Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1563 (14ca1abc72*) started at 2026-01-19T00:02:52.889 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 9.77s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed DirectTrajOpt ─ v0.7.0 Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.7.0 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 [95dc2771] + ComputePipeline v0.1.6 [2569d6c7] + ConcreteStructs v0.2.3 [187b0558] + ConstructionBase v1.6.0 [adafc99b] + CpuId v0.3.1 [864edb3b] + DataStructures v0.19.3 [2b5f629d] + DiffEqBase v6.199.0 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.15.1 [a0c0ee7d] + DifferentiationInterface v0.7.14 [c823fa1f] + DirectTrajOpt v0.7.0 [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 v1.16.0 [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 v1.14.0 [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 v0.8.0 [be0214bd] + NonlinearSolveBase v2.9.1 [510215fc] + Observables v0.5.5 [bac558e1] + OrderedCollections v1.8.1 [bbf590c4] + OrdinaryDiffEqCore v3.1.0 [b1df2697] + OrdinaryDiffEqTsit5 v1.9.0 [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 v2.134.0 [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 v300.1400.1901+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 [d7ed1dd3] + MUMPS_seq_jll v500.800.200+0 [656ef2d0] + OpenBLAS32_jll v0.3.29+0 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+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 5.98s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling packages... 30458.5 ms ✓ SciMLBase 1624.1 ms ✓ FastPower → FastPowerForwardDiffExt 2728.6 ms ✓ PreallocationTools → PreallocationToolsForwardDiffExt 3365.4 ms ✓ RecursiveArrayTools → RecursiveArrayToolsForwardDiffExt 82462.5 ms ✓ MathOptInterface 11077.6 ms ✓ NamedTrajectories 5070.8 ms ✓ SciMLBase → SciMLBaseChainRulesCoreExt 5485.7 ms ✓ SciMLBase → SciMLBaseForwardDiffExt 4254.5 ms ✓ SciMLBase → SciMLBaseDifferentiationInterfaceExt 45189.8 ms ✓ Ipopt → IpoptMathOptInterfaceExt 9066.3 ms ✓ SciMLJacobianOperators 19006.3 ms ✓ NonlinearSolveBase 5207.6 ms ✓ NonlinearSolveBase → NonlinearSolveBaseSparseArraysExt 4182.2 ms ✓ NonlinearSolveBase → NonlinearSolveBaseChainRulesCoreExt 5402.7 ms ✓ NonlinearSolveBase → NonlinearSolveBaseForwardDiffExt 10108.6 ms ✓ BracketingNonlinearSolve 5884.3 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveForwardDiffExt 11254.8 ms ✓ DiffEqBase 6585.9 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 7412.6 ms ✓ DiffEqBase → DiffEqBaseSparseArraysExt 6008.4 ms ✓ DiffEqBase → DiffEqBaseChainRulesCoreExt 6479.7 ms ✓ DiffEqBase → DiffEqBaseForwardDiffExt 13486.6 ms ✓ OrdinaryDiffEqCore 5014.8 ms ✓ OrdinaryDiffEqCore → OrdinaryDiffEqCoreEnzymeCoreExt 16035.4 ms ✓ OrdinaryDiffEqTsit5 28426.4 ms ✓ DirectTrajOpt 26 dependencies successfully precompiled in 363 seconds. 201 already precompiled. Precompilation completed after 358.61s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_2xQf84/Project.toml` [c823fa1f] DirectTrajOpt v0.7.0 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.29.0 [f6369f11] ForwardDiff v1.3.1 [b6b21f68] Ipopt v1.14.0 [5078a376] LazyArrays v2.9.4 [b8f27783] MathOptInterface v1.48.0 [538bc3a1] NamedTrajectories v0.8.0 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [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_2xQf84/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 [95dc2771] ComputePipeline v0.1.6 [2569d6c7] ConcreteStructs v0.2.3 [187b0558] ConstructionBase v1.6.0 [adafc99b] CpuId v0.3.1 [864edb3b] DataStructures v0.19.3 [2b5f629d] DiffEqBase v6.199.0 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.15.1 [a0c0ee7d] DifferentiationInterface v0.7.14 [c823fa1f] DirectTrajOpt v0.7.0 [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 v1.16.0 [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 v1.14.0 [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 v0.8.0 [be0214bd] NonlinearSolveBase v2.9.1 [510215fc] Observables v0.5.5 [bac558e1] OrderedCollections v1.8.1 [bbf590c4] OrdinaryDiffEqCore v3.1.0 [b1df2697] OrdinaryDiffEqTsit5 v1.9.0 [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 v2.134.0 [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 v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.29+0 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+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: 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 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 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 81 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5012677e+00 3.20e+00 4.79e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7591739e+00 1.79e-02 3.15e+00 -1.1 2.37e+00 -2.0 9.97e-01 1.00e+00h 1 2 2.3561681e+00 5.99e-02 1.47e-01 -1.6 1.24e+00 -2.5 9.97e-01 1.00e+00h 1 3 2.1477419e+00 2.24e-02 5.71e-02 -2.4 9.45e-01 -3.0 9.19e-01 1.00e+00h 1 4 2.0915991e+00 2.87e-03 1.89e-02 -3.7 4.74e-01 -3.4 9.96e-01 1.00e+00h 1 5 2.0909447e+00 2.47e-06 6.44e-04 -4.0 1.67e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908935e+00 2.62e-08 2.06e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907456e+00 8.47e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903032e+00 7.66e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889867e+00 6.99e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851364e+00 6.53e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797766e+00 1.92e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.28e-01h 1 12 2.0803561e+00 5.00e-05 1.60e-01 -4.0 6.63e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775881e+00 5.53e-03 1.61e-02 -4.0 1.24e+02 -7.7 1.00e+00 9.49e-01h 1 14 2.0769982e+00 1.15e-03 4.79e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762738e+00 5.44e-04 2.24e-02 -4.0 3.55e+02 -8.7 1.00e+00 7.82e-01h 1 16 2.0756090e+00 8.56e-04 2.68e-02 -4.0 5.85e+02 -9.2 1.00e+00 6.85e-01h 1 17 2.0758723e+00 9.59e-04 1.49e-02 -4.0 1.63e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754618e+00 1.93e-03 5.91e-04 -4.1 8.52e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 5.04e-04 7.12e-06 -4.0 2.11e+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 2.0754219e+00 6.63e-04 8.99e-07 -4.1 2.50e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.27e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0757704e+00 1.10e-07 1.24e-08 -4.0 2.11e+00 -12.0 1.00e+00 1.00e+00h 1 23 2.0757704e+00 2.15e-14 3.52e-12 -4.0 1.59e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0757703960461025e+00 2.0757703960461025e+00 Dual infeasibility......: 3.5205043903956817e-12 3.5205043903956817e-12 Constraint violation....: 2.1538326677728037e-14 2.1538326677728037e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000057e-04 1.0000000000000057e-04 Overall NLP error.......: 3.5205043903956817e-12 3.5205043903956817e-12 Number of objective function evaluations = 25 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 25 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 = 45.749 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 5.8.2. 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 1.6038287e+00 6.95e-01 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.7787637e+00 1.10e-01 1.23e+00 -1.0 6.30e-01 0.0 1.00e+00 1.00e+00h 1 2 1.7345528e+00 5.33e-02 8.79e-01 -0.8 4.93e-01 -0.5 1.00e+00 6.87e-01h 1 3 1.7286386e+00 2.55e-02 5.83e-01 -1.2 3.39e-01 -1.0 8.68e-01 1.00e+00h 1 4 1.6042490e+00 1.79e-02 1.75e+00 -1.4 8.93e+00 - 9.80e-01 2.95e-01h 1 5 1.3224612e+00 7.84e-03 8.88e-01 -2.2 5.16e+00 - 1.00e+00 5.88e-01f 1 6 1.1053254e+00 1.48e-04 2.69e-02 -2.8 7.40e-01 - 1.00e+00 1.00e+00h 1 7 1.0913155e+00 1.21e-06 2.11e-02 -4.0 1.17e+00 - 1.00e+00 1.00e+00h 1 8 1.0908959e+00 2.11e-10 2.39e-03 -4.0 4.79e-01 - 1.00e+00 1.00e+00h 1 9 1.0908997e+00 2.77e-14 1.12e-05 -4.0 1.47e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908997e+00 3.28e-26 1.11e-05 -4.0 6.54e-06 - 1.00e+00 1.00e+00h 1 11 1.0908997e+00 1.13e-27 3.16e-16 -4.0 7.22e-12 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 11 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 3.1624144492328754e-16 3.1624144492328754e-16 Constraint violation....: 1.1316699630921063e-27 1.1316699630921063e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 3.1624144492328754e-16 3.1624144492328754e-16 Number of objective function evaluations = 12 Number of objective gradient evaluations = 12 Number of equality constraint evaluations = 12 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 12 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 11 Total seconds in IPOPT = 16.980 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 5.8.2. 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 2.7352576e+00 2.96e+00 1.57e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8261669e+00 2.43e-02 5.83e-01 -1.1 1.94e+00 -2.0 9.97e-01 1.00e+00h 1 2 2.2839746e+00 3.17e-02 1.10e-01 -1.8 4.94e-01 -1.6 9.74e-01 1.00e+00h 1 3 2.1307285e+00 1.12e-02 2.29e-01 -2.7 1.96e-01 -1.1 9.47e-01 1.00e+00h 1 4 2.0928911e+00 7.01e-04 1.39e-01 -3.8 7.48e-02 -1.6 1.00e+00 9.43e-01h 1 5 2.0910910e+00 4.50e-04 1.30e+00 -4.0 4.94e-01 -2.1 1.00e+00 2.61e-01h 1 6 2.0908964e+00 7.42e-05 6.11e-01 -4.0 8.95e-01 -2.6 1.00e+00 1.00e+00h 1 7 2.0909193e+00 7.40e-07 1.36e-02 -4.0 2.48e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909723e+00 1.81e-06 2.06e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909513e+00 2.65e-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 2.0908894e+00 1.46e-07 2.05e-05 -4.0 6.30e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907071e+00 1.29e-06 4.96e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901877e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888449e+00 8.19e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861576e+00 4.39e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830879e+00 9.14e-04 4.71e-02 -4.0 5.31e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828709e+00 9.33e-04 2.42e-02 -4.0 5.37e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823467e+00 4.08e-04 9.96e-03 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820396e+00 9.31e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819518e+00 2.68e-04 8.63e-03 -4.0 9.90e+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 3.66e-05 8.42e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.29e-07 1.38e-05 -4.0 4.44e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.76e-10 3.25e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-13 1.21e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190911e+00 2.0819382907190911e+00 Dual infeasibility......: 1.2128385643885020e-11 1.2128385643885020e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000025e-04 1.0000000000000025e-04 Overall NLP error.......: 1.2128385643885020e-11 1.2128385643885020e-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 = 18.947 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 5.8.2. 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 4.1598528e+00 3.88e+00 3.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8764868e+00 1.95e-02 4.72e-01 -1.0 2.66e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3360673e+00 2.42e-02 4.88e-02 -1.7 3.13e-01 -1.6 9.43e-01 1.00e+00h 1 3 2.1498558e+00 3.30e-03 2.97e-01 -3.6 1.40e-01 -1.1 9.21e-01 1.00e+00h 1 4 2.0950332e+00 1.76e-03 3.21e-01 -3.7 1.83e-01 -1.6 1.00e+00 9.38e-01h 1 5 2.0918726e+00 1.27e-03 1.58e+00 -3.9 8.66e-01 -2.1 1.00e+00 2.61e-01h 1 6 2.0909156e+00 2.43e-04 6.09e-01 -4.0 1.02e+00 -2.6 1.00e+00 1.00e+00h 1 7 2.0908750e+00 1.79e-06 2.01e-02 -4.0 5.42e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0908430e+00 7.38e-07 4.90e-05 -4.0 5.49e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908315e+00 1.51e-08 1.57e-05 -4.0 1.61e-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 2.0907969e+00 6.04e-08 6.77e-05 -4.0 4.60e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906971e+00 5.81e-07 2.12e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0903572e+00 4.87e-06 8.02e-04 -4.0 4.00e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0900616e+00 7.02e-06 3.17e-02 -4.0 1.35e+01 -5.9 1.00e+00 2.42e-01h 2 14 2.0881018e+00 1.83e-04 3.78e-02 -4.0 3.29e+01 -6.4 1.00e+00 7.15e-01h 1 15 2.0844886e+00 1.51e-03 7.17e-02 -4.0 6.63e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0831557e+00 1.12e-03 1.01e-01 -4.0 4.83e+01 -6.4 1.00e+00 2.89e-01h 1 17 2.0827806e+00 2.48e-04 1.32e-02 -4.0 2.63e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0825775e+00 2.20e-04 2.66e-03 -4.0 6.93e+01 -7.4 1.00e+00 1.00e+00h 1 19 2.0821712e+00 6.92e-04 6.44e-03 -4.0 1.56e+02 -7.9 8.26e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898202e+00 3.76e-05 9.26e-02 -4.0 6.45e+01 -6.5 9.71e-01 1.00e+00H 1 21 2.0833609e+00 9.75e-08 1.61e-02 -4.0 1.05e-01 -0.7 1.00e+00 1.00e+00f 1 22 2.0828461e+00 2.71e-08 2.02e-03 -4.0 2.14e-02 -1.2 1.00e+00 1.00e+00h 1 23 2.0827372e+00 4.15e-07 8.91e-04 -4.0 4.04e-02 -1.7 1.00e+00 1.00e+00h 1 24 2.0827215e+00 1.75e-07 1.41e-04 -4.0 1.93e-02 -2.1 1.00e+00 1.00e+00h 1 25 2.0827381e+00 9.58e-09 7.65e-06 -4.0 3.15e-03 -2.6 1.00e+00 1.00e+00h 1 26 2.0827376e+00 1.07e-09 7.65e-06 -4.0 9.43e-03 -3.1 1.00e+00 1.00e+00h 1 27 2.0827358e+00 4.05e-10 7.64e-06 -4.0 2.83e-02 -3.6 1.00e+00 1.00e+00h 1 28 2.0827305e+00 4.00e-09 7.61e-06 -4.0 8.44e-02 -4.0 1.00e+00 1.00e+00h 1 29 2.0827148e+00 3.52e-08 7.51e-06 -4.0 2.50e-01 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0826698e+00 2.97e-07 2.74e-05 -4.0 7.23e-01 -5.0 1.00e+00 1.00e+00h 1 31 2.0825514e+00 2.12e-06 1.97e-04 -4.0 1.97e+00 -5.5 1.00e+00 1.00e+00h 1 32 2.0823170e+00 1.26e-05 1.01e-03 -4.0 4.81e+00 -6.0 1.00e+00 1.00e+00h 1 33 2.0820643e+00 7.51e-05 1.63e-03 -4.0 1.38e+01 -6.4 1.00e+00 1.00e+00h 1 34 2.0820787e+00 1.49e-04 2.84e-02 -4.0 4.70e+02 -6.9 1.57e-02 2.93e-02h 4 35 2.0818704e+00 2.53e-06 3.43e-04 -4.1 9.45e-02 -4.7 1.00e+00 1.00e+00h 1 36 2.0820792e+00 7.31e-05 1.08e-03 -4.0 1.30e+00 -5.2 1.00e+00 1.00e+00h 1 37 2.0820244e+00 3.66e-05 1.27e-02 -4.1 3.73e+00 -5.6 8.60e-01 1.00e+00h 1 38 2.0820655e+00 2.28e-05 8.91e-01 -4.1 8.24e-01 -3.4 1.00e+00 3.75e-01h 1 39 2.0819298e+00 1.55e-06 1.74e-03 -4.1 8.54e-02 -3.9 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821329e+00 1.41e-05 1.17e-03 -4.0 2.07e-01 -4.4 1.00e+00 1.00e+00h 1 41 2.0819691e+00 3.63e-06 1.70e-04 -4.1 1.22e-01 -4.8 1.00e+00 1.00e+00h 1 42 2.0813537e+00 1.48e-04 2.10e-02 -6.1 1.60e+00 -5.3 9.32e-01 1.00e+00h 1 43 2.0821627e+00 6.96e-06 1.60e-03 -4.0 5.75e-02 -4.0 1.00e+00 1.00e+00h 1 44 2.0818921e+00 9.09e-06 7.77e-05 -4.1 1.50e-01 -4.5 1.00e+00 1.00e+00h 1 45 2.0813598e+00 6.56e-05 4.65e-02 -6.1 7.70e-01 -4.9 8.01e-01 1.00e+00h 1 46 2.0814255e+00 3.06e-05 9.82e-04 -4.6 1.39e+00 -5.4 1.00e+00 1.00e+00h 1 47 2.0820418e+00 1.54e-04 7.29e-02 -4.0 7.91e+00 -5.9 7.53e-01 3.88e-01h 2 48 2.0818420e+00 8.30e-05 6.75e-01 -4.2 8.13e-02 -1.8 1.00e+00 4.61e-01h 1 49 2.0818822e+00 1.53e-07 4.49e-04 -4.2 1.08e-01 -2.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820958e+00 5.03e-07 5.24e-04 -4.0 7.09e-02 -2.8 1.00e+00 1.00e+00h 1 51 2.0819649e+00 4.41e-07 9.93e-05 -4.1 2.09e-02 -3.3 1.00e+00 1.00e+00h 1 52 2.0814076e+00 8.24e-06 1.18e-01 -6.1 8.56e-02 -3.8 7.07e-01 1.00e+00h 1 53 2.0821983e+00 2.54e-05 2.05e-03 -4.0 2.15e-01 -4.2 1.00e+00 1.00e+00h 1 54 2.0818980e+00 2.25e-05 1.55e-04 -4.1 6.25e-01 -4.7 1.00e+00 1.00e+00h 1 55 2.0812713e+00 1.79e-04 1.49e-01 -6.1 1.86e+00 -5.2 6.51e-01 1.00e+00h 1 56 2.0813223e+00 1.54e-04 9.25e-02 -4.0 5.19e+00 -4.8 1.02e-01 1.15e-01h 1 57 2.0815016e+00 1.38e-04 9.82e-01 -4.0 4.73e+00 -5.2 9.30e-01 2.02e-01f 1 58 2.0819211e+00 3.08e-03 7.94e-01 -4.0 1.81e+01 -5.7 1.00e+00 3.88e-01h 2 59 2.0821581e+00 3.96e-04 4.97e-03 -4.0 3.07e+00 -6.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0820974e+00 1.45e-03 2.83e-04 -4.0 6.36e+00 -6.7 1.00e+00 1.00e+00h 1 61 2.0820556e+00 2.29e-05 7.66e-04 -4.0 1.35e+01 -7.1 1.00e+00 1.00e+00h 1 62 2.0807948e+00 5.29e-03 1.20e-03 -6.0 4.90e+01 -7.6 9.72e-01 9.74e-01h 1 63 2.0818951e+00 6.12e-03 5.04e-03 -4.0 5.48e+01 -8.1 1.00e+00 1.00e+00f 1 64 2.0816099e+00 1.40e-03 1.71e-03 -4.1 5.14e+01 -8.6 1.00e+00 1.00e+00h 1 65 2.0815918e+00 1.63e-05 5.75e-04 -4.1 2.87e+01 -9.1 1.00e+00 1.00e+00h 1 66 2.0818393e+00 1.99e-04 3.69e-05 -4.0 8.64e+00 -9.5 1.00e+00 1.00e+00h 1 67 2.0815805e+00 2.09e-04 1.33e-05 -4.1 9.53e+00 -10.0 1.00e+00 1.00e+00h 1 68 2.0805902e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.5 9.78e-01 9.71e-01h 1 69 2.0818881e+00 6.55e-03 3.21e-04 -4.0 6.08e+01 -11.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816142e+00 4.87e-04 1.05e-05 -4.1 2.07e+01 -11.4 1.00e+00 1.00e+00h 1 71 2.0805990e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -11.9 9.76e-01 9.65e-01h 1 72 2.0805508e+00 8.47e-05 2.28e-06 -6.1 1.69e+01 -12.4 1.00e+00 1.00e+00h 1 73 2.0819793e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -12.9 1.00e+00 1.00e+00f 1 74 2.0816850e+00 9.29e-04 4.91e-05 -4.1 4.57e+01 -13.3 1.00e+00 1.00e+00h 1 75 2.0816490e+00 4.77e-07 7.47e-07 -4.1 8.50e+00 -13.8 1.00e+00 1.00e+00h 1 76 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -14.3 1.00e+00 1.00e+00h 1 77 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -14.8 1.00e+00 1.00e+00h 1 78 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.3 9.78e-01 9.71e-01h 1 79 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -15.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.2 1.00e+00 1.00e+00f 1 81 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -16.7 1.00e+00 1.00e+00h 1 82 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -17.2 1.00e+00 1.00e+00h 1 83 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -17.6 9.77e-01 9.75e-01h 1 84 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.1 1.00e+00 1.00e+00h 1 85 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -18.6 1.00e+00 1.00e+00h 1 86 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -19.1 1.00e+00 1.00e+00f 1 87 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -19.6 1.00e+00 1.00e+00h 1 88 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0805915e+00 3.77e-03 1.67e-04 -6.1 4.21e+01 -20.0 9.76e-01 9.75e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 93 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 94 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 97 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 9.80e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 101 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 102 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 103 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 104 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 105 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 106 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 107 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 108 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 109 2.0805365e+00 4.44e-16 3.37e-16 -9.0 1.11e-05 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 110 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 111 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 112 2.0805365e+00 8.88e-16 2.03e-16 -9.0 6.79e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 112 (scaled) (unscaled) Objective...............: 2.0805364715330508e+00 2.0805364715330508e+00 Dual infeasibility......: 2.0309745975833971e-16 2.0309745975833971e-16 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 9.0909103283437487e-09 9.0909103283437487e-09 Complementarity.........: 9.0909090969342984e-10 9.0909090969342984e-10 Overall NLP error.......: 9.9999090909091523e-05 9.9999090909091523e-05 Number of objective function evaluations = 129 Number of objective gradient evaluations = 113 Number of equality constraint evaluations = 129 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 113 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 113 Total seconds in IPOPT = 19.460 EXIT: Search Direction is becoming Too Small. 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 5.8.2. 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 1.4599169e+00 7.77e-01 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4994773e+00 1.29e-01 1.71e+00 -0.9 7.27e-01 0.0 9.99e-01 1.00e+00h 1 2 1.2843872e+00 9.80e-02 1.48e+00 -1.0 9.16e+00 - 2.91e-01 2.42e-01h 1 3 1.6980157e+00 8.63e-02 1.73e+00 -1.6 2.73e-01 -0.5 7.97e-01 1.00e+00h 1 4 1.5213773e+00 6.04e-02 1.34e+00 -0.9 7.25e-01 -1.0 1.00e+00 2.14e-01h 1 5 1.7004912e+00 2.56e-02 1.50e+00 -1.5 3.96e-01 -1.4 9.83e-01 1.00e+00h 1 6 1.2516537e+00 1.88e-02 5.21e-01 -1.7 3.65e-01 -1.0 1.00e+00 5.12e-01f 1 7 1.1433915e+00 8.23e-03 6.12e-01 -2.5 4.07e+00 - 1.00e+00 5.55e-01h 1 8 1.0997245e+00 8.01e-05 3.52e-01 -4.0 4.28e+00 - 1.00e+00 1.00e+00h 1 9 1.0924182e+00 2.60e-05 7.41e-02 -4.0 1.71e+00 - 1.00e+00 6.76e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0908595e+00 3.75e-07 9.97e-03 -4.0 7.17e-01 - 1.00e+00 1.00e+00h 1 11 1.0909001e+00 2.23e-10 5.81e-05 -4.0 4.02e-02 - 1.00e+00 1.00e+00h 1 12 1.0908997e+00 5.31e-18 5.81e-05 -4.0 1.08e-04 - 1.00e+00 1.00e+00h 1 13 1.0908997e+00 1.86e-28 5.80e-05 -4.0 2.97e-09 - 1.00e+00 1.00e+00h 1 14 1.0907198e+00 1.55e-27 4.17e-09 -4.1 2.00e-05 - 1.00e+00 1.00e+00f 1 15 1.0908997e+00 2.59e-27 5.25e-09 -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......: 5.2530339800238579e-09 5.2530339800238579e-09 Constraint violation....: 2.5911271062916444e-27 2.5911271062916444e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081632638662e-04 1.0000081632638662e-04 Overall NLP error.......: 5.2530339800238579e-09 5.2530339800238579e-09 Number of objective function evaluations = 16 Number of objective gradient evaluations = 16 Number of equality constraint evaluations = 16 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 = 16.707 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 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.2991671e+00 2.88e+00 4.76e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8038027e+00 1.29e-01 1.83e+00 -0.9 1.84e+00 0.0 1.00e+00 1.00e+00f 1 2 2.4392706e+00 1.36e-02 7.73e-01 -1.1 2.39e-01 0.4 9.74e-01 1.00e+00h 1 3 2.3570900e+00 4.76e-03 5.01e-01 -2.1 1.03e-01 -0.1 9.80e-01 6.95e-01h 1 4 2.2384214e+00 1.80e-02 1.86e-01 -1.7 4.10e-01 -0.5 1.00e+00 6.62e-01f 1 5 2.1365147e+00 7.00e-03 2.03e-01 -2.7 8.91e-02 -1.0 9.93e-01 6.13e-01h 1 6 2.1002718e+00 2.32e-03 2.07e-01 -4.0 4.57e-02 -1.5 1.00e+00 6.86e-01h 1 7 2.0908000e+00 7.08e-05 5.42e-02 -4.0 3.19e-02 -2.0 1.00e+00 1.00e+00h 1 8 2.0909087e+00 2.97e-07 4.14e-04 -4.0 5.61e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909112e+00 3.59e-08 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 2.0909062e+00 1.01e-09 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908913e+00 8.68e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908465e+00 7.82e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907121e+00 7.05e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903100e+00 6.38e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891127e+00 5.83e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856029e+00 5.50e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796197e+00 2.29e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.31e-01h 1 18 2.0807156e+00 1.59e-04 1.85e-01 -4.0 6.70e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775234e+00 7.50e-03 2.55e-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 2.0769602e+00 1.19e-03 6.32e-02 -4.0 1.82e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0761685e+00 1.25e-03 1.51e-02 -4.0 3.29e+02 -8.6 1.00e+00 8.07e-01h 1 22 2.0754814e+00 1.89e-03 2.78e-02 -4.0 5.52e+02 -9.1 1.00e+00 7.42e-01h 1 23 2.0757950e+00 3.06e-03 1.38e-02 -4.0 1.65e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753894e+00 1.41e-03 6.92e-04 -4.1 9.47e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 4.69e-04 6.55e-06 -4.0 2.18e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.04e-07 1.16e-06 -4.0 1.22e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.37e-09 8.90e-08 -4.0 4.46e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.06e-11 1.61e-09 -4.0 7.03e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121590515e+00 2.0756712121590515e+00 Dual infeasibility......: 1.6097510716441867e-09 1.6097510716441867e-09 Constraint violation....: 4.0644931864619593e-11 4.0644931864619593e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000052e-04 1.0000000000000052e-04 Overall NLP error.......: 1.6097510716441867e-09 1.6097510716441867e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 19.297 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 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0806178e+00 4.02e+00 5.48e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8219946e+00 5.50e-02 4.29e-01 -1.0 2.06e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.2695720e+00 4.52e-02 1.96e-01 -2.1 1.32e+00 -2.5 8.20e-01 1.00e+00h 1 3 2.1323208e+00 1.90e-02 7.80e-02 -2.4 1.12e+00 -3.0 9.81e-01 1.00e+00h 1 4 2.0949557e+00 2.18e-03 3.97e-02 -3.3 5.63e-01 -3.4 9.95e-01 9.36e-01h 1 5 2.0909263e+00 4.91e-04 1.79e-02 -4.0 8.81e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0908414e+00 6.01e-06 5.09e-03 -4.0 5.54e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906930e+00 1.12e-06 4.22e-04 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902519e+00 7.84e-06 3.23e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889394e+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 2.0851018e+00 6.68e-04 2.79e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0796330e+00 2.12e-03 1.75e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.40e-01h 1 12 2.0803173e+00 1.68e-04 1.75e-01 -4.0 6.52e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0773742e+00 8.53e-03 2.43e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.80e-01h 1 14 2.0771886e+00 1.86e-03 8.04e-02 -4.0 2.13e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0761434e+00 5.17e-03 1.89e-02 -4.0 3.51e+02 -8.7 1.00e+00 8.28e-01h 1 16 2.0769416e+00 3.26e-02 2.74e-02 -3.7 3.19e+02 -9.2 1.00e+00 1.00e+00h 1 17 2.0765118e+00 7.04e-03 3.65e-03 -3.8 1.02e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0764879e+00 1.56e-04 8.69e-05 -3.8 2.57e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0756787e+00 1.98e-03 8.15e-06 -4.0 3.28e+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 2.0756713e+00 7.51e-06 1.42e-06 -4.0 2.21e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0756713e+00 4.30e-09 1.71e-07 -4.0 5.50e+00 -11.5 1.00e+00 1.00e+00h 1 22 2.0756713e+00 6.26e-11 2.24e-09 -4.0 8.35e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 22 (scaled) (unscaled) Objective...............: 2.0756712528056744e+00 2.0756712528056744e+00 Dual infeasibility......: 2.2393441090708989e-09 2.2393441090708989e-09 Constraint violation....: 6.2588711990940737e-11 6.2588711990940737e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000021e-04 1.0000000000000021e-04 Overall NLP error.......: 2.2393441090708989e-09 2.2393441090708989e-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 = 18.072 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 5.8.2. 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 1.3273884e+00 3.57e+00 4.33e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5764745e+00 2.25e-01 2.34e+00 -0.9 2.51e+00 0.0 7.23e-01 9.36e-01h 1 2 2.3274292e+00 8.05e-02 2.61e+00 -1.0 3.28e-01 0.4 9.89e-01 6.32e-01h 1 3 2.2081006e+00 1.37e-02 8.29e-01 -1.4 2.56e-01 -0.1 9.95e-01 9.21e-01h 1 4 2.2198555e+00 5.14e-04 7.71e-01 -2.3 1.98e-01 -0.5 9.99e-01 1.00e+00h 1 5 2.1439987e+00 6.29e-04 1.43e-01 -2.9 1.64e-01 -1.0 1.00e+00 1.91e-01f 1 6 2.0982961e+00 3.02e-04 4.47e-02 -4.0 4.15e-02 -1.5 1.00e+00 8.05e-01h 1 7 2.0908480e+00 1.23e-05 6.38e-03 -4.0 9.77e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908665e+00 1.06e-07 5.44e-05 -4.0 1.49e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0908648e+00 9.98e-11 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 2.0908598e+00 9.69e-10 2.06e-05 -4.0 5.06e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908449e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908001e+00 7.86e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906658e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902638e+00 6.41e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890668e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855583e+00 5.54e-04 2.31e-03 -4.0 3.56e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796260e+00 2.28e-03 1.37e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.27e-01h 1 18 2.0807115e+00 1.54e-04 1.81e-01 -4.0 6.55e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775265e+00 7.37e-03 2.47e-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 2.0769388e+00 1.12e-03 4.92e-02 -4.0 1.75e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759898e+00 9.47e-04 2.34e-02 -4.0 3.10e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754448e+00 5.02e-04 2.86e-02 -4.0 4.57e+02 -9.1 1.00e+00 7.26e-01H 1 23 2.0757720e+00 2.05e-03 1.08e-02 -4.0 1.37e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753808e+00 1.42e-03 4.85e-04 -4.1 7.65e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.64e-04 6.71e-06 -4.0 2.11e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753424e+00 6.24e-04 9.66e-07 -4.1 2.55e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.23e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 1.11e-07 1.16e-08 -4.0 2.00e+00 -12.0 1.00e+00 1.00e+00h 1 29 2.0756712e+00 6.06e-14 3.52e-12 -4.0 1.54e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 29 (scaled) (unscaled) Objective...............: 2.0756712120666312e+00 2.0756712120666312e+00 Dual infeasibility......: 3.5235471766877080e-12 3.5235471766877080e-12 Constraint violation....: 6.0618177144533547e-14 6.0618177144533547e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000061e-04 1.0000000000000061e-04 Overall NLP error.......: 3.5235471766877080e-12 3.5235471766877080e-12 Number of objective function evaluations = 32 Number of objective gradient evaluations = 30 Number of equality constraint evaluations = 32 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 30 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 29 Total seconds in IPOPT = 28.569 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 5.8.2. 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 2.2307018e+00 5.00e+00 7.18e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1445475e+00 1.01e+00 2.17e+00 -0.9 2.77e+00 0.0 8.68e-01 7.98e-01h 1 2 2.6265514e+00 5.96e-02 1.30e+00 -1.1 6.33e-01 -0.5 7.56e-01 1.00e+00f 1 3 2.4367567e+00 3.46e-02 6.95e-01 -1.5 5.50e-01 -1.0 4.53e-01 4.71e-01h 1 4 2.2521264e+00 8.05e-03 9.63e-02 -2.3 2.35e-01 -1.4 9.02e-01 8.18e-01h 1 5 2.1216031e+00 3.74e-03 3.60e-02 -3.3 1.97e-01 -1.9 9.89e-01 8.02e-01h 1 6 2.0913849e+00 9.81e-05 7.26e-03 -4.0 1.76e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909111e+00 2.31e-06 4.63e-04 -4.0 1.99e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909052e+00 2.97e-08 2.68e-05 -4.0 5.86e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908832e+00 1.44e-08 7.97e-05 -4.0 1.70e-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 2.0908324e+00 9.60e-08 2.54e-04 -4.0 4.39e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907558e+00 2.66e-07 1.08e-03 -4.0 9.39e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905774e+00 2.46e-06 1.59e-03 -4.0 2.67e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900718e+00 2.25e-05 6.36e-04 -4.0 8.25e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0898116e+00 3.47e-06 1.63e-03 -4.0 2.99e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890779e+00 2.46e-05 5.60e-03 -4.0 9.52e+00 -5.8 1.00e+00 8.58e-01h 1 16 2.0877538e+00 2.47e-04 3.29e-02 -4.0 2.60e+01 -6.3 1.00e+00 1.00e+00f 1 17 2.0864346e+00 2.82e-04 6.76e-01 -4.0 1.41e+02 -5.8 1.00e+00 8.30e-02h 1 18 2.0850501e+00 9.50e-04 2.80e-02 -4.0 2.23e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830693e+00 9.99e-04 2.43e-02 -4.0 3.44e+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 2.0827430e+00 3.75e-04 1.11e-02 -4.0 5.51e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823231e+00 5.63e-04 9.44e-03 -4.0 1.27e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0823145e+00 8.98e-04 1.46e-02 -4.0 8.63e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.1808257e+00 7.36e-07 5.74e-01 -4.0 7.95e+01 -7.8 1.36e-01 1.00e+00H 1 24 2.0969273e+00 3.36e-07 2.29e-01 -4.0 2.13e-01 0.1 1.00e+00 1.00e+00f 1 25 2.0823610e+00 1.43e-07 3.86e-02 -4.0 1.09e-01 -0.4 1.00e+00 1.00e+00f 1 26 2.0819909e+00 4.55e-08 6.48e-01 -4.0 1.58e-02 -0.9 1.00e+00 7.79e-01h 1 27 2.0822448e+00 3.40e-07 9.90e-04 -4.0 2.04e-02 -1.4 1.00e+00 1.00e+00f 1 28 2.0819806e+00 1.33e-07 2.39e-04 -4.1 1.28e-02 -1.9 1.00e+00 1.00e+00h 1 29 2.0820465e+00 9.73e-08 5.86e-05 -4.0 5.51e-03 -2.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0819112e+00 1.25e-07 6.60e-05 -4.1 7.47e-03 -2.8 1.00e+00 1.00e+00h 1 31 2.0820498e+00 1.50e-07 6.97e-05 -4.0 7.58e-03 -3.3 1.00e+00 1.00e+00h 1 32 2.0819096e+00 2.84e-07 7.16e-05 -4.1 1.37e-02 -3.8 1.00e+00 1.00e+00h 1 33 2.0820528e+00 1.31e-06 5.97e-05 -4.0 5.98e-02 -4.2 1.00e+00 1.00e+00h 1 34 2.0819115e+00 2.56e-06 6.89e-05 -4.1 1.23e-01 -4.7 1.00e+00 1.00e+00h 1 35 2.0812353e+00 1.48e-04 7.68e-03 -6.1 1.61e+00 -5.2 9.60e-01 1.00e+00h 1 36 2.0821628e+00 1.61e-04 1.31e-03 -4.0 1.27e+00 -5.7 1.00e+00 1.00e+00h 1 37 2.0818993e+00 1.21e-04 3.27e-04 -4.1 3.37e+00 -6.1 1.00e+00 1.00e+00h 1 38 2.0821231e+00 2.59e-04 1.69e-04 -4.0 1.08e+01 -6.6 1.00e+00 1.00e+00h 1 39 2.0818444e+00 7.01e-04 7.10e-04 -4.1 3.00e+01 -7.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0810404e+00 1.06e-03 1.61e-02 -6.1 2.44e+01 -7.6 9.70e-01 6.69e-01h 1 41 2.0819940e+00 1.11e-02 1.04e-02 -4.0 1.23e+02 -8.1 5.09e-01 1.00e+00f 1 42 2.0814699e+00 1.85e-04 1.65e-03 -4.3 3.25e+00 -5.8 1.00e+00 1.00e+00h 1 43 2.0812702e+00 7.88e-05 1.57e-03 -4.3 6.43e+00 -6.3 1.00e+00 1.00e+00h 1 44 2.0812399e+00 3.05e-05 6.44e-02 -4.0 6.24e+02 -6.8 1.50e-02 2.67e-02h 3 45 2.0815697e+00 1.38e-04 5.53e-01 -4.0 1.46e+00 -4.5 6.66e-01 1.00e+00h 1 46 2.0814234e+00 1.06e-04 2.77e-03 -4.2 8.67e-01 -5.0 1.00e+00 1.00e+00h 1 47 2.0814887e+00 1.10e-04 1.76e-03 -4.2 1.51e+00 -5.5 1.00e+00 1.00e+00h 1 48 2.0817698e+00 9.71e-05 5.88e-04 -4.0 2.79e+00 -6.0 1.00e+00 1.00e+00h 1 49 2.0816457e+00 2.73e-05 2.36e-04 -4.1 1.45e+00 -6.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818740e+00 9.77e-05 6.88e-05 -4.0 4.38e+00 -6.9 1.00e+00 1.00e+00h 1 51 2.0816369e+00 1.67e-04 5.96e-04 -4.1 8.93e+00 -7.4 1.00e+00 1.00e+00h 1 52 2.0806827e+00 2.89e-03 6.07e-04 -6.1 3.78e+01 -7.9 9.78e-01 9.22e-01h 1 53 2.0818766e+00 4.88e-03 2.15e-03 -4.0 4.23e+01 -8.4 1.00e+00 1.00e+00f 1 54 2.0816216e+00 5.75e-04 6.73e-04 -4.1 2.24e+01 -8.8 1.00e+00 1.00e+00h 1 55 2.0806107e+00 3.70e-03 3.18e-04 -6.1 4.50e+01 -9.3 9.75e-01 9.54e-01h 1 56 2.0818826e+00 5.94e-03 6.66e-04 -4.0 5.59e+01 -9.8 1.00e+00 1.00e+00f 1 57 2.0816098e+00 4.29e-04 4.78e-05 -4.1 1.81e+01 -10.3 1.00e+00 1.00e+00h 1 58 2.0806028e+00 3.47e-03 2.22e-04 -6.1 4.22e+01 -10.7 9.76e-01 9.59e-01h 1 59 2.0818862e+00 6.36e-03 3.02e-04 -4.0 5.97e+01 -11.2 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0816111e+00 4.55e-04 9.51e-06 -4.1 1.92e+01 -11.7 1.00e+00 1.00e+00h 1 61 2.0806031e+00 3.48e-03 2.24e-04 -6.1 4.23e+01 -12.2 9.76e-01 9.58e-01h 1 62 2.0805506e+00 9.45e-05 2.24e-06 -6.1 1.69e+01 -12.7 1.00e+00 1.00e+00h 1 63 2.0806337e+00 1.30e-04 2.51e-02 -4.0 8.55e+01 -13.1 1.00e+00 6.42e-02f 1 64 2.0813819e+00 1.77e-03 7.84e-05 -4.2 2.81e+01 -13.6 1.00e+00 1.00e+00f 1 65 2.0813970e+00 3.86e-05 2.73e-06 -4.2 3.54e+01 -14.1 1.00e+00 1.00e+00h 1 66 2.0818462e+00 6.92e-04 2.96e-05 -4.0 1.76e+01 -14.6 1.00e+00 1.00e+00h 1 67 2.0815847e+00 2.28e-04 9.44e-06 -4.1 1.04e+01 -15.0 1.00e+00 1.00e+00h 1 68 2.0805952e+00 3.34e-03 1.60e-04 -6.1 4.10e+01 -15.5 9.77e-01 9.64e-01h 1 69 2.0805497e+00 7.67e-05 1.83e-06 -6.1 1.56e+01 -16.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819881e+00 1.05e-02 4.03e-04 -4.0 8.64e+01 -16.5 1.00e+00 1.00e+00f 1 71 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -16.9 1.00e+00 1.00e+00h 1 72 2.0816467e+00 5.57e-07 8.13e-07 -4.1 8.78e+00 -17.4 1.00e+00 1.00e+00h 1 73 2.0818440e+00 1.24e-04 5.33e-06 -4.0 7.44e+00 -17.9 1.00e+00 1.00e+00h 1 74 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.75e+00 -18.4 1.00e+00 1.00e+00h 1 75 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.9 9.77e-01 9.64e-01h 1 76 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -19.3 1.00e+00 1.00e+00h 1 77 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -19.8 1.00e+00 1.00e+00f 1 78 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 81 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 84 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 85 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 87 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 88 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 91 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 94 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 97 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 98 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 99 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816663822437644e+00 2.0816663822437644e+00 Dual infeasibility......: 1.1621190402690972e-06 1.1621190402690972e-06 Constraint violation....: 1.6406472004293349e-06 1.6406472004293349e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.8042974965724550e-05 8.8042974965724550e-05 Overall NLP error.......: 1.4205492367467249e-05 1.4205492367467249e-05 Number of objective function evaluations = 106 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 106 Number of inequality constraint evaluations = 106 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 20.824 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 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.3883334e+01 2.50e+00 4.08e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 7.9431289e+00 1.24e+00 2.72e+00 -1.0 1.87e+00 0.0 6.92e-01 5.06e-01f 1 2 2.6478059e+00 4.90e-02 2.03e+00 -1.0 1.19e+00 -0.5 7.94e-01 1.00e+00f 1 3 2.6964543e+00 7.39e-03 4.82e-01 -1.0 2.15e-01 -1.0 8.28e-01 1.00e+00h 1 4 2.2966419e+00 1.40e-02 7.86e-02 -2.0 2.24e-01 -1.4 9.47e-01 1.00e+00h 1 5 2.1265287e+00 3.89e-03 7.88e-02 -3.0 2.02e-01 -1.9 9.79e-01 7.86e-01h 1 6 2.0924228e+00 1.27e-04 3.61e-03 -3.8 2.34e-02 -2.4 9.98e-01 1.00e+00h 1 7 2.0908871e+00 4.24e-06 1.34e-04 -4.0 1.35e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908858e+00 2.92e-08 1.82e-05 -4.0 3.98e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908764e+00 4.55e-09 1.04e-04 -4.0 1.15e-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 2.0908517e+00 3.06e-08 9.84e-05 -4.0 3.19e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907870e+00 2.18e-07 3.16e-04 -4.0 8.64e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906028e+00 2.30e-06 5.04e-04 -4.0 2.61e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0902714e+00 4.52e-06 1.21e-02 -4.0 8.63e+00 -5.7 8.15e-01 3.94e-01h 1 14 2.0894065e+00 2.23e-04 4.25e-02 -4.0 2.60e+01 -6.2 1.00e+00 1.00e+00f 1 15 2.0878381e+00 9.43e-05 3.25e-02 -4.0 3.67e+00 -4.9 1.00e+00 6.57e-01h 1 16 2.0878264e+00 1.97e-05 6.44e-03 -4.0 3.32e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0868077e+00 4.00e-05 6.84e-03 -4.0 1.00e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0852641e+00 1.89e-04 9.38e-03 -4.0 2.35e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0830274e+00 4.01e-04 2.69e-02 -4.0 3.89e+01 -6.8 1.00e+00 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826657e+00 4.54e-04 1.19e-02 -4.0 5.42e+01 -7.3 1.00e+00 1.00e+00h 1 21 2.0823217e+00 5.01e-04 9.34e-03 -4.0 1.23e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.4710931e+00 3.54e-04 8.81e+00 -4.0 9.56e+02 -8.2 4.12e-02 1.00e+00H 1 23 2.0879733e+00 5.03e-05 1.03e+00 -4.1 1.88e-01 -0.4 7.44e-01 8.58e-01f 1 24 2.0882273e+00 5.01e-05 6.40e+00 -4.0 9.92e-02 -0.8 1.00e+00 3.91e-03f 9 25 2.0882016e+00 5.27e-08 1.51e-03 -4.0 3.17e-02 -1.3 1.00e+00 1.00e+00h 1 26 2.0879121e+00 1.19e-07 1.39e-03 -4.0 8.75e-02 -1.8 1.00e+00 1.00e+00h 1 27 2.0875804e+00 9.33e-07 1.04e-03 -4.0 1.96e-01 -2.3 1.00e+00 1.00e+00h 1 28 2.0876180e+00 1.62e-07 9.49e-05 -4.0 7.33e-03 -2.8 1.00e+00 1.00e+00h 1 29 2.0876104e+00 1.14e-07 3.61e-05 -4.0 2.19e-02 -3.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0876046e+00 9.29e-09 3.62e-05 -4.0 6.57e-02 -3.7 1.00e+00 1.00e+00h 1 31 2.0875883e+00 4.38e-08 3.62e-05 -4.0 1.97e-01 -4.2 1.00e+00 1.00e+00h 1 32 2.0875411e+00 3.77e-07 3.63e-05 -4.0 5.84e-01 -4.7 1.00e+00 1.00e+00h 1 33 2.0874132e+00 2.92e-06 1.45e-04 -4.0 1.70e+00 -5.1 1.00e+00 1.00e+00h 1 34 2.0871289e+00 1.59e-05 8.17e-04 -4.0 4.73e+00 -5.6 1.00e+00 1.00e+00h 1 35 2.0866824e+00 4.06e-05 2.24e-03 -4.0 1.26e+01 -6.1 1.00e+00 1.00e+00h 1 36 2.0858705e+00 1.20e-04 5.09e-03 -4.0 3.30e+01 -6.6 1.00e+00 1.00e+00h 1 37 2.0844296e+00 6.56e-04 2.43e-02 -4.0 8.17e+01 -7.0 1.00e+00 1.00e+00h 1 38 2.0825458e+00 9.74e-04 6.77e-02 -4.1 1.58e+02 -7.5 1.00e+00 1.00e+00h 1 39 2.0816361e+00 2.90e-03 2.80e-02 -4.1 2.22e+02 -8.0 7.10e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0815997e+00 1.24e-05 1.08e-01 -4.0 8.80e+01 -6.7 1.00e+00 1.00e+00H 1 41 2.0816625e+00 3.30e-04 8.86e-03 -4.0 1.39e+01 -7.2 9.81e-01 1.00e+00h 1 42 2.0815503e+00 1.07e-03 1.23e-03 -4.1 3.04e+01 -7.6 1.00e+00 1.00e+00h 1 43 2.0826123e+00 5.80e-04 2.08e-02 -4.0 2.77e+01 -8.1 1.00e+00 7.27e-01h 1 44 2.0816684e+00 3.81e-04 5.95e-03 -4.1 1.95e+01 -8.6 1.00e+00 1.00e+00h 1 45 2.0815513e+00 1.85e-04 2.65e-03 -4.1 1.79e+01 -9.1 1.00e+00 5.17e-01h 1 46 2.0818423e+00 4.09e-04 3.84e-04 -4.0 1.60e+01 -9.5 1.00e+00 1.00e+00f 1 47 2.0815661e+00 2.31e-04 8.07e-05 -4.1 9.97e+00 -10.0 1.00e+00 1.00e+00h 1 48 2.0805926e+00 3.24e-03 1.36e-04 -6.2 4.02e+01 -10.5 9.78e-01 9.67e-01h 1 49 2.0807419e+00 2.94e-03 1.62e-02 -4.0 6.13e+01 -11.0 1.00e+00 1.19e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818336e+00 3.65e-03 1.75e-04 -4.0 3.91e+01 -11.4 1.00e+00 1.00e+00h 1 51 2.0815805e+00 2.22e-04 3.30e-05 -4.1 9.06e+00 -11.9 1.00e+00 1.00e+00h 1 52 2.0805884e+00 3.31e-03 1.40e-04 -6.1 4.02e+01 -12.4 9.77e-01 9.72e-01h 1 53 2.0818916e+00 6.68e-03 3.02e-04 -4.0 6.21e+01 -12.9 1.00e+00 1.00e+00f 1 54 2.0816139e+00 5.14e-04 3.38e-05 -4.1 2.16e+01 -13.4 1.00e+00 1.00e+00h 1 55 2.0806020e+00 3.48e-03 1.95e-04 -6.1 4.20e+01 -13.8 9.76e-01 9.61e-01h 1 56 2.0805508e+00 9.16e-05 2.24e-06 -6.1 1.71e+01 -14.3 1.00e+00 1.00e+00h 1 57 2.0815319e+00 5.16e-03 7.88e-03 -4.0 8.48e+01 -14.8 1.00e+00 7.08e-01f 1 58 2.0815874e+00 2.33e-04 3.22e-05 -4.1 2.94e+01 -15.3 1.00e+00 1.00e+00f 1 59 2.0805946e+00 3.28e-03 1.40e-04 -6.2 4.12e+01 -15.7 9.76e-01 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805499e+00 7.51e-05 1.82e-06 -6.2 1.64e+01 -16.2 1.00e+00 1.00e+00h 1 61 2.0806158e+00 9.77e-05 2.54e-02 -4.0 8.53e+01 -16.7 1.00e+00 5.10e-02f 1 62 2.0813767e+00 1.82e-03 8.08e-05 -4.2 2.84e+01 -17.2 1.00e+00 1.00e+00f 1 63 2.0813942e+00 4.22e-05 2.67e-05 -4.2 3.76e+01 -17.6 1.00e+00 1.00e+00h 1 64 2.0818435e+00 6.86e-04 4.08e-05 -4.0 1.73e+01 -18.1 1.00e+00 1.00e+00h 1 65 2.0815829e+00 2.25e-04 3.32e-05 -4.1 1.03e+01 -18.6 1.00e+00 1.00e+00h 1 66 2.0805925e+00 3.32e-03 1.40e-04 -6.1 4.05e+01 -19.1 9.77e-01 9.68e-01h 1 67 2.0805497e+00 7.08e-05 1.81e-06 -6.1 1.56e+01 -19.6 1.00e+00 1.00e+00h 1 68 2.0819870e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 69 2.0816825e+00 9.87e-04 5.23e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816443e+00 5.43e-07 3.49e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 72 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 73 2.0805468e+00 5.07e-08 3.48e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 74 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 75 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 76 2.0816573e+00 1.18e-06 3.53e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 78 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0805469e+00 5.37e-08 3.54e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 81 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 82 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0816639e+00 1.62e-06 3.54e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 85 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805470e+00 5.53e-08 3.57e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 88 2.0805365e+00 8.67e-11 4.06e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 89 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0816640e+00 1.63e-06 3.54e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 93 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0805470e+00 5.54e-08 3.57e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 9.45e-07 8.04e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 96 2.0805365e+00 8.67e-11 4.06e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 4.06e-10 -9.0 1.02e-05 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 4.44e-16 4.06e-10 -9.0 2.03e-10 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 6.66e-16 4.06e-10 -9.0 2.03e-10 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 6.66e-16 4.06e-10 -9.0 2.03e-10 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436475e+00 2.0805364595436475e+00 Dual infeasibility......: 4.0563497720373861e-10 4.0563497720373861e-10 Constraint violation....: 6.6613381477509392e-16 6.6613381477509392e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971184536e-10 9.0909090971184536e-10 Overall NLP error.......: 9.9999090909091564e-05 9.9999090909091564e-05 Number of objective function evaluations = 111 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 111 Number of inequality constraint evaluations = 111 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 29.690 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 5.8.2. 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 9.1110816e+01 2.86e+00 3.00e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.0492088e+01 2.11e+00 2.22e+01 -0.3 1.55e+01 -2.0 1.00e+00 2.61e-01f 1 2 2.8426243e+00 1.06e+00 1.26e+01 -0.5 8.98e+00 -2.5 7.24e-01 1.00e+00f 1 3 2.7600396e+00 8.07e-01 9.47e+00 -0.7 3.01e+01 -3.0 6.31e-01 3.06e-01h 1 4 2.6296418e+00 2.34e-01 2.11e+00 -1.2 4.73e+00 -2.5 8.31e-01 1.00e+00f 1 5 2.3772175e+00 3.29e-02 8.51e-01 -1.6 7.72e-01 -2.1 9.87e-01 1.00e+00h 1 6 2.2238108e+00 2.92e-02 2.77e-01 -1.9 8.97e-01 -2.6 9.87e-01 6.58e-01h 1 7 2.1434134e+00 2.96e-02 9.92e-02 -2.3 1.41e+00 -3.1 9.74e-01 9.39e-01h 1 8 2.0969331e+00 3.04e-03 9.90e-03 -3.3 3.64e-01 -3.5 9.98e-01 9.36e-01h 1 9 2.0919703e+00 2.38e-04 7.98e-04 -3.7 2.12e-01 -4.0 9.86e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908983e+00 6.03e-05 1.92e-04 -4.0 5.95e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907479e+00 9.99e-07 1.02e-03 -4.0 1.54e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0906926e+00 7.63e-07 1.92e-04 -4.0 5.40e-01 -4.5 1.00e+00 1.00e+00h 1 13 2.0905734e+00 8.32e-07 1.92e-04 -4.0 1.54e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0904710e+00 1.05e-06 1.89e-02 -4.0 1.01e+01 -5.5 5.76e-01 9.42e-02h 2 15 2.0893718e+00 5.76e-05 2.95e-03 -4.0 1.35e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0886310e+00 6.77e-05 1.32e-01 -4.0 4.96e+01 -6.4 1.00e+00 1.53e-01h 1 17 2.0838498e+00 2.21e-03 7.60e-02 -4.0 7.48e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0832876e+00 6.15e-04 2.55e-02 -3.8 1.04e+02 -7.4 1.00e+00 9.41e-01H 1 19 2.0833366e+00 1.82e-02 6.19e-02 -4.0 2.82e+02 -7.9 3.13e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827021e+00 7.75e-03 2.24e-01 -4.0 6.75e+00 -5.6 1.00e+00 5.62e-01h 1 21 2.0833738e+00 2.47e-03 6.09e-01 -3.6 1.80e+01 -6.1 1.00e+00 4.58e-01f 1 22 2.0833140e+00 3.09e-03 8.83e-03 -3.7 2.40e+01 -6.6 1.00e+00 1.00e+00h 1 23 2.0832870e+00 3.23e-04 8.24e-04 -3.7 7.19e+00 -6.2 1.00e+00 1.00e+00h 1 24 2.0820330e+00 2.49e-03 1.22e-02 -4.0 2.48e+01 -6.7 7.04e-01 1.00e+00h 1 25 2.0820363e+00 2.14e-03 2.20e-01 -4.0 9.56e+00 -7.1 1.00e+00 1.43e-01h 1 26 2.0819856e+00 4.84e-04 1.26e-02 -4.0 2.58e+01 -7.6 1.00e+00 1.00e+00h 1 27 2.0818926e+00 2.95e-05 2.58e-03 -4.0 4.62e+01 -8.1 1.00e+00 1.00e+00h 1 28 2.0818486e+00 9.49e-05 2.51e-03 -4.0 5.25e+01 -8.6 1.00e+00 1.00e+00h 1 29 2.0818393e+00 2.38e-05 4.85e-04 -4.0 2.86e+01 -9.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0818383e+00 8.65e-07 1.92e-04 -4.0 6.37e+00 -9.5 1.00e+00 1.00e+00h 1 31 2.0818383e+00 4.29e-09 1.92e-04 -4.0 5.26e-01 -10.0 1.00e+00 1.00e+00h 1 32 2.0818383e+00 2.89e-12 1.92e-04 -4.0 1.54e-02 -10.5 1.00e+00 1.00e+00h 1 33 2.0818383e+00 1.45e-12 9.58e-05 -4.0 1.55e-04 -10.9 1.00e+00 5.00e-01h 2 34 2.0818383e+00 4.44e-16 1.92e-04 -4.0 7.80e-05 -11.9 1.00e+00 1.00e+00H 1 35 2.0818383e+00 4.44e-16 1.92e-04 -4.0 2.00e-05 -12.4 1.00e+00 1.00e+00h 1 36 2.0815797e+00 2.05e-04 1.53e-04 -4.1 9.35e+00 -12.9 1.00e+00 1.00e+00h 1 37 2.0818395e+00 2.13e-04 1.92e-04 -4.0 9.67e+00 -13.3 1.00e+00 1.00e+00h 1 38 2.0815804e+00 2.11e-04 1.53e-04 -4.1 9.63e+00 -13.8 1.00e+00 1.00e+00h 1 39 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -14.3 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818882e+00 6.56e-03 2.96e-04 -4.0 6.10e+01 -14.8 1.00e+00 1.00e+00f 1 41 2.0816136e+00 4.88e-04 1.57e-04 -4.1 2.07e+01 -15.2 1.00e+00 1.00e+00h 1 42 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -15.7 9.76e-01 9.65e-01h 1 43 2.0805508e+00 8.46e-05 2.20e-06 -6.1 1.69e+01 -16.2 1.00e+00 1.00e+00h 1 44 2.0819794e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -16.7 1.00e+00 1.00e+00f 1 45 2.0816837e+00 9.34e-04 1.63e-04 -4.1 4.57e+01 -17.1 1.00e+00 1.00e+00h 1 46 2.0816477e+00 4.73e-07 1.63e-04 -4.1 8.53e+00 -17.6 1.00e+00 1.00e+00h 1 47 2.0818389e+00 1.15e-04 1.92e-04 -4.0 7.07e+00 -18.1 1.00e+00 1.00e+00h 1 48 2.0815801e+00 2.08e-04 1.53e-04 -4.1 9.50e+00 -18.6 1.00e+00 1.00e+00h 1 49 2.0805898e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -19.1 9.78e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+01 -19.5 1.00e+00 1.00e+00h 1 51 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -20.0 1.00e+00 1.00e+00f 1 52 2.0816887e+00 9.54e-04 1.64e-04 -4.1 4.72e+01 -20.0 1.00e+00 1.00e+00h 1 53 2.0816504e+00 5.63e-07 1.64e-04 -4.1 8.93e+00 -20.0 1.00e+00 1.00e+00h 1 54 2.0805906e+00 3.68e-03 1.60e-04 -6.1 4.16e+01 -20.0 9.77e-01 9.75e-01h 1 55 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0805469e+00 4.72e-08 1.51e-06 -6.1 2.95e+00 -20.0 1.00e+00 1.00e+00h 1 57 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.89e+01 -20.0 1.00e+00 1.00e+00f 1 58 2.0817159e+00 1.04e-03 1.66e-04 -4.1 5.46e+01 -20.0 1.00e+00 1.00e+00h 1 59 2.0816648e+00 1.22e-06 1.66e-04 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805915e+00 3.76e-03 1.66e-04 -6.1 4.20e+01 -20.0 9.76e-01 9.75e-01h 1 61 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 62 2.0805471e+00 4.99e-08 1.54e-06 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 63 2.0805365e+00 9.55e-07 8.02e-07 -9.0 9.57e-01 -20.0 1.00e+00 9.97e-01h 1 64 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0817306e+00 1.08e-03 1.67e-04 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0816723e+00 1.67e-06 1.67e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 68 2.0805516e+00 7.07e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0805472e+00 5.15e-08 1.56e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0805365e+00 9.76e-07 8.28e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 71 2.0805365e+00 9.27e-11 1.74e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 72 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 73 2.0817309e+00 1.08e-03 1.67e-04 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0816725e+00 1.68e-06 1.67e-04 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0805920e+00 3.81e-03 1.69e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 76 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0805472e+00 5.16e-08 1.56e-06 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0805365e+00 9.76e-07 8.29e-07 -9.0 9.69e-01 -20.0 1.00e+00 9.97e-01h 1 79 2.0805365e+00 9.28e-11 1.74e-09 -9.0 2.74e-02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805365e+00 4.44e-16 1.74e-09 -9.0 1.10e-05 -20.0 1.00e+00 1.00e+00h 1 81 2.0805365e+00 8.88e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 82 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 84 2.0805365e+00 2.22e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 2.22e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 88 2.0805365e+00 2.22e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 89 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805365e+00 2.22e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 91 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 92 2.0805365e+00 2.22e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 93 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 2.22e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 95 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 96 2.0805365e+00 2.22e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 97 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 98 2.0805365e+00 2.22e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 4.44e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805365e+00 2.22e-16 1.74e-09 -9.0 8.71e-11 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805364595436466e+00 2.0805364595436466e+00 Dual infeasibility......: 1.7417030342397084e-09 1.7417030342397084e-09 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090971179366e-10 9.0909090971179366e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 107 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 107 Number of inequality constraint evaluations = 107 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 29.794 EXIT: Maximum Number of Iterations Exceeded. Difference in Hessian ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/BBXIC/src/problems.jl:65 initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Number of Iterations....: 0 Number of objective function evaluations = 0 Number of objective gradient evaluations = 1 Number of equality constraint evaluations = 0 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 1.172 EXIT: Invalid number in NLP function or derivative detected. initializing optimizer... applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 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 1.3265491e-02 6.56e-01 1.00e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6986842e-02 8.22e-09 3.67e-01 -0.9 5.02e-01 -2.0 6.34e-01 1.00e+00h 1 2 1.6998827e-02 5.02e-09 1.45e-02 -4.0 7.05e-04 -1.6 9.90e-01 1.00e+00h 1 3 2.0057646e-02 1.02e-10 3.27e-02 -2.1 4.61e-01 -1.1 1.00e+00 1.00e+00f 1 4 1.9826709e-02 5.33e-11 1.14e-03 -3.2 4.79e-02 -1.6 1.00e+00 1.00e+00f 1 5 1.9416018e-02 1.81e-12 2.77e-04 -4.0 3.50e-02 -2.1 1.00e+00 1.00e+00f 1 6 1.8391883e-02 7.55e-14 2.17e-04 -4.1 8.23e-02 -2.6 1.00e+00 1.00e+00f 1 7 1.8377519e-02 7.73e-14 1.69e-06 -6.2 1.93e-03 -3.1 1.00e+00 1.00e+00h 1 8 1.8376264e-02 1.67e-16 3.71e-09 -9.2 1.07e-05 -3.5 1.00e+00 1.00e+00h 1 9 1.8372062e-02 1.94e-16 4.17e-09 -12.0 3.67e-05 -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 1.8357626e-02 8.33e-17 4.77e-09 -12.0 1.28e-04 -4.5 1.00e+00 1.00e+00h 1 11 1.8308902e-02 9.71e-17 5.36e-09 -12.0 4.40e-04 -5.0 1.00e+00 1.00e+00h 1 12 1.8288609e-02 1.11e-16 5.94e-09 -12.0 1.85e-04 -4.5 1.00e+00 1.00e+00h 1 13 1.8221755e-02 1.11e-16 6.53e-09 -12.0 6.17e-04 -5.0 1.00e+00 1.00e+00h 1 14 1.8194459e-02 1.67e-16 7.11e-09 -12.0 2.54e-04 -4.6 1.00e+00 1.00e+00h 1 15 1.8106038e-02 5.55e-17 7.69e-09 -12.0 8.30e-04 -5.1 1.00e+00 1.00e+00h 1 16 1.8070452e-02 8.33e-17 8.27e-09 -12.0 3.37e-04 -4.6 1.00e+00 1.00e+00h 1 17 1.8056177e-02 1.39e-16 8.85e-09 -12.0 1.36e-04 -4.2 1.00e+00 1.00e+00h 1 18 1.8010597e-02 1.11e-16 9.43e-09 -12.0 4.36e-04 -4.7 1.00e+00 1.00e+00h 1 19 1.7992475e-02 1.94e-16 1.00e-08 -12.0 1.74e-04 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.7935072e-02 1.11e-16 1.06e-08 -12.0 5.54e-04 -4.7 1.00e+00 1.00e+00h 1 21 1.7912414e-02 1.11e-16 1.11e-08 -12.0 2.20e-04 -4.3 1.00e+00 1.00e+00h 1 22 1.7841113e-02 1.11e-16 1.17e-08 -12.0 6.95e-04 -4.8 1.00e+00 1.00e+00h 1 23 1.7813139e-02 1.94e-16 1.23e-08 -12.0 2.74e-04 -4.4 1.00e+00 1.00e+00h 1 24 1.7725603e-02 1.39e-16 1.28e-08 -12.0 8.61e-04 -4.8 1.00e+00 1.00e+00h 1 25 1.7691437e-02 1.39e-16 1.34e-08 -12.0 3.38e-04 -4.4 1.00e+00 1.00e+00h 1 26 1.7585059e-02 1.39e-16 1.40e-08 -12.0 1.06e-03 -4.9 1.00e+00 1.00e+00h 1 27 1.7543732e-02 1.11e-16 1.45e-08 -12.0 4.13e-04 -4.5 1.00e+00 1.00e+00h 1 28 1.7415640e-02 1.94e-16 1.51e-08 -12.0 1.29e-03 -4.9 1.00e+00 1.00e+00h 1 29 1.7366092e-02 8.33e-17 1.56e-08 -12.0 5.01e-04 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.7213170e-02 1.67e-16 1.61e-08 -12.0 1.56e-03 -5.0 1.00e+00 1.00e+00h 1 31 1.7154258e-02 8.33e-17 1.67e-08 -12.0 6.04e-04 -4.6 1.00e+00 1.00e+00h 1 32 1.6973187e-02 8.33e-17 1.72e-08 -12.0 1.87e-03 -5.1 1.00e+00 1.00e+00h 1 33 1.6903711e-02 1.11e-16 1.77e-08 -12.0 7.24e-04 -4.6 1.00e+00 1.00e+00h 1 34 1.6691042e-02 1.39e-16 1.82e-08 -12.0 2.24e-03 -5.1 1.00e+00 1.00e+00h 1 35 1.6609770e-02 8.33e-17 1.87e-08 -12.0 8.63e-04 -4.7 1.00e+00 1.00e+00h 1 36 1.6362041e-02 1.67e-16 1.92e-08 -12.0 2.66e-03 -5.2 1.00e+00 1.00e+00h 1 37 1.6267766e-02 1.94e-16 1.97e-08 -12.0 1.02e-03 -4.7 1.00e+00 1.00e+00h 1 38 1.6231660e-02 8.33e-17 2.02e-08 -12.0 3.94e-04 -4.3 1.00e+00 1.00e+00h 1 39 1.6121210e-02 8.33e-17 2.07e-08 -12.0 1.21e-03 -4.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.6079009e-02 1.39e-16 2.11e-08 -12.0 4.65e-04 -4.4 1.00e+00 1.00e+00h 1 41 1.5950227e-02 8.33e-17 2.16e-08 -12.0 1.43e-03 -4.8 1.00e+00 1.00e+00h 1 42 1.5901140e-02 1.67e-16 2.21e-08 -12.0 5.47e-04 -4.4 1.00e+00 1.00e+00h 1 43 1.5751721e-02 8.33e-17 2.25e-08 -12.0 1.68e-03 -4.9 1.00e+00 1.00e+00h 1 44 1.5694911e-02 1.67e-16 2.30e-08 -12.0 6.42e-04 -4.5 1.00e+00 1.00e+00h 1 45 1.5522437e-02 8.33e-17 2.34e-08 -12.0 1.96e-03 -4.9 1.00e+00 1.00e+00h 1 46 1.5457034e-02 1.67e-16 2.39e-08 -12.0 7.51e-04 -4.5 1.00e+00 1.00e+00h 1 47 1.5259035e-02 1.11e-16 2.43e-08 -12.0 2.29e-03 -5.0 1.00e+00 1.00e+00h 1 48 1.5184168e-02 5.55e-17 2.47e-08 -12.0 8.76e-04 -4.6 1.00e+00 1.00e+00h 1 49 1.4958212e-02 1.11e-16 2.52e-08 -12.0 2.67e-03 -5.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.4873040e-02 1.39e-16 2.56e-08 -12.0 1.02e-03 -4.6 1.00e+00 1.00e+00h 1 51 1.4616856e-02 1.67e-16 2.60e-08 -12.0 3.11e-03 -5.1 1.00e+00 1.00e+00h 1 52 1.4520627e-02 1.67e-16 2.64e-08 -12.0 1.18e-03 -4.7 1.00e+00 1.00e+00h 1 53 1.4484153e-02 2.22e-16 2.67e-08 -12.0 4.51e-04 -4.2 1.00e+00 1.00e+00h 1 54 1.4373691e-02 8.33e-17 2.71e-08 -12.0 1.37e-03 -4.7 1.00e+00 1.00e+00h 1 55 1.4331894e-02 1.39e-16 2.75e-08 -12.0 5.22e-04 -4.3 1.00e+00 1.00e+00h 1 56 1.4205539e-02 1.39e-16 2.79e-08 -12.0 1.59e-03 -4.8 1.00e+00 1.00e+00h 1 57 1.4157816e-02 1.67e-16 2.82e-08 -12.0 6.03e-04 -4.3 1.00e+00 1.00e+00h 1 58 1.4013835e-02 1.11e-16 2.86e-08 -12.0 1.83e-03 -4.8 1.00e+00 1.00e+00h 1 59 1.3959566e-02 2.22e-16 2.90e-08 -12.0 6.97e-04 -4.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 1.3796193e-02 1.11e-16 2.93e-08 -12.0 2.12e-03 -4.9 1.00e+00 1.00e+00h 1 61 1.3734753e-02 1.11e-16 2.97e-08 -12.0 8.03e-04 -4.4 1.00e+00 1.00e+00h 1 62 1.3550247e-02 1.11e-16 3.00e-08 -12.0 2.44e-03 -4.9 1.00e+00 1.00e+00h 1 63 1.3481035e-02 1.39e-16 3.03e-08 -12.0 9.24e-04 -4.5 1.00e+00 1.00e+00h 1 64 1.3273769e-02 1.11e-16 3.06e-08 -12.0 2.80e-03 -5.0 1.00e+00 1.00e+00h 1 65 1.3196243e-02 1.11e-16 3.09e-08 -12.0 1.06e-03 -4.5 1.00e+00 1.00e+00h 1 66 1.2964817e-02 1.11e-16 3.12e-08 -12.0 3.22e-03 -5.0 1.00e+00 1.00e+00h 1 67 1.2878540e-02 1.67e-16 3.15e-08 -12.0 1.22e-03 -4.6 1.00e+00 1.00e+00h 1 68 1.2621935e-02 1.11e-16 3.18e-08 -12.0 3.69e-03 -5.1 1.00e+00 1.00e+00h 1 69 1.2526639e-02 9.71e-17 3.20e-08 -12.0 1.39e-03 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 1.2490791e-02 1.67e-16 3.23e-08 -12.0 5.27e-04 -4.2 1.00e+00 1.00e+00h 1 71 1.2383040e-02 5.55e-17 3.26e-08 -12.0 1.59e-03 -4.7 1.00e+00 1.00e+00h 1 72 1.2342573e-02 1.11e-16 3.28e-08 -12.0 6.03e-04 -4.3 1.00e+00 1.00e+00h 1 73 1.2221157e-02 1.11e-16 3.31e-08 -12.0 1.82e-03 -4.7 1.00e+00 1.00e+00h 1 74 1.1864813e-02 1.67e-16 3.33e-08 -12.0 5.50e-03 -5.2 1.00e+00 1.00e+00h 1 75 1.1734338e-02 8.33e-17 3.35e-08 -12.0 2.08e-03 -4.8 1.00e+00 1.00e+00h 1 76 1.1685563e-02 1.11e-16 3.37e-08 -12.0 7.84e-04 -4.4 1.00e+00 1.00e+00h 1 77 1.1539960e-02 1.67e-16 3.39e-08 -12.0 2.37e-03 -4.8 1.00e+00 1.00e+00h 1 78 1.1118527e-02 1.11e-16 3.40e-08 -12.0 7.14e-03 -5.3 1.00e+00 1.00e+00h 1 79 1.0966540e-02 1.11e-16 3.42e-08 -12.0 2.69e-03 -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 80 1.0910088e-02 1.39e-16 3.43e-08 -12.0 1.01e-03 -4.5 1.00e+00 1.00e+00h 1 81 1.0742749e-02 1.11e-16 3.45e-08 -12.0 3.05e-03 -4.9 1.00e+00 1.00e+00h 1 82 1.0680807e-02 1.39e-16 3.46e-08 -12.0 1.15e-03 -4.5 1.00e+00 1.00e+00h 1 83 1.0497900e-02 1.11e-16 3.47e-08 -12.0 3.46e-03 -5.0 1.00e+00 1.00e+00h 1 84 1.0430470e-02 1.39e-16 3.48e-08 -12.0 1.30e-03 -4.6 1.00e+00 1.00e+00h 1 85 1.0232270e-02 1.11e-16 3.49e-08 -12.0 3.92e-03 -5.1 1.00e+00 1.00e+00h 1 86 1.0159559e-02 8.33e-17 3.50e-08 -12.0 1.47e-03 -4.6 1.00e+00 1.00e+00h 1 87 9.9470129e-03 1.11e-16 3.50e-08 -12.0 4.43e-03 -5.1 1.00e+00 1.00e+00h 1 88 9.8695023e-03 1.11e-16 3.51e-08 -12.0 1.66e-03 -4.7 1.00e+00 1.00e+00h 1 89 9.8405939e-03 1.11e-16 3.51e-08 -12.0 6.25e-04 -4.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 9.7544747e-03 1.11e-16 3.52e-08 -12.0 1.88e-03 -4.7 1.00e+00 1.00e+00h 1 91 9.7224254e-03 1.11e-16 3.52e-08 -12.0 7.05e-04 -4.3 1.00e+00 1.00e+00h 1 92 9.6271795e-03 1.94e-16 3.53e-08 -12.0 2.12e-03 -4.8 1.00e+00 1.00e+00h 1 93 9.5918231e-03 1.39e-16 3.53e-08 -12.0 7.95e-04 -4.4 1.00e+00 1.00e+00h 1 94 9.4870434e-03 1.67e-16 3.53e-08 -12.0 2.39e-03 -4.8 1.00e+00 1.00e+00h 1 95 9.4482627e-03 1.94e-16 3.53e-08 -12.0 8.95e-04 -4.4 1.00e+00 1.00e+00h 1 96 9.3337131e-03 1.11e-16 3.53e-08 -12.0 2.69e-03 -4.9 1.00e+00 1.00e+00h 1 97 9.2914639e-03 1.39e-16 3.53e-08 -12.0 1.01e-03 -4.5 1.00e+00 1.00e+00h 1 98 9.1671561e-03 1.39e-16 3.53e-08 -12.0 3.02e-03 -4.9 1.00e+00 1.00e+00h 1 99 9.1214983e-03 1.39e-16 3.53e-08 -12.0 1.13e-03 -4.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 8.9877902e-03 1.67e-16 3.52e-08 -12.0 3.40e-03 -5.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 8.9877902076364805e-11 8.9877902076364799e-03 Dual infeasibility......: 3.5237785852523198e-08 3.5237785852523200e+00 Constraint violation....: 1.6653345369377348e-16 1.6653345369377348e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.0909090907476781e-13 9.0909090907476784e-05 Overall NLP error.......: 9.9999999090931137e-05 9.9999999090931142e+03 Number of objective function evaluations = 101 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 101 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 2.211 EXIT: Maximum Number of Iterations Exceeded. 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 5.8.2. 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 1.2023717e+00 3.10e+00 6.11e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1818145e+00 1.96e+00 3.18e+00 -0.9 6.34e+00 -2.0 1.76e-01 4.02e-01h 1 2 1.2973235e+00 1.32e+00 3.48e+00 -0.5 2.40e+00 -0.7 9.51e-01 3.32e-01f 1 3 1.6297315e+00 9.24e-01 3.50e+00 -0.6 5.51e+00 -1.1 4.49e-01 6.08e-01h 1 4 1.9583513e+00 1.39e-01 5.11e+00 -4.0 2.27e+00 -0.7 4.50e-01 1.00e+00h 1 5 1.8566504e+00 8.13e-02 2.98e+00 -1.0 7.73e-01 -0.3 8.15e-01 3.59e-01f 1 6 1.7120016e+00 1.24e-02 1.85e-01 -1.3 1.87e-01 -0.8 9.95e-01 1.00e+00f 1 7 1.4347218e+00 2.14e-03 2.18e-01 -3.2 3.87e-01 -1.3 7.58e-01 1.00e+00f 1 8 1.3059391e+00 1.02e-02 4.08e-02 -2.3 5.17e-01 -1.7 9.91e-01 8.57e-01h 1 9 1.2238623e+00 9.73e-02 6.39e-03 -3.0 7.43e-01 -2.2 9.91e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2012927e+00 2.38e-02 2.77e-02 -4.0 1.45e+00 -2.7 1.00e+00 1.00e+00h 1 11 1.1890817e+00 7.21e-02 2.11e-02 -4.0 1.87e+00 -3.2 1.00e+00 1.00e+00h 1 12 1.1824528e+00 7.44e-02 2.16e-02 -4.0 2.82e+00 -3.6 1.00e+00 1.00e+00h 1 13 1.1772004e+00 9.74e-02 1.26e-02 -4.0 3.91e+00 -4.1 1.00e+00 1.00e+00h 1 14 1.1735303e+00 1.01e-01 1.48e-02 -4.0 6.03e+00 -4.6 1.00e+00 1.00e+00h 1 15 1.1702822e+00 1.35e-01 8.33e-03 -4.0 9.17e+00 -5.1 1.00e+00 1.00e+00h 1 16 1.1679332e+00 1.55e-01 7.56e-03 -4.0 1.40e+01 -5.5 1.00e+00 1.00e+00h 1 17 1.1659211e+00 1.96e-01 2.17e-03 -4.0 2.14e+01 -6.0 1.00e+00 1.00e+00h 1 18 1.1643942e+00 2.32e-01 1.12e-03 -4.0 3.24e+01 -6.5 1.00e+00 1.00e+00h 1 19 1.1631354e+00 2.84e-01 7.05e-03 -4.0 4.88e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1621678e+00 3.35e-01 1.22e-02 -4.0 7.28e+01 -7.5 1.00e+00 1.00e+00h 1 21 1.1613998e+00 3.93e-01 1.88e-02 -4.0 1.07e+02 -7.9 1.00e+00 1.00e+00h 1 22 1.1608434e+00 4.37e-01 2.35e-02 -4.0 1.52e+02 -8.4 1.00e+00 1.00e+00h 1 23 1.1605099e+00 4.27e-01 2.35e-02 -4.0 2.01e+02 -8.9 1.00e+00 1.00e+00h 1 24 1.1606032e+00 2.05e-01 4.73e-03 -4.0 1.87e+02 -9.4 1.00e+00 1.00e+00h 1 25 1.1608615e+00 4.36e-04 5.87e-04 -4.0 2.27e+00 -9.8 1.00e+00 1.00e+00h 1 26 1.1608495e+00 6.48e-06 8.42e-05 -4.0 1.08e+01 -10.3 1.00e+00 1.00e+00H 1 27 1.1608491e+00 5.35e-07 4.51e-10 -4.0 2.96e-01 -10.8 1.00e+00 1.00e+00h 1 28 1.1608491e+00 6.82e-12 8.50e-13 -4.0 1.09e-03 -11.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 1.1608491307806041e+00 1.1608491307806041e+00 Dual infeasibility......: 8.4992464997359074e-13 8.4992464997359074e-13 Constraint violation....: 6.8212102632969618e-12 6.8212102632969618e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000555e-04 1.0000000000000555e-04 Overall NLP error.......: 6.8212102632969618e-12 6.8212102632969618e-12 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 21.437 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 5.8.2. 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 1.6425658e+00 9.85e-01 1.11e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5907694e+00 1.46e-01 1.76e+00 -0.9 9.85e-01 0.0 9.84e-01 1.00e+00h 1 2 1.6578128e+00 4.61e-02 6.40e-01 -0.9 3.21e-01 -0.5 6.56e-01 6.84e-01h 1 3 1.6991273e+00 4.96e-02 3.19e+00 -1.3 1.60e+01 - 8.59e-01 4.64e-01f 2 4 1.5406697e+00 2.49e-02 9.23e-01 -1.4 3.35e-01 -1.0 1.00e+00 9.41e-01h 1 5 1.1598242e+00 4.28e-03 2.03e-01 -2.3 3.14e-01 -1.4 9.98e-01 8.72e-01f 1 6 1.0952491e+00 2.58e-04 4.89e-01 -4.0 5.92e+00 - 1.00e+00 9.59e-01h 1 7 1.0919537e+00 1.16e-04 3.07e-02 -4.0 1.58e+00 - 1.00e+00 5.51e-01h 1 8 1.0910361e+00 1.32e-07 7.90e-03 -4.0 8.76e-01 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 3.40e-12 9.73e-05 -4.0 2.04e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 8.88e-16 9.56e-05 -4.0 6.36e-06 - 1.00e+00 1.00e+00h 1 11 1.0908587e+00 9.56e-25 9.54e-05 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 12 1.0910386e+00 8.88e-16 6.41e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 12 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 6.4086746705879077e-09 6.4086746705879077e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619629e-04 1.0000114091619629e-04 Overall NLP error.......: 6.4086746705879077e-09 6.4086746705879077e-09 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 = 18.228 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 5.8.2. 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 2.2012862e+00 2.95e+00 5.90e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6451532e+00 4.86e-02 1.79e+00 -0.9 1.76e+00 0.0 9.51e-01 1.00e+00f 1 Hello, world! 2 2.4546081e+00 3.86e-02 8.93e-01 -1.2 5.21e-01 -0.5 9.86e-01 8.38e-01h 1 Hello, world! 3 2.2349445e+00 5.03e-03 7.05e-02 -2.0 1.05e-01 -1.0 9.93e-01 8.71e-01h 1 Hello, world! 4 2.0984298e+00 1.15e-03 1.12e-02 -3.1 4.68e-02 -1.4 9.98e-01 9.79e-01h 1 Hello, world! 5 2.0909854e+00 2.91e-05 7.25e-03 -4.0 1.70e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908798e+00 1.10e-07 7.08e-05 -4.0 7.38e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908801e+00 2.15e-09 1.61e-05 -4.0 1.18e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908776e+00 3.97e-10 1.60e-05 -4.0 3.49e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908698e+00 3.22e-09 1.57e-05 -4.0 1.03e-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 2.0908472e+00 2.64e-08 3.12e-05 -4.0 2.98e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907828e+00 2.26e-07 1.39e-04 -4.0 8.51e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905879e+00 2.15e-06 2.97e-04 -4.0 2.48e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0905102e+00 3.39e-07 2.54e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0901531e+00 9.37e-10 1.38e-03 -4.0 3.50e+00 -5.3 1.00e+00 1.00e+00H 1 Hello, world! 15 2.0896272e+00 4.01e-05 1.00e-02 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 16 2.0889036e+00 4.22e-05 9.58e-02 -4.0 1.86e+01 -5.4 1.00e+00 2.40e-01h 1 Hello, world! 17 2.0880678e+00 4.27e-05 1.32e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0866201e+00 1.11e-04 3.31e-02 -4.0 2.75e+01 -6.3 1.00e+00 6.33e-01h 1 Hello, world! 19 2.0838039e+00 8.15e-04 4.07e-02 -4.0 4.97e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827492e+00 2.85e-04 8.42e-03 -4.0 5.46e+01 -7.3 1.00e+00 6.08e-01h 1 Hello, world! 21 2.0825164e+00 8.41e-04 2.69e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.1104186e+00 3.42e-04 7.47e-01 -4.0 2.80e+02 -7.3 9.30e-02 1.00e+00H 1 Hello, world! 23 2.0918194e+00 7.71e-04 6.77e+00 -4.1 1.99e+01 -3.3 4.86e-03 4.40e-02f 1 Hello, world! 24 2.0856411e+00 3.05e-04 2.69e+00 -4.1 2.16e-01 -1.9 1.00e+00 6.06e-01f 1 Hello, world! 25 2.0863225e+00 2.28e-04 2.05e+00 -4.0 1.01e+00 -2.4 1.00e+00 2.50e-01f 3 Hello, world! 26 2.0842362e+00 1.04e-04 9.83e-01 -4.0 1.48e+00 -2.9 1.00e+00 5.49e-01h 1 Hello, world! 27 2.0838388e+00 2.88e-05 4.72e-01 -4.0 1.63e-01 -3.4 1.00e+00 7.23e-01h 1 Hello, world! 28 2.0837638e+00 6.20e-06 6.03e-04 -4.0 1.16e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0837627e+00 1.99e-06 9.66e-06 -4.0 2.06e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0837210e+00 1.89e-07 1.58e-05 -4.0 6.07e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0836071e+00 1.44e-06 1.21e-04 -4.0 1.73e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0833482e+00 9.13e-06 7.77e-04 -4.0 4.49e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0830101e+00 3.33e-05 2.38e-03 -4.0 1.04e+01 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0826884e+00 4.94e-05 3.28e-03 -4.0 2.52e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0822034e+00 2.82e-04 7.44e-03 -4.0 5.48e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0926606e+00 8.50e-07 4.42e-01 -4.0 2.37e+02 -7.7 1.22e-01 1.00e+00H 1 Hello, world! 37 2.0870491e+00 7.27e-04 1.46e+00 -4.1 5.37e+01 -5.4 4.58e-01 1.67e-01f 1 Hello, world! 38 2.0862079e+00 6.83e-04 3.16e-01 -4.1 4.02e+01 -5.9 1.00e+00 5.72e-02f 1 Hello, world! 39 2.0819829e+00 1.96e-04 1.06e-01 -4.1 9.22e+00 -5.5 1.00e+00 6.37e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0832890e+00 3.34e-04 8.71e-02 -4.0 7.80e+00 -6.0 9.45e-01 1.00e+00f 1 Hello, world! 41 2.0827698e+00 6.73e-04 1.54e-02 -4.0 1.33e+01 -6.4 7.29e-01 1.00e+00h 1 Hello, world! 42 2.0823433e+00 1.35e-04 6.50e-03 -4.0 2.97e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0821293e+00 4.61e-04 9.25e-03 -4.0 6.85e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 44 2.4084032e+00 5.37e-05 6.99e+00 -4.1 7.26e+02 -7.9 5.50e-02 1.00e+00H 1 Hello, world! 45 2.0865726e+00 6.03e-06 7.62e-01 -4.1 9.37e-02 -0.0 1.00e+00 8.88e-01f 1 Hello, world! 46 2.0868817e+00 5.99e-06 3.86e+00 -4.1 5.09e-02 -0.5 1.00e+00 7.81e-03f 8 Hello, world! 47 2.0868244e+00 1.80e-09 1.48e-03 -4.1 1.42e-02 -1.0 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0867034e+00 1.49e-07 1.31e-03 -4.0 3.78e-02 -1.5 1.00e+00 1.00e+00f 1 Hello, world! 49 2.0865609e+00 4.08e-07 1.08e-03 -4.0 9.38e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0864068e+00 6.55e-07 3.93e-04 -4.0 1.02e-01 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0864067787087062e+00 2.0864067787087062e+00 Dual infeasibility......: 3.9254635854602725e-04 3.9254635854602725e-04 Constraint violation....: 6.5524162790389640e-07 6.5524162790389640e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999998851022e-05 9.9999999998851022e-05 Overall NLP error.......: 3.9254635854602725e-04 3.9254635854602725e-04 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 22.399 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 5.8.2. 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 2.2012862e+00 2.95e+00 5.90e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.6451532e+00 4.86e-02 1.79e+00 -0.9 1.76e+00 0.0 9.51e-01 1.00e+00f 1 Hello, world! 2 2.4546081e+00 3.86e-02 8.93e-01 -1.2 5.21e-01 -0.5 9.86e-01 8.38e-01h 1 Hello, world! 3 2.2349445e+00 5.03e-03 7.05e-02 -2.0 1.05e-01 -1.0 9.93e-01 8.71e-01h 1 Hello, world! 4 2.0984298e+00 1.15e-03 1.12e-02 -3.1 4.68e-02 -1.4 9.98e-01 9.79e-01h 1 Hello, world! 5 2.0909854e+00 2.91e-05 7.25e-03 -4.0 1.70e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908798e+00 1.10e-07 7.08e-05 -4.0 7.38e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0908801e+00 2.15e-09 1.61e-05 -4.0 1.18e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908776e+00 3.97e-10 1.60e-05 -4.0 3.49e-02 -3.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908698e+00 3.22e-09 1.57e-05 -4.0 1.03e-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 2.0908472e+00 2.64e-08 3.12e-05 -4.0 2.98e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0907828e+00 2.26e-07 1.39e-04 -4.0 8.51e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0905879e+00 2.15e-06 2.97e-04 -4.0 2.48e+00 -5.2 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0905102e+00 3.39e-07 2.54e-04 -4.0 1.00e+00 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0901531e+00 9.37e-10 1.38e-03 -4.0 3.50e+00 -5.3 1.00e+00 1.00e+00H 1 Hello, world! 15 2.0896272e+00 4.01e-05 1.00e-02 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 16 2.0889036e+00 4.22e-05 9.58e-02 -4.0 1.86e+01 -5.4 1.00e+00 2.40e-01h 1 Hello, world! 17 2.0880678e+00 4.27e-05 1.32e-02 -4.0 1.10e+01 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0866201e+00 1.11e-04 3.31e-02 -4.0 2.75e+01 -6.3 1.00e+00 6.33e-01h 1 Hello, world! 19 2.0838039e+00 8.15e-04 4.07e-02 -4.0 4.97e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827492e+00 2.85e-04 8.42e-03 -4.0 5.46e+01 -7.3 1.00e+00 6.08e-01h 1 Hello, world! 21 2.0825164e+00 8.41e-04 2.69e-02 -4.0 1.33e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! 22 2.1104186e+00 3.42e-04 7.47e-01 -4.0 2.80e+02 -7.3 9.30e-02 1.00e+00H 1 Hello, world! 23 2.0918194e+00 7.71e-04 6.77e+00 -4.1 1.99e+01 -3.3 4.86e-03 4.40e-02f 1 Hello, world! 24 2.0856411e+00 3.05e-04 2.69e+00 -4.1 2.16e-01 -1.9 1.00e+00 6.06e-01f 1 Hello, world! 25 2.0863225e+00 2.28e-04 2.05e+00 -4.0 1.01e+00 -2.4 1.00e+00 2.50e-01f 3 Hello, world! 26 2.0842362e+00 1.04e-04 9.83e-01 -4.0 1.48e+00 -2.9 1.00e+00 5.49e-01h 1 Hello, world! 27 2.0838388e+00 2.88e-05 4.72e-01 -4.0 1.63e-01 -3.4 1.00e+00 7.23e-01h 1 Hello, world! 28 2.0837638e+00 6.20e-06 6.03e-04 -4.0 1.16e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 29 2.0837627e+00 1.99e-06 9.66e-06 -4.0 2.06e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0837210e+00 1.89e-07 1.58e-05 -4.0 6.07e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 31 2.0836071e+00 1.44e-06 1.21e-04 -4.0 1.73e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0833482e+00 9.13e-06 7.77e-04 -4.0 4.49e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0830101e+00 3.33e-05 2.38e-03 -4.0 1.04e+01 -6.2 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0826884e+00 4.94e-05 3.28e-03 -4.0 2.52e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0822034e+00 2.82e-04 7.44e-03 -4.0 5.48e+01 -7.2 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0926606e+00 8.50e-07 4.42e-01 -4.0 2.37e+02 -7.7 1.22e-01 1.00e+00H 1 Hello, world! 37 2.0870491e+00 7.27e-04 1.46e+00 -4.1 5.37e+01 -5.4 4.58e-01 1.67e-01f 1 Hello, world! 38 2.0862079e+00 6.83e-04 3.16e-01 -4.1 4.02e+01 -5.9 1.00e+00 5.72e-02f 1 Hello, world! 39 2.0819829e+00 1.96e-04 1.06e-01 -4.1 9.22e+00 -5.5 1.00e+00 6.37e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0832890e+00 3.34e-04 8.71e-02 -4.0 7.80e+00 -6.0 9.45e-01 1.00e+00f 1 Hello, world! 41 2.0827698e+00 6.73e-04 1.54e-02 -4.0 1.33e+01 -6.4 7.29e-01 1.00e+00h 1 Hello, world! 42 2.0823433e+00 1.35e-04 6.50e-03 -4.0 2.97e+01 -6.9 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0821293e+00 4.61e-04 9.25e-03 -4.0 6.85e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 44 2.4084032e+00 5.37e-05 6.99e+00 -4.1 7.26e+02 -7.9 5.50e-02 1.00e+00H 1 Hello, world! 45 2.0865726e+00 6.03e-06 7.62e-01 -4.1 9.37e-02 -0.0 1.00e+00 8.88e-01f 1 Hello, world! 46 2.0868817e+00 5.99e-06 3.86e+00 -4.1 5.09e-02 -0.5 1.00e+00 7.81e-03f 8 Hello, world! 47 2.0868244e+00 1.80e-09 1.48e-03 -4.1 1.42e-02 -1.0 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0867034e+00 1.49e-07 1.31e-03 -4.0 3.78e-02 -1.5 1.00e+00 1.00e+00f 1 Hello, world! 49 2.0865609e+00 4.08e-07 1.08e-03 -4.0 9.38e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0864068e+00 6.55e-07 3.93e-04 -4.0 1.02e-01 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0864067787087062e+00 2.0864067787087062e+00 Dual infeasibility......: 3.9254635854602725e-04 3.9254635854602725e-04 Constraint violation....: 6.5524162790389640e-07 6.5524162790389640e-07 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999998851022e-05 9.9999999998851022e-05 Overall NLP error.......: 3.9254635854602725e-04 3.9254635854602725e-04 Number of objective function evaluations = 65 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 65 Number of inequality constraint evaluations = 65 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 1.027 EXIT: Stopping optimization at current point as requested by user. 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 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.4944238e+00 3.37e+00 6.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6982675e+00 2.30e-02 9.11e-01 -1.0 2.42e+00 - 9.99e-01 1.00e+00f 1 2 2.3378648e+00 6.84e-03 1.31e-01 -1.7 1.21e-01 - 9.52e-01 1.00e+00f 1 3 2.1336232e+00 1.93e-03 4.22e-02 -2.8 4.18e-02 - 9.29e-01 8.32e-01h 1 4 2.0914141e+00 1.99e-04 3.81e-03 -4.0 2.56e-02 - 9.98e-01 9.91e-01h 1 5 2.0909071e+00 3.34e-05 1.04e-03 -4.0 3.37e-01 - 1.00e+00 1.00e+00h 1 6 2.0908974e+00 1.56e-08 5.64e-07 -4.0 1.44e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 9.33e-11 5.70e-11 -4.0 2.03e-02 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971968298373e+00 2.0908971968298373e+00 Dual infeasibility......: 5.7032495127387270e-11 5.7032495127387270e-11 Constraint violation....: 9.3311225933534470e-11 9.3311225933534470e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000845086155392e-04 1.0000845086155392e-04 Overall NLP error.......: 8.4508615539192599e-09 8.4508615539192599e-09 Number of objective function evaluations = 8 Number of objective gradient evaluations = 8 Number of equality constraint evaluations = 8 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 8 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 7 Total seconds in IPOPT = 21.369 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 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 46 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.4668955e+00 1.46e+00 8.77e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.1161470e+00 8.59e-01 2.19e+00 -1.0 7.94e+00 -4.0 6.58e-01 4.19e-01f 1 2 1.9475398e+00 4.46e-01 1.21e+01 -0.9 9.52e+00 -2.7 1.91e-01 5.86e-01f 1 3 2.4170774e+00 2.80e-01 1.07e+01 -0.4 3.97e+00 -1.3 7.50e-01 4.22e-01h 1 4 2.8880262e+00 5.84e-02 1.83e+00 -0.6 2.41e+00 -1.8 9.47e-01 1.00e+00f 1 5 2.6669692e+00 4.52e-02 4.06e-01 -1.3 5.86e-01 -1.4 9.86e-01 1.00e+00h 1 6 2.3213360e+00 4.45e-02 7.04e-02 -1.8 4.56e-01 -1.9 9.66e-01 9.11e-01h 1 7 2.1820487e+00 1.22e-02 7.68e-02 -2.2 4.14e-01 -2.3 8.31e-01 7.30e-01h 1 8 2.1198138e+00 5.09e-03 9.20e-02 -2.6 3.72e-01 -2.8 9.96e-01 8.09e-01h 1 9 2.0931958e+00 7.88e-04 2.69e-02 -3.8 2.30e-01 -3.3 1.00e+00 9.18e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908656e+00 5.39e-05 2.92e-03 -4.0 1.12e-01 -3.8 1.00e+00 1.00e+00h 1 11 2.0908092e+00 2.47e-06 6.27e-05 -4.0 3.35e-01 -4.3 1.00e+00 1.00e+00h 1 12 2.0907205e+00 3.08e-07 1.25e-04 -4.0 9.37e-01 -4.7 1.00e+00 1.00e+00h 1 13 2.0905081e+00 1.65e-06 7.79e-04 -4.0 2.30e+00 -5.2 1.00e+00 1.00e+00h 1 14 2.0901772e+00 3.59e-06 2.54e-03 -4.0 4.04e+00 -5.7 1.00e+00 1.00e+00h 1 15 2.0899564e+00 3.65e-06 2.76e-03 -4.0 5.45e+00 -6.2 1.00e+00 1.00e+00h 1 16 2.0898538e+00 1.61e-06 1.61e-03 -4.0 8.36e+00 -6.6 1.00e+00 1.00e+00h 1 17 2.0898273e+00 5.78e-07 1.37e-03 -4.0 1.15e+01 -7.1 1.00e+00 1.00e+00h 1 18 2.0898236e+00 1.79e-06 7.50e-04 -4.0 9.44e+00 -7.6 1.00e+00 1.00e+00h 1 19 2.0898221e+00 4.38e-07 9.50e-05 -4.0 3.08e+00 -8.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0898219e+00 8.37e-09 1.51e-06 -4.0 4.21e-01 -8.5 1.00e+00 1.00e+00h 1 21 2.0898218e+00 1.15e-11 3.73e-09 -4.0 2.61e-02 -9.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 21 (scaled) (unscaled) Objective...............: 2.0898218499523460e+00 2.0898218499523460e+00 Dual infeasibility......: 3.7335093154545161e-09 3.7335093154545161e-09 Constraint violation....: 1.1476486427852706e-11 1.1476486427852706e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000003e-04 1.0000000000000003e-04 Overall NLP error.......: 3.7335093154545161e-09 3.7335093154545161e-09 Number of objective function evaluations = 22 Number of objective gradient evaluations = 22 Number of equality constraint evaluations = 22 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 22 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 21 Total seconds in IPOPT = 21.958 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 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 35 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.5358430e+00 1.90e+00 4.72e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5181239e+00 1.81e+00 5.78e+00 -1.1 1.33e+00 0.0 2.43e-01 4.72e-02h 1 2 2.5199431e+00 1.81e+00 3.91e+02 -4.0 4.57e+00 -0.5 2.49e-02 4.97e-04h 1 3 2.5318380e+00 1.81e+00 3.57e+03 -4.0 4.72e+02 -1.0 5.21e-04 5.78e-05h 1 4 2.7610910e+00 1.82e+00 1.11e+04 1.4 8.26e+02 -1.4 3.02e-03 7.81e-04f 1 5 2.7889529e+00 1.81e+00 8.95e+03 -0.6 4.97e+02 -1.0 3.11e-03 3.87e-04h 4 6 2.8390700e+00 1.81e+00 6.31e+03 -0.6 3.54e+02 -1.5 8.08e-03 7.58e-04h 3 7 2.9898439e+00 1.81e+00 3.19e+04 -0.6 1.19e+02 -1.1 1.87e-02 2.72e-03h 1 8 2.9912726e+00 1.81e+00 2.10e+07 -0.6 5.39e+01 -1.5 3.43e-02 5.09e-05h 1 9r 2.9912726e+00 1.81e+00 1.00e+03 0.3 0.00e+00 -1.1 0.00e+00 3.84e-07R 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10r 3.0548273e+00 6.75e-01 9.96e+02 1.1 9.73e+02 - 3.27e-03 1.77e-03f 1 11 3.0548696e+00 6.75e-01 1.37e+03 -4.0 2.13e+00 -1.6 1.63e-01 1.18e-04h 1 12r 3.0548696e+00 6.75e-01 9.99e+02 0.9 0.00e+00 -2.1 0.00e+00 2.53e-07R 4 13r 2.5508201e+00 3.00e-01 9.45e+02 1.5 4.24e+01 - 7.50e-02 9.58e-03f 1 14 2.5512373e+00 3.00e-01 3.15e+02 -2.6 1.86e+00 -2.5 4.72e-01 1.50e-03h 1 15 2.6586420e+00 3.00e-01 1.65e+04 1.2 9.08e+02 -3.0 2.87e-02 7.10e-04f 1 16 2.6594091e+00 3.00e-01 2.27e+07 -0.3 1.55e+01 -3.5 2.64e-01 1.81e-04h 1 17 2.6594503e+00 3.00e-01 8.20e+11 -0.3 1.27e+01 -4.0 5.46e-01 1.50e-05h 1 18r 2.6594503e+00 3.00e-01 1.00e+03 -0.3 0.00e+00 -4.4 0.00e+00 8.04e-08R 2 19r 2.7908197e+00 2.03e-01 1.44e+03 1.8 1.47e+02 - 2.86e-02 3.03e-03f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.7908679e+00 2.03e-01 5.31e+02 -4.0 1.01e+01 -4.9 5.41e-01 1.01e-03h 1 21 2.7914768e+00 2.03e-01 3.92e+07 0.7 1.25e+03 -5.4 1.00e+00 1.45e-05h 1 22r 2.7914768e+00 2.03e-01 1.00e+03 1.7 0.00e+00 -5.9 0.00e+00 3.84e-07R 2 23r 3.6413958e+00 2.03e-01 5.34e+02 1.0 1.38e+00 - 8.39e-01 4.00e-01f 1 24r 3.7841438e+00 2.02e-01 9.27e+01 0.1 7.28e-01 - 9.94e-01 8.47e-01f 1 25r 3.8602601e+00 1.99e-01 3.64e+00 -0.5 3.26e-02 2.0 1.00e+00 1.00e+00f 1 26r 3.8823554e+00 1.99e-01 1.16e+02 -1.7 1.27e-02 1.5 1.00e+00 6.57e-01f 1 27r 3.9116284e+00 1.99e-01 1.95e-01 -2.0 1.75e-02 1.0 1.00e+00 1.00e+00f 1 28r 3.7045177e+00 1.99e-01 8.54e-02 -2.5 9.96e-01 - 9.38e-01 1.00e+00f 1 29r 3.7105393e+00 1.99e-01 4.17e-02 -2.8 1.24e-01 - 9.86e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30r 3.6036457e+00 1.99e-01 1.35e-02 -3.6 6.69e-02 - 9.95e-01 1.00e+00h 1 31r 3.4789965e+00 1.99e-01 3.30e-03 -4.0 7.92e-02 - 9.98e-01 1.00e+00h 1 32r 3.5618532e+00 1.99e-01 1.00e-03 -4.0 1.17e-01 - 1.00e+00 1.00e+00H 1 33r 3.5778002e+00 1.99e-01 8.78e-05 -4.0 3.14e-02 - 1.00e+00 1.00e+00h 1 34r 3.5867553e+00 1.99e-01 1.03e-07 -4.0 4.21e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 34 (scaled) (unscaled) Objective...............: 3.5867887150860245e+00 3.5867887150860245e+00 Dual infeasibility......: 2.0548283257024234e+00 2.0548283257024234e+00 Constraint violation....: 1.9875045031760241e-01 1.9875045031760241e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000002518097901e-04 1.0000002518097901e-04 Overall NLP error.......: 2.0548283257024234e+00 2.0548283257024234e+00 Number of objective function evaluations = 56 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 56 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 = 35 Total seconds in IPOPT = 22.390 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 5.8.2. 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 7.3401862e+00 2.40e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.8496212e+00 1.03e+00 1.96e+00 -0.8 1.98e+00 0.0 7.89e-01 5.69e-01f 1 2 2.5163222e+00 1.84e-01 1.81e+00 -1.0 1.02e+00 -0.5 8.10e-01 8.20e-01f 1 3 2.4837057e+00 7.49e-03 9.63e-01 -1.3 5.63e-01 -1.0 8.53e-01 1.00e+00h 1 4 2.2827748e+00 5.82e-02 2.07e-01 -1.6 7.21e-01 -1.4 9.68e-01 7.35e-01h 1 5 2.1390508e+00 3.76e-03 4.82e-02 -2.4 1.96e-01 -1.9 9.55e-01 1.00e+00h 1 6 2.0927759e+00 4.06e-04 1.66e-02 -4.0 5.94e-02 -2.4 1.00e+00 9.53e-01h 1 7 2.0908865e+00 7.91e-06 1.31e-03 -4.0 1.63e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908790e+00 1.04e-07 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908657e+00 6.74e-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 2.0908259e+00 6.23e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907064e+00 5.61e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903489e+00 5.08e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892835e+00 4.64e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861519e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796316e+00 2.50e-03 8.69e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.56e-01h 1 16 2.0812620e+00 1.55e-04 1.93e-01 -4.0 6.76e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778374e+00 5.91e-03 2.72e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781405e+00 1.57e-02 4.04e-02 -3.7 1.52e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767329e+00 1.29e-02 1.91e-02 -3.8 2.87e+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 2.0758567e+00 1.01e-02 2.13e-02 -3.9 4.18e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0757720e+00 6.16e-03 8.49e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756809e+00 3.81e-04 3.91e-04 -4.0 6.06e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 5.12e-06 6.82e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.81e-08 1.52e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.54e-09 1.51e-07 -4.0 5.20e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.70e-11 3.02e-09 -4.0 9.16e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122103123e+00 2.0756712122103123e+00 Dual infeasibility......: 3.0209383155275528e-09 3.0209383155275528e-09 Constraint violation....: 7.7049033819776014e-11 7.7049033819776014e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000021e-04 1.0000000000000021e-04 Overall NLP error.......: 3.0209383155275528e-09 3.0209383155275528e-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 = 24.531 EXIT: Optimal Solution Found. Difference in Jacobian Test Summary: | Pass Total Time Package | 193 193 16m30.4s Testing DirectTrajOpt tests passed Testing completed after 1128.44s PkgEval succeeded after 1543.64s