15e+02 -9.2 1.00e+00 6.77e-01h 1 17 2.0758823e+00 1.00e-03 1.45e-02 -4.0 1.72e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0757768e+00 9.91e-05 5.23e-04 -4.0 7.75e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757705e+00 2.14e-07 6.88e-06 -4.0 2.28e+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 1.18e-08 1.13e-06 -4.0 1.32e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757704e+00 1.48e-10 8.46e-08 -4.0 4.12e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0757704e+00 2.51e-12 1.20e-09 -4.0 5.95e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0757703961177079e+00 2.0757703961177079e+00 Dual infeasibility......: 1.2018256607731950e-09 1.2018256607731950e-09 Constraint violation....: 2.5144313714475786e-12 2.5144313714475786e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000013e-04 1.0000000000000013e-04 Overall NLP error.......: 1.2018256607731950e-09 1.2018256607731950e-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 = 20.753 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 1.3629386e+00 7.11e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7529927e+00 2.92e-01 2.12e+00 -0.8 7.11e-01 0.0 9.92e-01 1.00e+00h 1 2 1.6950792e+00 6.32e-02 6.12e-01 -0.8 3.55e-01 -0.5 6.75e-01 7.84e-01h 1 3 1.6091389e+00 3.16e-02 2.39e+00 -1.5 1.59e+01 - 8.85e-01 5.00e-01f 2 4 1.5205524e+00 1.44e-02 1.09e+00 -2.3 4.98e-01 -1.0 1.00e+00 7.45e-01h 1 5 1.2422483e+00 7.13e-03 8.29e-01 -2.1 2.70e+00 -1.4 9.98e-01 1.16e-01f 1 6 1.2243701e+00 2.56e-03 1.34e+00 -2.1 1.15e+01 - 9.74e-01 1.00e+00h 1 7 1.1446494e+00 2.81e-05 9.12e-03 -2.2 1.20e-01 -1.9 1.00e+00 1.00e+00h 1 8 1.1051239e+00 5.76e-07 6.16e-02 -4.0 4.05e-01 -2.4 4.88e-01 9.66e-01f 1 9 1.0909952e+00 3.77e-08 2.20e-01 -4.0 4.67e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0916959e+00 4.25e-11 3.01e-04 -3.7 1.64e-01 - 9.99e-01 1.00e+00f 1 11 1.0908998e+00 6.05e-16 5.97e-06 -4.0 2.39e-01 - 1.00e+00 1.00e+00f 1 12 1.0908997e+00 1.54e-22 5.93e-06 -4.0 1.32e-03 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 2.00e-35 5.91e-06 -4.0 3.63e-05 - 1.00e+00 1.00e+00h 1 14 1.0907198e+00 1.01e-35 9.04e-10 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 1.36e-35 9.42e-10 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 15 (scaled) (unscaled) Objective...............: 1.0908997336734827e+00 1.0908997336734827e+00 Dual infeasibility......: 9.4155735699743160e-10 9.4155735699743160e-10 Constraint violation....: 1.3605588054728152e-35 1.3605588054728152e-35 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 9.4155735699743160e-10 9.4155735699743160e-10 Number of objective function evaluations = 18 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 18 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 16 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 15 Total seconds in IPOPT = 16.874 EXIT: Optimal Solution Found. Test Summary: | Pass Fail Total Time Package | 172 2 174 15m19.5s src/solvers/ipopt_solver/evaluator.jl | 5 5 1m47.4s src/constraints/nonlinear/global_constraint.jl | 2 2 17.1s src/constraints/linear/symmetry_constraint.jl | 20 20 1m12.9s src/integrators/bilinear_integrator.jl | 3 3 31.5s src/objectives/_objectives.jl | 19 19 20.0s src/objectives/global_objectives.jl | 6 6 22.7s src/constraints/nonlinear/knot_point_constraint.jl | 22 2 24 1m31.7s NonlinearKnotPointConstraint - single variable | 2 2 10.8s NonlinearKnotPointConstraint - single variable with vector syntax | 3 2 5 19.8s NonlinearKnotPointConstraint - multiple variables concatenated | 2 2 11.3s NonlinearKnotPointConstraint - multiple variables separate arguments | 2 2 12.4s NonlinearKnotPointConstraint - three variables separate arguments | 2 2 9.5s NonlinearKnotPointConstraint - inequality vs equality | 7 7 17.7s NonlinearKnotPointConstraint - subset of times | 4 4 10.2s src/integrators/time_dependent_bilinear_integrator.jl | 3 3 2m15.1s src/constraints/linear/bounds_constraint.jl | 60 60 1m40.2s src/constraints/linear/total_constraint.jl | 2 2 41.2s src/solvers/ipopt_solver/callbacks.jl | 2 2 31.0s src/integrators/derivative_integrator.jl | 3 3 12.8s src/solvers/ipopt_solver/solver.jl | 9 9 1m40.3s src/objectives/knot_point_objectives.jl | 6 6 6.9s src/constraints/linear/equality_constraint.jl | 3 3 1m03.4s src/constraints/nonlinear/global_knot_point_constraint.jl | 2 2 16.4s src/objectives/regularizers.jl | 3 3 5.7s src/constraints/linear/all_equal_constraint.jl | 2 2 43.2s ERROR: LoadError: Some tests did not pass: 172 passed, 2 failed, 0 errored, 0 broken. in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/mI0oj/test/runtests.jl:6 Testing failed after 1031.78s ERROR: LoadError: Package DirectTrajOpt errored during testing Stacktrace: [1] pkgerror(msg::String) @ Pkg.Types /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Types.jl:68 [2] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, julia_args::Cmd, test_args::Cmd, test_fn::Nothing, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool) @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:3122 [3] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:2987 [inlined] [4] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, test_fn::Nothing, julia_args::Cmd, test_args::Cmd, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool, kwargs::@Kwargs{io::IOContext{IO}}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:572 [5] kwcall(::@NamedTuple{julia_args::Cmd, io::IOContext{IO}}, ::typeof(Pkg.API.test), ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:548 [6] test(pkgs::Vector{PackageSpec}; io::IOContext{IO}, kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:172 [7] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:161 [8] test(pkgs::Vector{String}; kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [9] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [inlined] [10] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkg::String) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:159 [11] top-level scope @ /PkgEval.jl/scripts/evaluate.jl:237 [12] include(mod::Module, _path::String) @ Base ./Base.jl:309 [13] exec_options(opts::Base.JLOptions) @ Base ./client.jl:344 [14] _start() @ Base ./client.jl:585 in expression starting at /PkgEval.jl/scripts/evaluate.jl:228 PkgEval failed after 1316.83s: package has test failures