Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.1584 (ac5fadde9b*) started at 2026-01-19T00:28:40.211 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 11.39s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Installed CommonWorldInvalidations ───────── v1.0.0 Installed FastPower ──────────────────────── v1.3.0 Installed MUMPS_seq_jll ──────────────────── v500.800.200+0 Installed SIMDTypes ──────────────────────── v0.1.0 Installed OrderedCollections ─────────────── v1.8.1 Installed Bzip2_jll ──────────────────────── v1.0.9+0 Installed Xorg_libpciaccess_jll ──────────── v0.18.1+0 Installed EnzymeCore ─────────────────────── v0.8.18 Installed PreallocationTools ─────────────── v1.0.0 Installed ChunkCodecLibZstd ──────────────── v1.0.0 Installed CpuId ──────────────────────────── v0.3.1 Installed TrajectoryIndexingUtils ────────── v0.1.0 Installed Ipopt_jll ──────────────────────── v300.1400.1901+0 Installed FileIO ─────────────────────────── v1.17.1 Installed StaticArrayInterface ───────────── v1.8.0 Installed NonlinearSolveBase ─────────────── v2.9.1 Installed FastBroadcast ──────────────────── v0.3.5 Installed ScopedValues ───────────────────── v1.5.0 Installed NaNMath ────────────────────────── v1.1.3 Installed OpenSpecFun_jll ────────────────── v0.5.6+0 Installed InverseFunctions ───────────────── v0.1.17 Installed Jieko ──────────────────────────── v0.2.1 Installed EnumX ──────────────────────────── v1.0.5 Installed AbstractDifferentiation ────────── v0.4.4 Installed DiffEqBase ─────────────────────── v6.199.0 Installed BracketingNonlinearSolve ───────── v1.6.2 Installed Reexport ───────────────────────── v1.2.2 Installed MaybeInplace ───────────────────── v0.1.4 Installed Preferences ────────────────────── v1.5.1 Installed Static ─────────────────────────── v1.3.1 Installed ADTypes ────────────────────────── v1.21.0 Installed MacroTools ─────────────────────── v0.5.16 Installed DiffResults ────────────────────── v1.1.0 Installed DataStructures ─────────────────── v0.19.3 Installed CodecZlib ──────────────────────── v0.7.8 Installed ManualMemory ───────────────────── v0.1.8 Installed RecursiveArrayTools ────────────── v3.44.0 Installed FillArrays ─────────────────────── v1.16.0 Installed ExprTools ──────────────────────── v0.1.10 Installed SciMLJacobianOperators ─────────── v0.1.12 Installed ArrayInterface ─────────────────── v7.22.0 Installed LayoutPointers ─────────────────── v0.1.17 Installed LoggingExtras ──────────────────── v1.2.0 Installed CommonSubexpressions ───────────── v0.3.1 Installed TruncatedStacktraces ───────────── v1.4.0 Installed IrrationalConstants ────────────── v0.2.6 Installed ConcreteStructs ────────────────── v0.2.3 Installed StructUtils ────────────────────── v2.6.2 Installed Observables ────────────────────── v0.5.5 Installed SPRAL_jll ──────────────────────── v2025.9.18+0 Installed Setfield ───────────────────────── v1.1.2 Installed GPUArraysCore ──────────────────── v0.2.0 Installed ArrayLayouts ───────────────────── v1.12.2 Installed Hwloc_jll ──────────────────────── v2.12.2+0 Installed BenchmarkTools ─────────────────── v1.6.3 Installed DocStringExtensions ────────────── v0.9.5 Installed CompositionsBase ───────────────── v0.1.2 Installed CommonSolve ────────────────────── v0.2.6 Installed BitTwiddlingConvenienceFunctions ─ v0.1.6 Installed Moshi ──────────────────────────── v0.3.7 Installed ForwardDiff ────────────────────── v1.3.1 Installed HashArrayMappedTries ───────────── v0.2.0 Installed IteratorInterfaceExtensions ────── v1.0.0 Installed RecipesBase ────────────────────── v1.3.4 Installed DifferentiationInterface ───────── v0.7.14 Installed FunctionWrappersWrappers ───────── v0.1.3 Installed MathOptInterface ───────────────── v1.48.0 Installed SciMLOperators ─────────────────── v1.14.1 Installed StaticArrays ───────────────────── v1.9.16 Installed SciMLStructures ────────────────── v1.10.0 Installed FunctionWrappers ───────────────── v1.1.3 Installed SciMLPublic ────────────────────── v1.0.1 Installed LogExpFunctions ────────────────── v0.3.29 Installed ComputePipeline ────────────────── v0.1.6 Installed DiffRules ──────────────────────── v1.15.1 Installed StaticArraysCore ───────────────── v1.4.4 Installed OpenBLAS32_jll ─────────────────── v0.3.29+0 Installed Requires ───────────────────────── v1.3.1 Installed JSON ───────────────────────────── v1.4.0 Installed SciMLBase ──────────────────────── v2.134.0 Installed Parsers ────────────────────────── v2.8.3 Installed FastClosures ───────────────────── v0.3.2 Installed CloseOpenIntervals ─────────────── v0.1.13 Installed Polyester ──────────────────────── v0.7.18 Installed FiniteDiff ─────────────────────── v2.29.0 Installed TestItems ──────────────────────── v1.0.0 Installed OrdinaryDiffEqCore ─────────────── v3.1.0 Installed MutableArithmetics ─────────────── v1.6.7 Installed JLLWrappers ────────────────────── v1.7.1 Installed ChunkCodecCore ─────────────────── v1.0.1 Installed StructTypes ────────────────────── v1.11.0 Installed ThreadingUtilities ─────────────── v0.5.5 Installed Adapt ──────────────────────────── v4.4.0 Installed Accessors ──────────────────────── v0.1.43 Installed ConstructionBase ───────────────── v1.6.0 Installed RuntimeGeneratedFunctions ──────── v0.5.16 Installed JLD2 ───────────────────────────── v0.6.3 Installed Compat ─────────────────────────── v4.18.1 Installed StrideArraysCore ───────────────── v0.5.8 Installed Statistics ─────────────────────── v1.11.1 Installed LazyArrays ─────────────────────── v2.9.4 Installed SymbolicIndexingInterface ──────── v0.3.46 Installed PrecompileTools ────────────────── v1.3.3 Installed ExproniconLite ─────────────────── v0.10.14 Installed TranscodingStreams ─────────────── v0.11.3 Installed TimerOutputs ───────────────────── v0.5.29 Installed CodecBzip2 ─────────────────────── v0.8.5 Installed CPUSummary ─────────────────────── v0.2.7 Installed JSON3 ──────────────────────────── v1.14.3 Installed ASL_jll ────────────────────────── v0.1.3+0 Installed ChunkCodecLibZlib ──────────────── v1.0.0 Installed ChainRulesCore ─────────────────── v1.26.0 Installed IfElse ─────────────────────────── v0.1.1 Installed ExponentialAction ──────────────── v0.2.10 Installed MuladdMacro ────────────────────── v0.2.4 Installed XML2_jll ───────────────────────── v2.13.9+0 Installed SciMLLogging ───────────────────── v1.8.0 Installed SpecialFunctions ───────────────── v2.6.1 Installed TestItemRunner ─────────────────── v1.1.4 Installed NamedTrajectories ──────────────── v0.8.0 Installed METIS_jll ──────────────────────── v5.1.3+0 Installed OrdinaryDiffEqTsit5 ────────────── v1.9.0 Installed Libiconv_jll ───────────────────── v1.18.0+0 Installed PolyesterWeave ─────────────────── v0.2.2 Installed DirectTrajOpt ──────────────────── v0.7.0 Installed Ipopt ──────────────────────────── v1.14.0 Installing 12 artifacts Installed artifact Bzip2 503.5 KiB Installed artifact ASL 276.3 KiB Installed artifact Ipopt 1.3 MiB Installed artifact XML2 2.5 MiB Installed artifact Xorg_libpciaccess 24.8 KiB Installed artifact METIS 1.1 MiB Installed artifact OpenSpecFun 194.9 KiB Installed artifact Libiconv 1.9 MiB Installed artifact SPRAL 691.9 KiB Installed artifact Hwloc 3.5 MiB Installed artifact MUMPS_seq 8.6 MiB Installed artifact OpenBLAS32 10.0 MiB Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.7.0 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 14.12s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling packages... 5898.7 ms ✓ TestEnv 1 dependency successfully precompiled in 6 seconds. 27 already precompiled. Precompiling package dependencies... Precompiling packages... 4690.9 ms ✓ MacroTools 1019.6 ms ✓ Reexport 1327.1 ms ✓ ConstructionBase 2327.2 ms ✓ IrrationalConstants 1090.2 ms ✓ Observables 986.0 ms ✓ CommonSolve 1359.0 ms ✓ TranscodingStreams 990.1 ms ✓ ChunkCodecCore 784.8 ms ✓ TestItems 1147.1 ms ✓ Statistics 1001.2 ms ✓ StaticArraysCore 1323.3 ms ✓ EnzymeCore 842.3 ms ✓ IfElse 1007.0 ms ✓ ManualMemory 1173.3 ms ✓ SciMLPublic 3537.3 ms ✓ ExproniconLite 802.6 ms ✓ TrajectoryIndexingUtils 886.0 ms ✓ CommonWorldInvalidations 940.0 ms ✓ FastPower 1035.3 ms ✓ InverseFunctions 954.0 ms ✓ CompositionsBase 942.0 ms ✓ MuladdMacro 1137.1 ms ✓ EnumX 2159.8 ms ✓ FillArrays 950.3 ms ✓ ExprTools 996.5 ms ✓ ConcreteStructs 1288.4 ms ✓ OrderedCollections 1424.7 ms ✓ FunctionWrappers 915.1 ms ✓ HashArrayMappedTries 1494.5 ms ✓ ADTypes 1101.2 ms ✓ DocStringExtensions 875.1 ms ✓ FastClosures 753.3 ms ✓ SIMDTypes 770.6 ms ✓ IteratorInterfaceExtensions 1023.4 ms ✓ NaNMath 1160.5 ms ✓ Requires 1744.4 ms ✓ CpuId 1681.5 ms ✓ StructTypes 1015.9 ms ✓ LoggingExtras 1543.3 ms ✓ StructUtils 1183.0 ms ✓ Compat 1296.2 ms ✓ Preferences 11630.4 ms ✓ MutableArithmetics 1735.2 ms ✓ CommonSubexpressions 902.8 ms ✓ ConstructionBase → ConstructionBaseLinearAlgebraExt 962.6 ms ✓ CodecZlib 1028.5 ms ✓ ChunkCodecLibZlib 1101.8 ms ✓ ChunkCodecLibZstd 23715.1 ms ✓ TestItemRunner 1408.8 ms ✓ Statistics → SparseArraysExt 1260.6 ms ✓ DiffResults 1841.8 ms ✓ ThreadingUtilities 3205.6 ms ✓ Jieko 900.1 ms ✓ InverseFunctions → InverseFunctionsDatesExt 1735.7 ms ✓ InverseFunctions → InverseFunctionsTestExt 857.4 ms ✓ CompositionsBase → CompositionsBaseInverseFunctionsExt 1688.2 ms ✓ FillArrays → FillArraysSparseArraysExt 974.1 ms ✓ FillArrays → FillArraysStatisticsExt 3235.6 ms ✓ TimerOutputs 931.6 ms ✓ RuntimeGeneratedFunctions 3434.4 ms ✓ DataStructures 1008.4 ms ✓ FunctionWrappersWrappers 1025.1 ms ✓ ScopedValues 1099.8 ms ✓ ADTypes → ADTypesConstructionBaseExt 2145.9 ms ✓ DifferentiationInterface 888.9 ms ✓ ADTypes → ADTypesEnzymeCoreExt 1189.6 ms ✓ LogExpFunctions 911.1 ms ✓ Adapt 8756.1 ms ✓ FileIO 965.1 ms ✓ Compat → CompatLinearAlgebraExt 909.9 ms ✓ PrecompileTools 1145.1 ms ✓ JLLWrappers 1484.6 ms ✓ TruncatedStacktraces 1625.2 ms ✓ ComputePipeline 1424.9 ms ✓ SciMLLogging 2755.4 ms ✓ Setfield 15415.9 ms ✓ Moshi 5063.0 ms ✓ Accessors 1276.9 ms ✓ DifferentiationInterface → DifferentiationInterfaceSparseArraysExt 893.1 ms ✓ LogExpFunctions → LogExpFunctionsInverseFunctionsExt 1227.7 ms ✓ ArrayInterface 1377.6 ms ✓ Adapt → AdaptSparseArraysExt 1354.1 ms ✓ GPUArraysCore 840.9 ms ✓ EnzymeCore → AdaptExt 2703.4 ms ✓ ChainRulesCore 13346.9 ms ✓ StaticArrays 2714.8 ms ✓ RecipesBase 15877.0 ms ✓ Parsers 6772.4 ms ✓ Static 44684.9 ms ✓ JLD2 1351.0 ms ✓ OpenBLAS32_jll 1473.8 ms ✓ Bzip2_jll 1160.1 ms ✓ OpenSpecFun_jll 1310.5 ms ✓ ASL_jll 1403.6 ms ✓ METIS_jll 1325.3 ms ✓ Xorg_libpciaccess_jll 1253.3 ms ✓ Libiconv_jll 1295.5 ms ✓ Accessors → TestExt 2119.1 ms ✓ Accessors → LinearAlgebraExt 728.6 ms ✓ ArrayInterface → ArrayInterfaceStaticArraysCoreExt 1821.7 ms ✓ MaybeInplace 1283.6 ms ✓ ArrayInterface → ArrayInterfaceSparseArraysExt 1375.7 ms ✓ SciMLStructures 2274.4 ms ✓ PreallocationTools 881.1 ms ✓ DifferentiationInterface → DifferentiationInterfaceGPUArraysCoreExt 900.4 ms ✓ ArrayInterface → ArrayInterfaceGPUArraysCoreExt 2264.3 ms ✓ AbstractDifferentiation 1639.2 ms ✓ ChainRulesCore → ChainRulesCoreSparseArraysExt 1399.9 ms ✓ EnzymeCore → EnzymeCoreChainRulesCoreExt 965.5 ms ✓ ADTypes → ADTypesChainRulesCoreExt 1086.6 ms ✓ DifferentiationInterface → DifferentiationInterfaceChainRulesCoreExt 3553.8 ms ✓ LogExpFunctions → LogExpFunctionsChainRulesCoreExt 1280.9 ms ✓ ArrayInterface → ArrayInterfaceChainRulesCoreExt 1682.8 ms ✓ StaticArrays → StaticArraysStatisticsExt 1396.6 ms ✓ StaticArrays → StaticArraysChainRulesCoreExt 1103.2 ms ✓ ConstructionBase → ConstructionBaseStaticArraysExt 1510.2 ms ✓ FillArrays → FillArraysStaticArraysExt 1582.1 ms ✓ DifferentiationInterface → DifferentiationInterfaceStaticArraysExt 1467.6 ms ✓ Adapt → AdaptStaticArraysExt 1526.1 ms ✓ Accessors → StaticArraysExt 13764.3 ms ✓ JSON3 6796.9 ms ✓ JSON 1040.5 ms ✓ BitTwiddlingConvenienceFunctions 2286.2 ms ✓ CPUSummary 4792.1 ms ✓ StaticArrayInterface 1145.5 ms ✓ CodecBzip2 4734.1 ms ✓ SpecialFunctions 1573.5 ms ✓ MUMPS_seq_jll 1307.7 ms ✓ XML2_jll 3913.9 ms ✓ SciMLOperators 1524.6 ms ✓ FiniteDiff 3254.6 ms ✓ SymbolicIndexingInterface 1315.0 ms ✓ MaybeInplace → MaybeInplaceSparseArraysExt 2107.5 ms ✓ ExponentialAction 22236.5 ms ✓ ArrayLayouts 3398.8 ms ✓ BenchmarkTools 1740.5 ms ✓ PolyesterWeave 1561.3 ms ✓ StaticArrayInterface → StaticArrayInterfaceStaticArraysExt 1201.8 ms ✓ CloseOpenIntervals 1294.9 ms ✓ LayoutPointers 4324.2 ms ✓ SpecialFunctions → SpecialFunctionsChainRulesCoreExt 1278.8 ms ✓ DiffRules 1473.8 ms ✓ Hwloc_jll 1176.7 ms ✓ SciMLOperators → SciMLOperatorsStaticArraysCoreExt 2462.5 ms ✓ SciMLOperators → SciMLOperatorsSparseArraysExt 2041.5 ms ✓ FiniteDiff → FiniteDiffStaticArraysExt 1675.6 ms ✓ FiniteDiff → FiniteDiffSparseArraysExt 1337.2 ms ✓ DifferentiationInterface → DifferentiationInterfaceFiniteDiffExt 7663.4 ms ✓ RecursiveArrayTools 3487.7 ms ✓ ArrayLayouts → ArrayLayoutsSparseArraysExt 2579.3 ms ✓ StrideArraysCore 6554.5 ms ✓ ForwardDiff 1563.1 ms ✓ SPRAL_jll 1865.6 ms ✓ RecursiveArrayTools → RecursiveArrayToolsSparseArraysExt 1310.1 ms ✓ RecursiveArrayTools → RecursiveArrayToolsStatisticsExt 6853.1 ms ✓ LazyArrays 2504.7 ms ✓ Polyester 2215.9 ms ✓ ForwardDiff → ForwardDiffStaticArraysExt 1641.2 ms ✓ FastPower → FastPowerForwardDiffExt 1755.0 ms ✓ DifferentiationInterface → DifferentiationInterfaceForwardDiffExt 2570.6 ms ✓ PreallocationTools → PreallocationToolsForwardDiffExt 74666.7 ms ✓ MathOptInterface 1754.8 ms ✓ RecursiveArrayTools → RecursiveArrayToolsForwardDiffExt 1563.7 ms ✓ Ipopt_jll 28668.3 ms ✓ SciMLBase 3848.9 ms ✓ LazyArrays → LazyArraysStaticArraysExt 2384.3 ms ✓ FastBroadcast 1122.0 ms ✓ Ipopt 3730.7 ms ✓ SciMLBase → SciMLBaseChainRulesCoreExt 3470.5 ms ✓ SciMLBase → SciMLBaseForwardDiffExt 3008.4 ms ✓ SciMLBase → SciMLBaseDifferentiationInterfaceExt 9319.4 ms ✓ NamedTrajectories 2451.8 ms ✓ RecursiveArrayTools → RecursiveArrayToolsFastBroadcastExt 40943.2 ms ✓ Ipopt → IpoptMathOptInterfaceExt 8958.1 ms ✓ SciMLJacobianOperators 17071.9 ms ✓ NonlinearSolveBase 4211.9 ms ✓ NonlinearSolveBase → NonlinearSolveBaseSparseArraysExt 3038.6 ms ✓ NonlinearSolveBase → NonlinearSolveBaseChainRulesCoreExt 4478.8 ms ✓ NonlinearSolveBase → NonlinearSolveBaseForwardDiffExt 9384.2 ms ✓ BracketingNonlinearSolve 4169.3 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveForwardDiffExt 8151.2 ms ✓ DiffEqBase 3879.1 ms ✓ BracketingNonlinearSolve → BracketingNonlinearSolveChainRulesCoreExt 4262.8 ms ✓ DiffEqBase → DiffEqBaseSparseArraysExt 4351.1 ms ✓ DiffEqBase → DiffEqBaseChainRulesCoreExt 4155.9 ms ✓ DiffEqBase → DiffEqBaseForwardDiffExt 11553.0 ms ✓ OrdinaryDiffEqCore 3980.0 ms ✓ OrdinaryDiffEqCore → OrdinaryDiffEqCoreEnzymeCoreExt 12978.6 ms ✓ OrdinaryDiffEqTsit5 21832.3 ms ✓ DirectTrajOpt 190 dependencies successfully precompiled in 746 seconds. 37 already precompiled. Precompilation completed after 731.52s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_EQLGFb/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_EQLGFb/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] 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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 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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 5.1919752e+00 3.58e+00 2.19e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6754659e+00 6.77e-02 3.02e+00 -1.0 2.61e+00 -2.0 9.93e-01 1.00e+00f 1 2 2.5356554e+00 9.61e-03 2.17e-01 -1.3 6.87e-01 -2.5 9.82e-01 1.00e+00h 1 3 2.1814111e+00 5.00e-02 5.85e-02 -2.9 1.25e+00 -3.0 9.32e-01 1.00e+00f 1 4 2.0932203e+00 4.54e-03 1.03e-02 -3.5 4.57e-01 -3.4 9.86e-01 1.00e+00h 1 5 2.0909590e+00 1.83e-05 4.54e-04 -4.0 1.67e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0909023e+00 5.17e-07 2.06e-05 -4.0 5.02e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0907544e+00 8.45e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0903120e+00 7.65e-06 3.46e-05 -4.0 4.50e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0889954e+00 6.98e-05 3.08e-04 -4.0 1.34e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0851447e+00 6.53e-04 2.81e-03 -4.0 3.91e+01 -6.3 1.00e+00 1.00e+00h 1 11 2.0797716e+00 1.92e-03 1.46e-01 -4.0 1.02e+02 -6.8 1.00e+00 5.29e-01h 1 12 2.0803548e+00 5.04e-05 1.60e-01 -4.0 6.65e+01 -7.2 1.00e+00 1.00e+00H 1 13 2.0775805e+00 5.55e-03 1.61e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.50e-01h 1 14 2.0769990e+00 1.14e-03 4.80e-02 -4.0 2.08e+02 -8.2 1.00e+00 1.00e+00h 1 15 2.0762709e+00 5.46e-04 2.23e-02 -4.0 3.54e+02 -8.7 1.00e+00 7.84e-01h 1 16 2.0756086e+00 8.46e-04 2.67e-02 -4.0 5.81e+02 -9.2 1.00e+00 6.85e-01h 1 17 2.0758715e+00 9.51e-04 1.48e-02 -4.0 1.62e+02 -9.6 1.00e+00 1.00e+00h 1 18 2.0754614e+00 1.92e-03 5.83e-04 -4.1 8.46e+01 -10.1 1.00e+00 1.00e+00h 1 19 2.0757715e+00 5.04e-04 6.99e-06 -4.0 2.10e+01 -10.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0754219e+00 6.65e-04 9.00e-07 -4.1 2.51e+01 -11.1 1.00e+00 1.00e+00h 1 21 2.0757717e+00 3.71e-04 8.25e-07 -4.0 1.40e+01 -11.5 1.00e+00 1.00e+00h 1 22 2.0757704e+00 1.10e-07 1.23e-08 -4.0 2.11e+00 -12.0 1.00e+00 1.00e+00h 1 23 2.0757704e+00 2.14e-14 3.46e-12 -4.0 1.59e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0757703960460958e+00 2.0757703960460958e+00 Dual infeasibility......: 3.4591090571339106e-12 3.4591090571339106e-12 Constraint violation....: 2.1427304375265521e-14 2.1427304375265521e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 3.4591090571339106e-12 3.4591090571339106e-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 = 45.868 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 1.8171870e+00 8.03e-01 1.05e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5999938e+00 1.63e-01 1.96e+00 -0.8 7.46e-01 0.0 9.98e-01 1.00e+00h 1 2 1.5796618e+00 1.39e-01 2.35e+00 -0.4 3.01e+01 - 4.89e-01 1.45e-01f 2 3 1.7133815e+00 1.38e-01 2.88e+00 -1.5 2.18e-01 -0.5 9.84e-01 1.00e+00h 1 4 1.4128996e+00 7.52e-02 1.25e+00 -1.4 8.70e-01 -1.0 9.21e-01 3.99e-01f 1 5 1.3178418e+00 3.42e-02 2.94e-01 -1.8 3.43e-01 -1.4 9.93e-01 5.26e-01h 1 6 1.1279101e+00 7.20e-04 2.42e-02 -2.6 6.13e-02 -1.9 9.98e-01 1.00e+00h 1 7 1.0945677e+00 4.94e-06 4.43e-03 -4.0 1.14e-01 -2.4 1.00e+00 1.00e+00h 1 8 1.0929049e+00 7.17e-09 2.93e-03 -4.0 3.40e-01 -2.9 1.00e+00 1.00e+00h 1 9 1.0920794e+00 1.01e-11 7.65e-03 -4.0 8.39e-01 -3.3 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0918591e+00 3.03e-15 8.85e-04 -4.0 2.91e-01 -2.9 1.00e+00 1.00e+00f 1 11 1.0914675e+00 4.66e-20 5.26e-03 -4.0 6.98e-01 -3.4 1.00e+00 1.00e+00f 1 12 1.0914008e+00 4.16e-20 6.18e-03 -4.0 1.20e+00 -3.9 1.26e-01 1.07e-01f 4 13 1.0913848e+00 3.94e-20 1.35e-01 -4.0 3.47e+00 - 1.00e+00 5.45e-02f 2 14 1.0909093e+00 8.06e-23 6.39e-02 -4.0 2.52e+00 - 1.00e+00 1.00e+00f 1 15 1.0908992e+00 8.86e-24 1.64e-05 -4.0 4.89e-02 - 1.00e+00 1.00e+00f 1 16 1.0908997e+00 2.62e-25 1.09e-06 -4.0 9.54e-03 - 1.00e+00 1.00e+00f 1 17 1.0907198e+00 4.56e-26 4.60e-09 -4.1 4.75e-04 - 1.00e+00 1.00e+00f 1 18 1.0908997e+00 7.88e-25 4.60e-09 -4.0 1.49e-04 - 1.00e+00 1.00e+00f 1 19 1.0907198e+00 8.69e-26 4.60e-09 -4.1 2.38e-05 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0900065e+00 9.03e-25 7.23e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 21 1.0908999e+00 7.97e-24 1.13e-07 -4.0 8.23e-04 - 1.00e+00 1.00e+00f 1 22 1.0907198e+00 1.11e-24 4.61e-09 -4.1 6.53e-04 - 1.00e+00 1.00e+00f 1 23 1.0900065e+00 2.81e-24 7.23e-08 -6.1 7.93e-05 - 1.00e+00 1.00e+00f 1 24 1.0899999e+00 2.25e-24 6.03e-12 -9.0 7.27e-07 - 1.00e+00 1.00e+00f 1 25 1.0900123e+00 2.22e-24 2.78e-11 -4.0 1.78e+01 - 1.00e+00 1.38e-02f 1 26 1.0904003e+00 4.34e-24 2.14e-08 -4.4 1.09e-01 - 1.00e+00 1.00e+00f 1 27 1.0900026e+00 2.83e-24 2.25e-08 -6.5 9.07e-04 - 1.00e+00 1.00e+00f 1 28 1.0899999e+00 8.07e-31 1.03e-12 -9.0 4.14e-04 - 1.00e+00 1.00e+00f 1 29 1.0899999e+00 2.79e-41 6.08e-16 -9.0 1.35e-01 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.0899999e+00 1.10e-44 3.70e-16 -9.0 6.41e-16 - 1.00e+00 1.00e+00 0 31 1.0899999e+00 7.11e-46 3.70e-16 -9.0 2.79e-17 - 1.00e+00 1.00e+00T 0 Number of Iterations....: 31 (scaled) (unscaled) Objective...............: 1.0899999181818181e+00 1.0899999181818181e+00 Dual infeasibility......: 3.7003820146930266e-16 3.7003820146930266e-16 Constraint violation....: 7.1142467579829056e-46 7.1142467579829056e-46 Variable bound violation: 9.0909090932206338e-09 9.0909090932206338e-09 Complementarity.........: 9.0909090909090920e-10 9.0909090909090920e-10 Overall NLP error.......: 9.9999090909091604e-05 9.9999090909091604e-05 Number of objective function evaluations = 39 Number of objective gradient evaluations = 32 Number of equality constraint evaluations = 39 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 32 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 19.361 EXIT: Search Direction is becoming Too Small. 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 3.8737113e+00 2.44e+00 2.66e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7942591e+00 2.09e-02 1.39e+00 -1.0 2.21e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3771085e+00 1.24e-02 5.60e-02 -1.8 2.30e-01 -1.6 9.91e-01 1.00e+00h 1 3 2.1420814e+00 4.48e-03 2.38e-01 -3.2 1.46e-01 -1.1 9.32e-01 9.94e-01h 1 4 2.1030239e+00 1.41e-03 3.59e-01 -3.8 1.64e-01 -1.6 1.00e+00 7.60e-01h 1 5 2.0929799e+00 7.63e-04 5.21e-01 -4.0 6.56e-01 -2.1 1.00e+00 4.88e-01h 1 6 2.0909055e+00 7.22e-04 2.83e-01 -4.0 8.41e-01 -2.6 1.00e+00 8.50e-01h 1 7 2.0909796e+00 3.07e-05 5.51e-02 -4.0 2.10e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0910059e+00 1.20e-06 1.90e-04 -4.0 7.05e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909836e+00 1.09e-07 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909216e+00 1.47e-07 2.05e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907386e+00 1.30e-06 4.97e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0902174e+00 1.10e-05 4.21e-04 -4.0 5.45e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888698e+00 8.23e-05 3.16e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861734e+00 4.41e-04 1.75e-02 -4.0 3.47e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830935e+00 9.21e-04 4.72e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828565e+00 9.30e-04 2.35e-02 -4.0 5.40e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823457e+00 3.96e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820402e+00 9.30e-05 1.85e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819519e+00 2.70e-04 8.69e-03 -4.0 9.93e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.69e-05 8.47e-04 -4.0 3.11e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.34e-07 1.39e-05 -4.0 4.45e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.84e-10 3.26e-08 -4.0 2.45e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.53e-13 1.22e-11 -4.0 4.59e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190969e+00 2.0819382907190969e+00 Dual infeasibility......: 1.2153587191547979e-11 1.2153587191547979e-11 Constraint violation....: 2.5313084961453569e-13 2.5313084961453569e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000056e-04 1.0000000000000056e-04 Overall NLP error.......: 1.2153587191547979e-11 1.2153587191547979e-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 = 17.759 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 5.5719997e+00 3.62e+00 3.96e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8228864e+00 1.78e-02 5.94e-01 -1.1 2.68e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3414211e+00 3.86e-02 1.74e-01 -1.6 4.50e-01 -1.6 9.60e-01 7.97e-01h 1 3 2.1530091e+00 2.51e-03 1.79e-01 -2.4 9.16e-02 -1.1 9.45e-01 1.00e+00h 1 4 2.0990740e+00 8.59e-04 2.56e-01 -3.5 1.23e-01 -1.6 9.99e-01 9.89e-01h 1 5 2.0924850e+00 4.55e-04 2.81e-01 -4.0 1.43e-01 -2.1 1.00e+00 4.47e-01h 1 6 2.0911084e+00 3.07e-04 7.21e-01 -4.0 8.76e-01 -2.6 1.00e+00 5.93e-01h 1 7 2.0908386e+00 2.74e-05 8.26e-02 -4.0 4.93e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0908405e+00 1.20e-06 4.95e-04 -4.0 5.94e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908260e+00 7.77e-08 1.96e-05 -4.0 1.71e-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 2.0907906e+00 7.55e-08 1.23e-04 -4.0 4.73e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0906924e+00 6.08e-07 3.76e-04 -4.0 1.31e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0903944e+00 5.51e-06 4.99e-04 -4.0 3.94e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0902703e+00 8.78e-07 5.92e-04 -4.0 1.59e+00 -5.0 1.00e+00 1.00e+00h 1 14 2.0901206e+00 1.50e-06 2.05e-02 -4.0 6.84e+00 -5.5 1.00e+00 2.11e-01h 2 15 2.0889367e+00 6.65e-05 2.81e-03 -4.0 1.40e+01 -6.0 1.00e+00 1.00e+00h 1 16 2.0870721e+00 2.00e-04 4.72e-02 -4.0 3.72e+01 -6.4 1.00e+00 6.06e-01h 1 17 2.0835773e+00 1.46e-03 5.49e-02 -4.0 6.37e+01 -6.9 1.00e+00 1.00e+00h 1 18 2.0826140e+00 7.15e-04 3.45e-02 -4.0 3.64e+01 -7.4 1.00e+00 5.36e-01h 1 19 2.0822750e+00 3.24e-04 1.74e-02 -4.0 1.57e+02 -7.9 9.83e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827042e+00 1.01e-03 2.70e-02 -4.0 3.22e+01 -6.5 1.00e+00 1.00e+00h 1 21 2.0823783e+00 1.48e-04 3.43e-02 -4.0 5.60e+01 -7.0 7.37e-01 1.00e+00h 1 22 2.0825721e+00 8.32e-05 9.14e-02 -4.0 2.52e+02 -6.6 1.55e-02 3.90e-02h 3 23 2.0823354e+00 2.12e-10 1.68e-03 -4.0 7.68e-02 -1.7 1.00e+00 1.00e+00h 1 24 2.0822951e+00 1.61e-08 1.93e-04 -4.0 2.15e-02 -2.1 1.00e+00 1.00e+00h 1 25 2.0823028e+00 3.82e-08 1.59e-05 -4.0 5.01e-03 -2.6 1.00e+00 1.00e+00h 1 26 2.0821600e+00 2.35e-07 6.86e-05 -4.1 8.09e-03 -3.1 1.00e+00 1.00e+00h 1 27 2.0823090e+00 9.00e-07 7.01e-05 -4.0 2.59e-02 -3.6 1.00e+00 1.00e+00h 1 28 2.0821591e+00 2.23e-06 6.99e-05 -4.1 6.33e-02 -4.0 1.00e+00 1.00e+00h 1 29 2.0823131e+00 8.79e-06 5.71e-05 -4.0 2.41e-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 2.0821631e+00 2.04e-05 9.97e-05 -4.1 6.18e-01 -5.0 1.00e+00 1.00e+00h 1 31 2.0816411e+00 1.09e-04 6.48e-02 -6.1 3.47e+00 -5.5 8.23e-01 5.95e-01h 1 32 2.0822703e+00 2.00e-04 1.11e-03 -4.0 2.06e+00 -6.0 1.00e+00 1.00e+00f 1 33 2.1064934e+00 6.63e-05 5.54e-01 -4.1 5.03e+01 -6.4 2.01e-01 1.00e+00H 1 34 2.0827711e+00 4.19e-06 9.80e-01 -4.1 2.60e-01 -0.6 4.03e-01 9.74e-01f 1 35 2.0830175e+00 4.07e-06 1.09e+00 -4.1 5.37e-01 -1.1 1.00e+00 2.85e-02f 6 36 2.0828099e+00 9.19e-07 7.61e-03 -4.1 7.90e-02 -1.5 1.00e+00 1.00e+00h 1 37 2.0824115e+00 2.44e-08 1.40e-03 -4.1 1.33e-01 -2.0 1.00e+00 9.98e-01H 1 38 2.0825625e+00 2.66e-07 6.86e-04 -4.1 6.69e-02 -2.5 1.00e+00 1.00e+00f 1 39 2.0818568e+00 3.46e-06 3.70e-02 -6.1 3.99e-02 -3.0 8.05e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0827429e+00 6.03e-06 1.11e-03 -4.0 5.24e-02 -3.4 1.00e+00 1.00e+00f 1 41 2.0824813e+00 2.23e-06 1.55e-05 -4.1 6.37e-02 -3.9 1.00e+00 1.00e+00h 1 42 2.0818103e+00 3.17e-05 1.75e-02 -6.1 3.20e-01 -4.4 8.40e-01 1.00e+00h 1 43 2.0826873e+00 7.48e-05 1.48e-03 -4.0 5.63e-01 -4.9 1.00e+00 1.00e+00h 1 44 2.0823345e+00 5.31e-05 2.13e-04 -4.1 1.49e+00 -5.4 1.00e+00 1.00e+00h 1 45 2.0813670e+00 5.55e-04 2.37e-03 -6.1 5.63e+00 -5.8 9.92e-01 1.00e+00h 1 46 2.0816464e+00 4.08e-04 1.41e-02 -4.3 8.87e+00 -6.3 1.00e+00 9.02e-01h 1 47 2.0814578e+00 2.95e-04 1.13e-02 -4.4 2.44e+01 -6.8 5.31e-01 1.00e+00h 1 48 2.0827521e+00 1.81e-05 4.36e-01 -4.0 1.00e+01 -5.5 7.04e-01 1.00e+00H 1 49 2.0822673e+00 1.16e-05 5.05e-01 -4.1 1.60e-01 -1.4 8.34e-01 3.55e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0820051e+00 1.74e-06 6.45e-02 -4.1 2.58e-01 -1.9 8.52e-01 1.00e+00f 1 51 2.0822504e+00 1.55e-06 1.95e-01 -4.0 2.99e-01 -2.4 1.00e+00 5.00e-01f 2 52 2.0822233e+00 7.70e-07 2.41e-04 -4.0 2.86e-02 -2.9 1.00e+00 1.00e+00h 1 53 2.0814678e+00 4.00e-06 3.24e-01 -6.0 1.13e-01 -3.3 6.71e-01 1.00e+00h 1 54 2.0822664e+00 6.34e-06 2.02e-03 -4.0 5.17e-02 -3.8 1.00e+00 1.00e+00f 1 55 2.0820105e+00 6.21e-06 2.67e-05 -4.1 1.67e-01 -4.3 1.00e+00 1.00e+00h 1 56 2.0814026e+00 7.31e-05 4.97e-02 -6.1 7.66e-01 -4.8 8.24e-01 1.00e+00h 1 57 2.0814162e+00 4.51e-05 7.72e-04 -4.6 1.84e+00 -5.2 1.00e+00 1.00e+00h 1 58 2.0815387e+00 5.31e-05 1.96e-01 -3.9 1.42e+01 -5.7 3.24e-01 1.24e-01h 2 59 2.0815199e+00 4.97e-06 1.06e-02 -4.4 3.25e-01 -4.4 6.63e-01 9.44e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818074e+00 1.34e-05 3.33e-01 -4.0 9.95e-01 -4.9 1.00e+00 4.87e-01f 1 61 2.0818591e+00 3.63e-05 9.27e-04 -4.0 1.32e+00 -5.3 1.00e+00 1.00e+00h 1 62 2.0819437e+00 1.84e-05 4.95e-04 -4.0 1.59e+00 -5.8 1.00e+00 1.00e+00h 1 63 2.0810968e+00 6.80e-04 1.84e-02 -6.1 7.75e+00 -6.3 8.78e-01 1.00e+00h 1 64 2.0814323e+00 3.68e-04 2.59e-02 -4.0 8.12e-01 -4.1 4.20e-01 4.29e-01h 1 65 2.0813613e+00 2.11e-05 6.91e-04 -4.4 3.88e-01 -4.5 1.00e+00 1.00e+00h 1 66 2.0818242e+00 1.56e-04 5.97e-03 -4.0 2.43e+00 -5.0 1.00e+00 1.00e+00h 1 67 2.0817947e+00 1.31e-05 1.84e-03 -4.1 8.75e-01 -5.5 1.00e+00 1.00e+00h 1 68 2.0818449e+00 7.97e-06 2.77e-04 -4.1 2.87e+00 -6.0 1.00e+00 1.00e+00h 1 69 2.0820456e+00 7.52e-05 7.08e-04 -4.0 3.64e+00 -6.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0818417e+00 1.51e-04 1.36e-03 -4.1 9.76e+00 -6.9 1.00e+00 1.00e+00h 1 71 2.0817619e+00 4.50e-05 1.37e-03 -4.1 2.15e+01 -7.4 1.00e+00 1.00e+00h 1 72 2.0816639e+00 6.71e-05 3.27e-03 -4.1 3.84e+01 -7.9 1.00e+00 1.00e+00h 1 73 2.0815975e+00 1.08e-04 3.83e-03 -4.1 5.58e+01 -8.4 1.00e+00 1.00e+00h 1 74 2.0815784e+00 5.03e-05 1.33e-03 -4.1 4.32e+01 -8.8 1.00e+00 1.00e+00h 1 75 2.0815759e+00 4.19e-06 1.20e-04 -4.1 1.45e+01 -9.3 1.00e+00 1.00e+00h 1 76 2.0818395e+00 2.02e-04 2.34e-05 -4.0 9.08e+00 -9.8 1.00e+00 1.00e+00h 1 77 2.0815805e+00 2.08e-04 1.28e-05 -4.1 9.51e+00 -10.3 1.00e+00 1.00e+00h 1 78 2.0805901e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -10.7 9.78e-01 9.71e-01h 1 79 2.0818881e+00 6.55e-03 3.10e-04 -4.0 6.09e+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 80 2.0816141e+00 4.87e-04 9.10e-06 -4.1 2.07e+01 -11.7 1.00e+00 1.00e+00h 1 81 2.0805989e+00 3.47e-03 1.50e-04 -6.1 4.15e+01 -12.2 9.76e-01 9.65e-01h 1 82 2.0805508e+00 8.46e-05 2.25e-06 -6.1 1.69e+01 -12.7 1.00e+00 1.00e+00h 1 83 2.0819793e+00 1.03e-02 3.94e-04 -4.0 8.43e+01 -13.1 1.00e+00 1.00e+00f 1 84 2.0816850e+00 9.29e-04 4.92e-05 -4.1 4.57e+01 -13.6 1.00e+00 1.00e+00h 1 85 2.0816490e+00 4.77e-07 7.45e-07 -4.1 8.50e+00 -14.1 1.00e+00 1.00e+00h 1 86 2.0818389e+00 1.13e-04 4.87e-06 -4.0 7.02e+00 -14.6 1.00e+00 1.00e+00h 1 87 2.0815801e+00 2.08e-04 9.04e-06 -4.1 9.49e+00 -15.0 1.00e+00 1.00e+00h 1 88 2.0805899e+00 3.29e-03 1.39e-04 -6.1 3.99e+01 -15.5 9.78e-01 9.71e-01h 1 89 2.0805497e+00 6.51e-05 1.78e-06 -6.1 1.55e+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 90 2.0819860e+00 1.07e-02 3.98e-04 -4.0 8.58e+01 -16.5 1.00e+00 1.00e+00f 1 91 2.0816901e+00 9.49e-04 5.23e-05 -4.1 4.72e+01 -16.9 1.00e+00 1.00e+00h 1 92 2.0816518e+00 5.68e-07 7.86e-07 -4.1 8.91e+00 -17.4 1.00e+00 1.00e+00h 1 93 2.0805907e+00 3.69e-03 1.61e-04 -6.1 4.17e+01 -17.9 9.77e-01 9.75e-01h 1 94 2.0805511e+00 6.76e-05 1.95e-06 -6.1 1.62e+01 -18.4 1.00e+00 1.00e+00h 1 95 2.0805469e+00 4.72e-08 2.03e-08 -6.1 2.96e+00 -18.9 1.00e+00 1.00e+00h 1 96 2.0820215e+00 1.23e-02 4.19e-04 -4.0 9.88e+01 -19.3 1.00e+00 1.00e+00f 1 97 2.0817176e+00 1.03e-03 6.82e-05 -4.1 5.46e+01 -19.8 1.00e+00 1.00e+00h 1 98 2.0816664e+00 1.23e-06 1.00e-06 -4.1 1.09e+01 -20.0 1.00e+00 1.00e+00h 1 99 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 100 2.0805514e+00 6.96e-05 2.02e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 101 2.0805471e+00 5.00e-08 2.15e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 102 2.0805365e+00 9.59e-07 8.07e-07 -9.0 9.59e-01 -20.0 1.00e+00 9.97e-01h 1 103 2.0820394e+00 1.31e-02 4.33e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 104 2.0817324e+00 1.07e-03 7.73e-05 -4.1 5.83e+01 -20.0 1.00e+00 1.00e+00h 1 105 2.0816741e+00 1.68e-06 1.10e-06 -4.1 1.18e+01 -20.0 1.00e+00 1.00e+00h 1 106 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 107 2.0805516e+00 7.08e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 108 2.0805472e+00 5.16e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 109 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 110 2.0805365e+00 9.37e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 111 2.0820398e+00 1.31e-02 4.34e-04 -4.0 1.05e+02 -20.0 1.00e+00 1.00e+00f 1 112 2.0817328e+00 1.07e-03 7.75e-05 -4.1 5.84e+01 -20.0 1.00e+00 1.00e+00h 1 113 2.0816743e+00 1.69e-06 1.10e-06 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 114 2.0805920e+00 3.82e-03 1.70e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.75e-01h 1 115 2.0805516e+00 7.08e-05 2.06e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 116 2.0805472e+00 5.17e-08 2.22e-08 -6.1 3.09e+00 -20.0 1.00e+00 1.00e+00h 1 117 2.0805365e+00 9.81e-07 8.34e-07 -9.0 9.71e-01 -20.0 1.00e+00 9.97e-01h 1 118 2.0805365e+00 9.39e-11 2.34e-12 -9.0 2.75e-02 -20.0 1.00e+00 1.00e+00h 1 119 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 120 2.0805365e+00 6.66e-16 2.22e-16 -9.0 1.99e-12 -20.0 1.00e+00 1.00e+00h 1 121 2.0805365e+00 2.22e-16 2.41e-16 -9.0 8.86e-14 -20.0 1.00e+00 1.00e+00 0 122 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....: 122 (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 = 146 Number of objective gradient evaluations = 123 Number of equality constraint evaluations = 146 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 123 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 123 Total seconds in IPOPT = 18.750 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 2.2336201e+00 9.79e-01 1.01e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2921305e+00 3.09e-01 1.71e+00 -0.9 8.33e-01 0.0 9.95e-01 1.00e+00h 1 2 1.2413648e+00 1.76e-01 2.78e+00 -0.9 1.09e+01 - 4.35e-01 4.25e-01h 1 3 1.6281841e+00 7.12e-02 4.18e+00 -1.4 1.86e-01 -0.5 9.75e-01 1.00e+00h 1 4 1.8208086e+00 4.64e-02 6.96e+00 -1.4 4.12e-01 -1.0 6.90e-01 9.27e-01H 1 5 3.4233779e+00 3.05e-01 9.37e+01 0.3 1.65e+01 -1.4 1.00e+00 5.77e-02f 1 6 4.7270020e+00 1.46e-01 1.20e+02 0.3 7.75e+00 - 9.68e-01 1.00e+00f 1 7 9.2694333e+00 6.53e-02 9.50e+02 0.3 9.73e+00 -1.9 1.00e+00 7.44e-01h 1 8 8.0481865e+00 9.60e-02 2.78e+04 0.3 8.29e-01 0.3 4.61e-01 1.00e+00f 1 9 5.7299400e+00 5.53e-02 2.33e+04 0.3 4.24e-01 -0.2 9.78e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 3.7888003e+00 2.63e-02 1.31e+04 0.3 6.26e-01 -0.6 1.00e+00 1.00e+00f 1 11 1.2990854e+01 1.67e-02 2.34e+03 -4.0 1.29e+01 - 4.47e-01 1.00e+00h 1 12 3.1125506e+00 5.85e-03 6.62e+02 0.4 2.28e+00 -0.2 1.00e+00 6.63e-01h 1 13 3.0495837e+00 1.08e-04 7.91e+01 -0.8 6.49e-02 -0.7 1.00e+00 1.00e+00f 1 14 1.6608558e+00 8.91e-17 1.19e+01 -1.5 2.04e-01 -1.2 1.00e+00 1.00e+00f 1 15 1.1393242e+00 2.05e-19 1.04e-01 -2.8 6.63e-02 -1.6 1.00e+00 1.00e+00f 1 16 1.1327021e+00 1.64e-23 2.11e+00 -4.0 1.66e+01 - 5.08e-01 1.00e+00f 1 17 1.0991058e+00 1.29e-23 1.53e+00 -4.0 1.06e+00 -2.1 1.00e+00 2.23e-01f 1 18 1.0964087e+00 1.12e-23 5.96e-01 -4.0 7.66e-02 -2.6 1.00e+00 1.32e-01f 1 19 1.0909295e+00 4.45e-25 5.73e-01 -4.0 6.93e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.0908954e+00 8.63e-23 4.42e-03 -4.0 9.53e-02 - 1.00e+00 5.00e-01f 2 21 1.0908997e+00 4.78e-26 2.80e-05 -4.0 4.83e-02 - 1.00e+00 1.00e+00f 1 22 1.0907198e+00 1.06e-27 3.42e-09 -4.1 2.21e-05 - 1.00e+00 1.00e+00f 1 23 1.0908997e+00 4.18e-28 3.50e-09 -4.0 2.00e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 1.0908997336735176e+00 1.0908997336735176e+00 Dual infeasibility......: 3.4994545872191196e-09 3.4994545872191196e-09 Constraint violation....: 4.1798515583372459e-28 4.1798515583372459e-28 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000081634814179e-04 1.0000081634814179e-04 Overall NLP error.......: 3.4994545872191196e-09 3.4994545872191196e-09 Number of objective function evaluations = 27 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 27 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 = 12.041 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 4.2247014e+00 3.72e+00 3.63e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8431266e+00 9.84e-02 2.83e+00 -1.0 2.45e+00 0.0 4.88e-01 1.00e+00f 1 2 2.4359943e+00 4.00e-02 1.30e+00 -0.9 1.89e-01 0.4 9.47e-01 7.05e-01h 1 3 2.3219027e+00 8.36e-03 8.46e-01 -1.5 2.92e-01 -0.1 9.15e-01 1.00e+00h 1 4 2.2114513e+00 7.87e-03 4.50e-01 -2.3 2.35e-01 -0.5 9.98e-01 1.00e+00h 1 5 2.1298211e+00 4.38e-03 2.94e-01 -3.2 1.17e-01 -1.0 9.98e-01 4.47e-01h 1 6 2.0935304e+00 2.27e-04 3.43e-02 -4.0 2.60e-02 -1.5 1.00e+00 9.53e-01h 1 7 2.0909001e+00 5.05e-06 6.59e-03 -4.0 9.30e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909361e+00 4.91e-08 5.22e-05 -4.0 1.43e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909342e+00 8.83e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909293e+00 9.66e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909143e+00 8.69e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908695e+00 7.83e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907351e+00 7.06e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903330e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891355e+00 5.84e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856252e+00 5.52e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796304e+00 2.31e-03 1.35e-01 -4.0 9.57e+01 -6.7 1.00e+00 6.32e-01h 1 18 2.0807484e+00 1.54e-04 1.83e-01 -4.0 6.59e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775333e+00 7.32e-03 2.48e-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 2.0769381e+00 1.12e-03 4.81e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759923e+00 9.25e-04 2.33e-02 -4.0 3.09e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754459e+00 4.99e-04 2.86e-02 -4.0 4.57e+02 -9.1 1.00e+00 7.24e-01H 1 23 2.0757718e+00 2.01e-03 1.10e-02 -4.0 1.38e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753807e+00 1.42e-03 4.92e-04 -4.1 7.69e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.64e-04 6.56e-06 -4.0 2.11e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753424e+00 6.29e-04 9.92e-07 -4.1 2.57e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.18e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 1.11e-07 1.12e-08 -4.0 2.00e+00 -12.0 1.00e+00 1.00e+00h 1 29 2.0756712e+00 6.00e-14 3.40e-12 -4.0 1.52e-02 -12.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 29 (scaled) (unscaled) Objective...............: 2.0756712120666121e+00 2.0756712120666121e+00 Dual infeasibility......: 3.4014758240955012e-12 3.4014758240955012e-12 Constraint violation....: 5.9952043329758453e-14 5.9952043329758453e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000060e-04 1.0000000000000060e-04 Overall NLP error.......: 3.4014758240955012e-12 3.4014758240955012e-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 = 18.335 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 4.2040668e+00 3.67e+00 3.27e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7395987e+00 6.14e-02 3.36e+00 -0.9 2.90e+00 0.0 6.60e-01 1.00e+00f 1 2 2.5838412e+00 8.12e-03 8.47e-01 -1.1 1.39e-01 0.4 9.85e-01 1.00e+00h 1 3 2.4374784e+00 2.80e-03 3.08e-01 -1.9 1.14e-01 -0.1 9.97e-01 1.00e+00h 1 4 2.1492019e+00 4.11e-03 2.31e-01 -2.5 3.06e-01 -0.5 9.95e-01 6.66e-01f 1 5 2.1115219e+00 1.21e-03 2.77e-01 -3.1 1.38e-01 -1.0 9.97e-01 7.17e-01h 1 6 2.0946419e+00 1.89e-03 1.25e-01 -4.0 2.77e-01 -1.5 1.00e+00 9.79e-01h 1 7 2.0917524e+00 1.27e-03 8.20e-01 -4.0 6.54e-01 -2.0 1.00e+00 2.61e-01h 1 8 2.0909038e+00 7.68e-04 6.93e-01 -4.0 2.12e-01 -2.4 1.00e+00 3.93e-01h 1 9 2.0909092e+00 5.44e-06 5.11e-02 -4.0 6.33e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908768e+00 4.61e-07 2.04e-04 -4.0 5.08e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908627e+00 6.39e-08 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908179e+00 7.84e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0906835e+00 7.07e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0902815e+00 6.39e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0890844e+00 5.85e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855755e+00 5.52e-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 1.36e-01 -4.0 9.55e+01 -6.7 1.00e+00 6.28e-01h 1 18 2.0807223e+00 1.56e-04 1.81e-01 -4.0 6.58e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775290e+00 7.32e-03 2.45e-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 2.0769582e+00 1.13e-03 5.10e-02 -4.0 1.75e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0759749e+00 9.01e-04 2.34e-02 -4.0 3.12e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754427e+00 4.89e-04 2.81e-02 -4.0 4.57e+02 -9.1 1.00e+00 7.30e-01H 1 23 2.0757714e+00 2.08e-03 1.06e-02 -4.0 1.38e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753807e+00 1.42e-03 4.74e-04 -4.1 7.71e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756723e+00 4.04e-04 7.07e-06 -4.0 1.84e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.33e-04 7.94e-07 -4.1 2.59e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.14e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.02e-04 2.61e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722585289e-02 1.4164404722585289e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728815e-04 2.3095644031728815e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 18.134 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. 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 3.3881558e+00 3.37e+00 6.13e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5239483e+00 2.84e+00 1.62e+00 -0.9 1.27e+01 -2.0 3.77e-01 8.60e-01f 1 2 2.7647557e+00 1.84e-01 1.49e+00 -0.9 1.08e+00 -1.6 6.93e-01 9.86e-01f 1 3 2.3864561e+00 7.48e-02 7.84e-01 -1.8 1.66e+00 -2.1 7.33e-01 9.97e-01h 1 4 2.2681155e+00 6.26e-02 1.12e+00 -1.8 8.31e-01 -1.6 7.48e-01 3.04e-01h 1 5 2.1992656e+00 2.71e-03 1.23e-01 -2.0 2.02e-01 -2.1 9.74e-01 1.00e+00f 1 6 2.1024954e+00 1.97e-03 2.25e-02 -3.0 1.74e-01 -2.6 9.99e-01 9.72e-01h 1 7 2.0908115e+00 6.95e-05 2.49e-03 -4.0 2.61e-02 -3.1 1.00e+00 9.73e-01h 1 8 2.0907214e+00 5.13e-06 3.99e-05 -4.0 7.03e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0907006e+00 2.79e-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 2.0906384e+00 1.55e-07 2.06e-05 -4.0 6.32e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0904521e+00 1.40e-06 2.05e-05 -4.0 1.89e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0898950e+00 1.27e-05 5.51e-05 -4.0 5.66e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0882412e+00 1.17e-04 4.92e-04 -4.0 1.68e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0834474e+00 1.12e-03 4.62e-03 -4.0 4.87e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0796557e+00 1.72e-03 2.58e-01 -4.0 1.12e+02 -6.9 1.00e+00 3.36e-01h 1 16 2.0789828e+00 8.88e-03 1.77e-01 -4.1 7.08e+01 -7.4 1.00e+00 7.50e-01h 1 17 2.0778997e+00 1.79e-02 4.92e-02 -3.8 1.27e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0764605e+00 1.71e-02 2.59e-02 -4.0 2.18e+02 -8.3 1.00e+00 9.98e-01h 1 19 2.0760463e+00 1.53e-03 2.62e-02 -4.0 3.56e+02 -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 2.0755184e+00 1.30e-03 3.34e-02 -4.0 3.87e+02 -9.3 1.00e+00 6.47e-01h 1 21 2.0757271e+00 1.36e-03 7.16e-03 -4.0 1.21e+02 -9.7 1.00e+00 1.00e+00h 1 22 2.0753616e+00 7.52e-04 1.42e-04 -4.1 3.81e+01 -10.2 1.00e+00 1.00e+00h 1 23 2.0756724e+00 4.20e-04 2.97e-06 -4.0 1.82e+01 -10.7 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.37e-07 5.17e-07 -4.0 8.32e+00 -11.2 1.00e+00 1.00e+00h 1 25 2.0756712e+00 6.65e-10 2.44e-08 -4.0 2.53e+00 -11.6 1.00e+00 1.00e+00h 1 26 2.0756712e+00 6.35e-12 2.79e-10 -4.0 2.97e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712120938157e+00 2.0756712120938157e+00 Dual infeasibility......: 2.7944846721470080e-10 2.7944846721470080e-10 Constraint violation....: 6.3485883217140326e-12 6.3485883217140326e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 2.7944846721470080e-10 2.7944846721470080e-10 Number of objective function evaluations = 27 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 22.723 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 3.3876061e+00 2.79e+00 6.81e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7618787e+00 6.48e-02 2.33e+00 -0.9 2.34e+00 0.0 9.69e-01 1.00e+00f 1 2 2.6197706e+00 1.48e-02 4.61e-01 -1.0 2.44e-01 -0.5 9.33e-01 1.00e+00h 1 3 2.3117192e+00 2.63e-02 2.30e-01 -1.8 3.83e-01 -1.0 9.70e-01 1.00e+00h 1 4 2.1240210e+00 5.36e-03 4.05e-02 -2.5 1.64e-01 -1.4 9.89e-01 1.00e+00h 1 5 2.0924787e+00 8.94e-05 2.13e-03 -3.5 1.80e-02 -1.9 9.82e-01 1.00e+00h 1 6 2.0909477e+00 1.65e-06 6.69e-05 -4.0 5.47e-03 -2.4 1.00e+00 1.00e+00h 1 7 2.0909440e+00 1.65e-08 2.24e-05 -4.0 1.63e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909386e+00 1.35e-09 2.19e-05 -4.0 4.80e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909240e+00 1.08e-08 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 2.0908914e+00 6.88e-08 1.11e-04 -4.0 3.57e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908231e+00 3.13e-07 5.62e-04 -4.0 8.87e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0906424e+00 2.28e-06 8.89e-04 -4.0 2.66e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0900814e+00 2.04e-05 1.00e-03 -4.0 7.61e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.0896706e+00 1.73e-05 6.86e-02 -4.0 2.66e+01 -6.2 1.00e+00 1.57e-01h 1 15 2.0859087e+00 1.15e-03 6.69e-02 -4.0 5.81e+01 -6.7 1.00e+00 1.00e+00f 1 16 2.0846819e+00 1.07e-03 3.47e-01 -4.0 1.15e+02 -6.3 1.00e+00 1.17e-01h 1 17 2.0832410e+00 1.47e-04 3.21e-02 -4.0 2.68e+01 -6.7 1.00e+00 1.00e+00h 1 18 2.0826638e+00 2.13e-04 1.03e-02 -4.0 5.18e+01 -7.2 1.00e+00 1.00e+00h 1 19 2.0823795e+00 3.22e-04 9.43e-03 -4.0 1.17e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.1984828e+00 1.40e-04 3.51e+00 -4.0 7.40e+02 -8.2 5.99e-02 1.00e+00H 1 21 2.0852888e+00 2.22e-05 5.39e-01 -4.1 6.66e-02 -0.3 1.00e+00 8.41e-01f 1 22 2.0857689e+00 2.19e-05 2.91e+00 -4.0 5.70e-02 -0.8 1.00e+00 1.56e-02f 7 23 2.0857848e+00 2.05e-07 1.16e-03 -3.9 2.17e-02 -1.3 1.00e+00 1.00e+00h 1 24 2.0853401e+00 7.88e-08 9.57e-04 -4.0 5.36e-02 -1.7 1.00e+00 1.00e+00h 1 25 2.0851922e+00 3.28e-07 4.89e-04 -4.0 8.24e-02 -2.2 1.00e+00 1.00e+00h 1 26 2.0852164e+00 4.02e-08 1.76e-05 -4.0 5.24e-03 -2.7 1.00e+00 1.00e+00h 1 27 2.0852135e+00 2.39e-08 1.01e-05 -4.0 1.54e-02 -3.2 1.00e+00 1.00e+00h 1 28 2.0852101e+00 2.16e-09 1.01e-05 -4.0 4.61e-02 -3.7 1.00e+00 1.00e+00h 1 29 2.0852000e+00 2.05e-08 1.01e-05 -4.0 1.38e-01 -4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0851706e+00 1.77e-07 1.00e-05 -4.0 4.10e-01 -4.6 1.00e+00 1.00e+00h 1 31 2.0850906e+00 1.37e-06 7.46e-05 -4.0 1.20e+00 -5.1 1.00e+00 1.00e+00h 1 32 2.0849085e+00 8.27e-06 4.37e-04 -4.0 3.36e+00 -5.6 1.00e+00 1.00e+00h 1 33 2.0846208e+00 2.55e-05 1.32e-03 -4.0 8.93e+00 -6.0 1.00e+00 1.00e+00h 1 34 2.0841649e+00 5.03e-05 2.67e-03 -4.0 2.33e+01 -6.5 1.00e+00 1.00e+00h 1 35 2.0833499e+00 3.24e-04 1.21e-02 -4.0 5.53e+01 -7.0 1.00e+00 1.00e+00h 1 36 2.0821496e+00 1.12e-03 3.65e-02 -4.1 1.09e+02 -7.5 1.00e+00 1.00e+00h 1 37 2.0818135e+00 4.66e-03 2.69e-02 -4.0 1.79e+02 -8.0 6.35e-01 1.00e+00h 1 38 2.0816798e+00 2.52e-03 3.12e-02 -4.0 4.65e+01 -6.6 1.00e+00 1.00e+00h 1 39 2.0817433e+00 1.02e-04 4.39e-02 -4.0 1.02e+01 -7.1 9.34e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0817856e+00 8.95e-05 3.94e-02 -4.0 5.91e+01 -7.6 1.33e-01 1.20e-01h 3 41 2.0821161e+00 2.35e-05 6.25e-01 -4.0 4.19e-01 -2.6 4.55e-01 7.44e-01h 1 42 2.0818705e+00 4.92e-07 4.71e-03 -4.0 2.00e-01 -3.1 1.00e+00 1.00e+00h 1 43 2.0817463e+00 5.82e-07 2.18e-04 -4.0 4.77e-02 -1.8 1.00e+00 1.00e+00h 1 44 2.0817569e+00 2.93e-09 1.43e-04 -4.0 2.61e-02 -2.3 1.00e+00 1.00e+00h 1 45 2.0817574e+00 3.87e-09 5.04e-05 -4.0 2.76e-02 -2.7 1.00e+00 1.00e+00h 1 46 2.0817576e+00 1.13e-08 8.53e-06 -4.0 1.40e-02 -3.2 1.00e+00 1.00e+00h 1 47 2.0816400e+00 3.83e-07 9.00e-05 -4.1 2.17e-02 -3.7 1.00e+00 1.00e+00h 1 48 2.0817659e+00 1.58e-06 7.30e-05 -4.0 7.76e-02 -4.2 1.00e+00 1.00e+00h 1 49 2.0816431e+00 3.52e-06 1.15e-04 -4.1 1.51e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0810661e+00 1.13e-04 3.13e-02 -6.1 1.20e+00 -5.1 8.98e-01 1.00e+00h 1 51 2.0810326e+00 5.29e-05 5.19e-02 -4.8 2.66e+00 -5.6 1.00e+00 4.56e-01h 1 52 2.0815339e+00 1.08e-04 1.71e-01 -4.0 5.34e+00 -6.1 1.00e+00 3.95e-01f 2 53 2.0815053e+00 1.31e-05 1.26e-01 -4.1 9.76e-02 -2.0 1.00e+00 8.79e-01h 1 54 2.0817679e+00 1.16e-06 4.48e-04 -4.0 4.70e-02 -2.5 1.00e+00 1.00e+00f 1 55 2.0816469e+00 1.80e-07 1.06e-04 -4.1 2.91e-02 -3.0 1.00e+00 1.00e+00h 1 56 2.0817609e+00 3.64e-07 8.45e-05 -4.0 2.34e-02 -3.5 1.00e+00 1.00e+00h 1 57 2.0816357e+00 1.06e-06 7.05e-05 -4.1 6.95e-02 -3.9 1.00e+00 1.00e+00h 1 58 2.0817510e+00 2.70e-06 1.15e-04 -4.0 1.70e-01 -4.4 1.00e+00 1.00e+00h 1 59 2.0816044e+00 6.59e-06 1.10e-04 -4.1 3.50e-01 -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 60 2.0817385e+00 1.30e-05 1.42e-04 -4.0 6.97e-01 -5.4 1.00e+00 1.00e+00h 1 61 2.0815902e+00 1.26e-05 1.69e-04 -4.1 5.58e-01 -5.9 1.00e+00 1.00e+00h 1 62 2.0817876e+00 4.55e-05 2.81e-04 -4.0 2.90e+00 -6.3 1.00e+00 1.00e+00h 1 63 2.0815909e+00 6.69e-05 2.33e-04 -4.1 2.82e+00 -6.8 1.00e+00 1.00e+00h 1 64 2.0806696e+00 9.75e-04 3.14e-03 -6.1 1.27e+01 -7.3 9.80e-01 9.20e-01h 1 65 2.0818541e+00 3.19e-03 5.79e-03 -4.0 3.13e+01 -7.8 1.00e+00 1.00e+00f 1 66 2.0816122e+00 1.81e-04 3.11e-04 -4.1 8.12e+00 -8.2 1.00e+00 1.00e+00h 1 67 2.0806370e+00 2.68e-03 5.25e-04 -6.1 3.43e+01 -8.7 9.77e-01 9.31e-01h 1 68 2.0818800e+00 5.47e-03 1.25e-03 -4.0 5.27e+01 -9.2 1.00e+00 1.00e+00f 1 69 2.0816114e+00 4.43e-04 1.37e-04 -4.1 1.84e+01 -9.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0806037e+00 3.47e-03 2.31e-04 -6.1 4.22e+01 -10.2 9.76e-01 9.58e-01h 1 71 2.0818856e+00 6.30e-03 3.42e-04 -4.0 5.92e+01 -10.6 1.00e+00 1.00e+00f 1 72 2.0816108e+00 4.53e-04 1.44e-05 -4.1 1.91e+01 -11.1 1.00e+00 1.00e+00h 1 73 2.0806031e+00 3.47e-03 2.24e-04 -6.1 4.23e+01 -11.6 9.76e-01 9.58e-01h 1 74 2.0818861e+00 6.36e-03 2.90e-04 -4.0 5.98e+01 -12.1 1.00e+00 1.00e+00f 1 75 2.0816109e+00 4.51e-04 8.45e-06 -4.1 1.93e+01 -12.5 1.00e+00 1.00e+00h 1 76 2.0806031e+00 3.47e-03 2.23e-04 -6.1 4.23e+01 -13.0 9.76e-01 9.58e-01h 1 77 2.0805506e+00 9.43e-05 2.20e-06 -6.1 1.69e+01 -13.5 1.00e+00 1.00e+00h 1 78 2.0807685e+00 3.58e-04 2.23e-02 -4.0 8.56e+01 -14.0 1.00e+00 1.67e-01f 1 79 2.0814139e+00 1.24e-03 5.47e-05 -4.2 2.29e+01 -14.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0814156e+00 2.17e-05 1.59e-06 -4.2 2.38e+01 -14.9 1.00e+00 1.00e+00h 1 81 2.0818465e+00 6.37e-04 2.74e-05 -4.0 1.73e+01 -15.4 1.00e+00 1.00e+00h 1 82 2.0815848e+00 2.28e-04 9.49e-06 -4.1 1.04e+01 -15.9 1.00e+00 1.00e+00h 1 83 2.0805953e+00 3.34e-03 1.61e-04 -6.1 4.10e+01 -16.4 9.77e-01 9.64e-01h 1 84 2.0805497e+00 7.69e-05 1.83e-06 -6.1 1.57e+01 -16.8 1.00e+00 1.00e+00h 1 85 2.0819881e+00 1.05e-02 4.03e-04 -4.0 8.64e+01 -17.3 1.00e+00 1.00e+00f 1 86 2.0816849e+00 9.85e-04 5.23e-05 -4.1 4.70e+01 -17.8 1.00e+00 1.00e+00h 1 87 2.0816466e+00 5.56e-07 8.12e-07 -4.1 8.78e+00 -18.3 1.00e+00 1.00e+00h 1 88 2.0818440e+00 1.24e-04 5.33e-06 -4.0 7.44e+00 -18.7 1.00e+00 1.00e+00h 1 89 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.75e+00 -19.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -19.7 9.77e-01 9.64e-01h 1 91 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -20.0 1.00e+00 1.00e+00f 1 93 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 94 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 95 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 96 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 98 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 99 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+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 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0816596565405612e+00 2.0816596565405612e+00 Dual infeasibility......: 1.0499210159022802e-06 1.0499210159022802e-06 Constraint violation....: 1.1978668252865532e-06 1.1978668252865532e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.7254249364607673e-05 8.7254249364607673e-05 Overall NLP error.......: 1.4587060200330480e-05 1.4587060200330480e-05 Number of objective function evaluations = 115 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 115 Number of inequality constraint evaluations = 115 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 18.853 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 2.2702569e+01 3.78e+00 5.24e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5882022e+01 2.70e+00 4.23e+00 -0.9 2.43e+00 0.0 6.41e-01 2.87e-01f 1 2 2.8663225e+00 8.49e-02 1.58e+00 -0.8 2.05e+00 -0.5 9.37e-01 1.00e+00f 1 3 2.7925784e+00 1.21e-02 5.57e-01 -1.0 3.75e-01 -1.0 8.40e-01 1.00e+00h 1 4 2.3973218e+00 1.07e-02 7.86e-02 -1.6 2.09e-01 -1.4 9.23e-01 1.00e+00h 1 5 2.1674412e+00 1.74e-02 1.10e-01 -2.7 5.66e-01 -1.9 9.02e-01 7.13e-01h 1 6 2.0995126e+00 9.03e-04 9.68e-03 -3.1 7.99e-02 -2.4 9.80e-01 1.00e+00h 1 7 2.0909586e+00 1.66e-05 2.67e-03 -4.0 1.62e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909213e+00 1.83e-07 1.53e-04 -4.0 6.55e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909134e+00 3.35e-09 1.60e-05 -4.0 9.86e-02 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908902e+00 2.61e-08 1.05e-04 -4.0 2.94e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0908193e+00 2.33e-07 5.40e-05 -4.0 8.83e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905416e+00 2.63e-06 9.36e-04 -4.0 2.92e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0898232e+00 2.55e-05 1.65e-03 -4.0 8.72e+00 -5.7 1.00e+00 1.00e+00h 1 14 2.1517530e+00 4.71e-03 4.35e-01 -2.0 4.84e+03 -6.2 1.60e-03 1.00e-02f 2 15 2.0974101e+00 1.80e-02 5.73e+00 -4.0 8.79e+01 -4.0 2.40e-02 1.38e-01h 1 16 2.0967257e+00 1.78e-02 5.67e+00 -4.0 5.58e+00 -1.7 4.55e-02 1.11e-02f 1 17 2.0963951e+00 1.73e-02 5.52e+00 -4.0 1.64e+00 -1.3 6.62e-03 2.91e-02f 1 18 2.0958936e+00 1.72e-02 5.51e+00 -4.0 1.77e+01 -1.8 2.07e-05 1.62e-03f 1 19 2.0958667e+00 1.72e-02 5.52e+00 -4.0 3.01e+04 -1.4 1.46e-10 3.75e-07h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0958854e+00 1.72e-02 3.13e+01 -4.0 1.19e+03 -0.9 8.52e-03 9.64e-06h 1 21 2.1114880e+00 7.53e-03 3.82e+00 -4.0 1.30e+00 -1.4 1.00e+00 5.96e-01h 1 22 2.1061603e+00 1.49e-04 3.33e-02 -4.0 1.80e-01 -1.9 1.00e+00 9.95e-01h 1 23 2.0939759e+00 7.70e-04 3.29e-03 -4.0 5.68e-01 -2.4 1.00e+00 1.00e+00f 1 24 2.0930976e+00 4.32e-05 6.02e-03 -4.0 3.95e-02 -2.8 1.00e+00 9.62e-01h 1 25 2.0931990e+00 5.16e-07 2.42e-05 -4.0 5.09e-02 -3.3 1.00e+00 1.00e+00f 1 26 2.0931826e+00 2.77e-08 2.42e-05 -4.0 1.53e-01 -3.8 1.00e+00 1.00e+00h 1 27 2.0931313e+00 7.85e-08 2.41e-05 -4.0 4.57e-01 -4.3 1.00e+00 1.00e+00h 1 28 2.0929790e+00 6.99e-07 2.40e-05 -4.0 1.36e+00 -4.8 1.00e+00 1.00e+00h 1 29 2.0923481e+00 6.84e-05 3.01e-04 -4.1 3.96e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0904544e+00 7.78e-04 2.67e-03 -6.1 1.07e+01 -5.7 9.11e-01 1.00e+00h 1 31 2.0877377e+00 8.11e-05 2.69e-02 -6.1 2.79e+01 -6.2 6.79e-01 1.00e+00h 1 32 4.0077914e+00 3.04e-03 7.74e+00 -4.0 5.35e+02 -6.7 8.62e-01 2.39e-01h 1 33 3.3179661e+00 2.90e-03 1.03e+01 -3.5 1.03e+01 -0.8 7.72e-04 4.73e-02f 1 34 3.2959417e+00 2.86e-03 3.55e+01 -3.5 2.05e+00 -0.4 1.00e+00 1.62e-02f 1 35 3.1390273e+00 2.68e-03 3.26e+01 -3.5 1.86e+00 -0.9 8.80e-02 6.28e-02f 1 36 2.4041100e+00 1.46e-03 1.54e+01 -3.5 3.28e-01 -0.4 5.69e-01 4.53e-01f 1 37 2.1967885e+00 8.65e-04 3.07e+00 -3.5 2.03e-01 -0.9 1.00e+00 4.09e-01f 1 38 2.1066022e+00 3.48e-04 1.46e+00 -3.5 1.04e-01 -1.4 1.00e+00 5.98e-01f 1 39 2.0902902e+00 2.28e-04 3.99e-01 -3.5 1.29e-01 -1.9 6.84e-01 8.03e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0913091e+00 3.50e-04 7.78e-01 -3.5 2.90e-01 -1.4 1.00e+00 3.77e-01f 2 41 2.0894242e+00 4.18e-04 3.72e-01 -3.5 1.63e-01 -1.9 5.49e-01 1.00e+00h 1 42 2.0877447e+00 3.45e-04 4.55e-01 -3.3 3.86e-01 -2.4 1.00e+00 3.47e-01h 1 43 2.0864295e+00 3.62e-05 1.48e-03 -3.5 6.17e-02 -2.9 1.00e+00 1.00e+00h 1 44 2.0844496e+00 2.06e-05 2.21e-03 -4.0 1.02e-01 -3.4 1.00e+00 1.00e+00h 1 45 2.0842116e+00 1.45e-06 2.99e-05 -4.0 4.86e-02 -3.8 1.00e+00 1.00e+00h 1 46 2.0842091e+00 1.34e-07 2.99e-05 -4.0 1.45e-01 -4.3 1.00e+00 1.00e+00h 1 47 2.0841876e+00 1.24e-08 3.01e-05 -4.0 4.30e-01 -4.8 1.00e+00 1.00e+00h 1 48 2.0841259e+00 1.16e-07 4.45e-05 -4.0 1.25e+00 -5.3 1.00e+00 1.00e+00h 1 49 2.0839636e+00 1.09e-06 3.36e-04 -4.0 3.36e+00 -5.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0836298e+00 9.18e-06 1.77e-03 -4.0 7.71e+00 -6.2 1.00e+00 1.00e+00h 1 51 2.0832554e+00 4.30e-05 3.59e-03 -4.0 2.21e+01 -6.7 1.00e+00 1.00e+00h 1 52 2.0829254e+00 9.64e-05 4.97e-03 -4.0 5.63e+01 -7.2 1.00e+00 1.00e+00h 1 53 2.0824576e+00 5.58e-04 1.32e-02 -4.0 1.22e+02 -7.7 1.00e+00 1.00e+00h 1 54 2.0821347e+00 1.74e-03 1.67e-02 -4.0 2.62e+02 -8.1 3.76e-01 1.00e+00h 1 55 2.0820612e+00 3.96e-04 4.55e-03 -4.0 5.55e+00 -5.9 1.00e+00 1.00e+00h 1 56 2.0819063e+00 4.29e-04 4.21e-03 -4.0 1.49e+01 -6.4 8.90e-01 1.00e+00h 1 57 2.0818606e+00 2.08e-04 5.68e-03 -4.0 2.99e+00 -5.0 1.00e+00 1.00e+00h 1 58 2.0817894e+00 2.10e-05 2.21e-03 -4.0 9.76e-01 -5.5 1.00e+00 1.00e+00h 1 59 2.0818861e+00 7.84e-05 2.25e-04 -4.0 1.99e+00 -6.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0817294e+00 3.55e-05 6.49e-04 -4.1 1.91e+00 -6.5 1.00e+00 1.00e+00h 1 61 2.0819439e+00 1.40e-04 1.76e-04 -4.0 6.22e+00 -7.0 1.00e+00 1.00e+00h 1 62 2.0816850e+00 3.17e-04 6.45e-04 -4.1 1.53e+01 -7.4 1.00e+00 1.00e+00h 1 63 2.0818822e+00 6.79e-04 1.50e-03 -4.0 2.93e+01 -7.9 1.00e+00 1.00e+00h 1 64 2.0815957e+00 8.96e-04 1.29e-03 -4.1 4.02e+01 -8.4 1.00e+00 1.00e+00h 1 65 2.0818430e+00 7.12e-04 5.25e-04 -4.0 3.04e+01 -8.9 1.00e+00 1.00e+00h 1 66 2.0815821e+00 3.09e-04 5.33e-05 -4.1 1.37e+01 -9.3 1.00e+00 1.00e+00h 1 67 2.0818418e+00 1.91e-04 3.90e-05 -4.0 8.73e+00 -9.8 1.00e+00 1.00e+00h 1 68 2.0815820e+00 2.11e-04 3.17e-05 -4.1 9.61e+00 -10.3 1.00e+00 1.00e+00h 1 69 2.0818419e+00 2.12e-04 3.90e-05 -4.0 9.69e+00 -10.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0815819e+00 2.13e-04 3.17e-05 -4.1 9.73e+00 -11.2 1.00e+00 1.00e+00h 1 71 2.0818419e+00 2.14e-04 3.90e-05 -4.0 9.74e+00 -11.7 1.00e+00 1.00e+00h 1 72 2.0815819e+00 2.14e-04 3.17e-05 -4.1 9.74e+00 -12.2 1.00e+00 1.00e+00h 1 73 2.0818419e+00 2.14e-04 3.90e-05 -4.0 9.75e+00 -12.7 1.00e+00 1.00e+00h 1 74 2.0815819e+00 2.14e-04 3.17e-05 -4.1 9.75e+00 -13.2 1.00e+00 1.00e+00h 1 75 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -13.6 9.77e-01 9.68e-01h 1 76 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -14.1 1.00e+00 1.00e+00f 1 77 2.0816124e+00 4.95e-04 3.23e-05 -4.1 2.07e+01 -14.6 1.00e+00 1.00e+00h 1 78 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -15.1 9.76e-01 9.61e-01h 1 79 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -16.0 1.00e+00 1.00e+00f 1 81 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.5 1.00e+00 1.00e+00h 1 82 2.0816420e+00 4.58e-07 3.33e-05 -4.1 8.54e+00 -17.0 1.00e+00 1.00e+00h 1 83 2.0818414e+00 1.26e-04 3.89e-05 -4.0 7.46e+00 -17.4 1.00e+00 1.00e+00h 1 84 2.0815817e+00 2.11e-04 3.17e-05 -4.1 9.63e+00 -17.9 1.00e+00 1.00e+00h 1 85 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.4 9.77e-01 9.68e-01h 1 86 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -18.9 1.00e+00 1.00e+00h 1 87 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.4 1.00e+00 1.00e+00f 1 88 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -19.8 1.00e+00 1.00e+00h 1 89 2.0816444e+00 5.44e-07 3.34e-05 -4.1 8.94e+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 90 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 91 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 92 2.0805468e+00 5.07e-08 3.33e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 93 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 94 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 95 2.0816573e+00 1.18e-06 3.37e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 97 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0805469e+00 5.37e-08 3.39e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 99 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-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 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0820402482838691e+00 2.0820402482838691e+00 Dual infeasibility......: 4.3545694783289418e-04 4.3545694783289418e-04 Constraint violation....: 1.3026378552309203e-02 1.3026378552309203e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.6216591774103954e-04 2.6216591774103954e-04 Overall NLP error.......: 1.3026378552309203e-02 1.3026378552309203e-02 Number of objective function evaluations = 105 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 105 Number of inequality constraint evaluations = 105 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 27.052 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 8.6724416e+01 2.39e+00 2.94e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.8116920e+01 1.74e+00 2.26e+01 -0.2 1.79e+01 -2.0 1.00e+00 2.52e-01f 1 2 3.3345102e+00 4.46e-01 6.81e+00 -0.2 7.89e+00 -2.5 9.24e-01 1.00e+00f 1 3 2.9931228e+00 1.31e-01 2.11e+00 -0.9 3.24e+00 -2.1 8.86e-01 1.00e+00h 1 4 2.5714241e+00 1.60e-01 1.87e-01 -1.4 1.92e+00 -2.5 9.91e-01 1.00e+00h 1 5 2.2219053e+00 6.78e-02 3.82e-02 -1.9 1.14e+00 -3.0 9.07e-01 1.00e+00h 1 6 2.1167986e+00 3.32e-02 3.87e-02 -2.7 1.68e+00 -3.5 9.44e-01 9.53e-01h 1 7 2.0912004e+00 1.34e-03 4.63e-03 -3.8 3.82e-01 -4.0 1.00e+00 9.96e-01h 1 8 2.0922057e+00 1.26e-03 4.18e-02 -3.0 6.93e+00 -4.4 6.34e-01 1.85e-01h 1 9 2.0906095e+00 2.80e-04 8.82e-04 -4.0 1.60e+00 -4.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902421e+00 1.52e-05 9.55e-04 -4.0 4.36e+00 -5.4 1.00e+00 1.00e+00h 1 11 2.0894133e+00 3.17e-05 1.77e-02 -4.0 1.35e+01 -5.9 1.00e+00 6.18e-01h 1 12 2.0871725e+00 3.90e-04 2.69e-02 -4.0 3.22e+01 -6.3 1.00e+00 1.00e+00f 1 13 2.0862055e+00 1.78e-04 1.75e-02 -4.0 1.30e+01 -5.9 1.00e+00 6.23e-01h 1 14 2.0847287e+00 1.98e-04 1.47e-02 -4.0 2.56e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0827743e+00 2.19e-04 2.49e-02 -4.0 3.56e+01 -6.9 1.00e+00 9.17e-01h 1 16 2.0831083e+00 1.35e-03 3.92e-02 -4.0 6.04e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0821555e+00 1.10e-03 8.88e-03 -4.1 1.44e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.1780848e+00 2.27e-05 2.89e+00 -4.0 6.98e+02 -8.3 6.36e-02 1.00e+00H 1 19 2.0848188e+00 3.93e-06 4.69e-01 -4.0 8.30e-02 -0.5 1.00e+00 8.27e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0845637e+00 3.57e-06 2.48e-01 -4.0 6.10e-03 -0.9 1.00e+00 9.13e-02h 1 21 2.0847515e+00 7.73e-09 1.10e-03 -4.0 2.85e-02 -1.4 1.00e+00 1.00e+00f 1 22 2.0844156e+00 1.19e-07 8.97e-04 -4.1 6.98e-02 -1.9 1.00e+00 1.00e+00h 1 23 2.0844443e+00 5.73e-07 3.14e-04 -4.0 6.86e-02 -2.4 1.00e+00 1.00e+00h 1 24 2.0843216e+00 1.69e-07 2.50e-04 -4.1 7.27e-03 -2.8 1.00e+00 1.00e+00h 1 25 2.0844811e+00 3.92e-07 3.14e-04 -4.0 1.85e-02 -3.3 1.00e+00 1.00e+00h 1 26 2.0843180e+00 1.34e-06 2.52e-04 -4.1 5.88e-02 -3.8 1.00e+00 1.00e+00h 1 27 2.0844653e+00 3.47e-06 3.14e-04 -4.0 1.66e-01 -4.3 1.00e+00 1.00e+00h 1 28 2.0842648e+00 1.21e-05 2.52e-04 -4.1 5.19e-01 -4.8 1.00e+00 1.00e+00h 1 29 2.0843394e+00 2.75e-05 3.66e-04 -4.0 1.42e+00 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0839503e+00 9.78e-05 2.62e-04 -4.1 4.06e+00 -5.7 1.00e+00 1.00e+00h 1 31 2.0839095e+00 1.95e-04 1.77e-03 -4.0 1.01e+01 -6.2 1.00e+00 1.00e+00h 1 32 2.0835089e+00 6.83e-05 2.95e-03 -4.0 2.72e+01 -6.7 1.00e+00 1.00e+00h 1 33 2.0828219e+00 4.18e-04 1.36e-02 -4.0 6.58e+01 -7.1 1.00e+00 1.00e+00h 1 34 2.0821043e+00 1.42e-03 3.31e-02 -4.0 1.26e+02 -7.6 1.00e+00 1.00e+00h 1 35 2.0818918e+00 2.69e-03 5.48e-02 -4.0 2.59e+02 -8.1 2.77e-01 1.00e+00h 1 36 2.1860568e+00 2.71e-04 1.85e+00 -4.0 1.85e+02 -6.8 3.75e-01 1.00e+00H 1 37 2.0838361e+00 1.37e-04 1.64e+00 -4.1 1.33e+00 -0.9 1.44e-01 4.94e-01f 1 38 2.0841633e+00 1.20e-04 1.50e+00 -4.1 7.38e-02 -1.4 1.00e+00 1.25e-01f 4 39 2.0838345e+00 2.34e-06 5.48e-03 -4.1 1.20e-01 -1.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0834040e+00 1.16e-05 2.40e-03 -4.0 3.09e-01 -2.4 1.00e+00 1.00e+00h 1 41 2.0828126e+00 1.97e-05 8.58e-02 -4.0 6.51e-01 -2.8 1.00e+00 6.36e-01h 1 42 2.0831066e+00 2.28e-06 3.14e-04 -4.0 1.78e-01 -3.3 1.00e+00 1.00e+00f 1 43 2.0829507e+00 3.26e-06 3.14e-04 -4.0 1.13e-01 -3.8 1.00e+00 1.00e+00h 1 44 2.0829289e+00 8.64e-07 3.14e-04 -4.0 1.56e-01 -4.3 1.00e+00 1.00e+00h 1 45 2.0828992e+00 9.77e-08 3.14e-04 -4.0 4.58e-01 -4.7 1.00e+00 1.00e+00h 1 46 2.0828155e+00 7.89e-07 3.14e-04 -4.0 1.29e+00 -5.2 1.00e+00 1.00e+00h 1 47 2.0826128e+00 5.02e-06 4.78e-04 -4.0 3.25e+00 -5.7 1.00e+00 1.00e+00h 1 48 2.0823001e+00 2.67e-05 1.69e-03 -4.0 6.20e+00 -6.2 1.00e+00 1.00e+00h 1 49 2.0821093e+00 4.50e-05 2.08e-03 -4.0 1.32e+01 -6.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0819215e+00 5.51e-05 2.95e-03 -4.0 3.32e+01 -7.1 1.00e+00 1.00e+00h 1 51 2.0817704e+00 7.18e-05 4.81e-03 -4.0 9.36e+01 -7.6 5.76e-01 1.00e+00h 1 52 2.0820433e+00 3.42e-04 6.55e-01 -4.0 6.56e+01 -6.3 4.61e-01 1.73e-01h 3 53 2.0817901e+00 1.92e-07 1.97e-03 -4.1 4.03e-02 -1.3 1.00e+00 1.00e+00h 1 54 2.0819574e+00 5.59e-07 5.34e-04 -4.0 2.75e-02 -1.8 1.00e+00 1.00e+00h 1 55 2.0818085e+00 1.91e-07 2.53e-04 -4.1 1.66e-02 -2.3 1.00e+00 1.00e+00h 1 56 2.0811767e+00 3.36e-06 9.96e-02 -6.1 5.86e-02 -2.8 8.07e-01 1.00e+00h 1 57 2.0820484e+00 6.46e-06 2.57e-03 -4.0 7.61e-02 -3.2 1.00e+00 1.00e+00f 1 58 2.0818009e+00 2.07e-06 2.55e-04 -4.1 4.48e-02 -3.7 1.00e+00 1.00e+00h 1 59 2.0811453e+00 1.89e-05 1.17e-01 -6.1 1.90e-01 -4.2 8.17e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0819973e+00 4.13e-05 2.83e-03 -4.0 2.92e-01 -4.7 1.00e+00 1.00e+00f 1 61 2.0816667e+00 9.64e-05 6.46e-03 -4.1 1.47e+00 -5.1 9.73e-01 1.00e+00h 1 62 2.0816833e+00 2.78e-05 1.16e-01 -4.1 2.20e+00 -5.6 1.00e+00 5.69e-01h 1 63 2.0815880e+00 7.36e-06 1.66e-03 -4.1 4.52e-01 -6.1 1.00e+00 1.00e+00f 1 64 2.0815816e+00 4.44e-06 4.86e-04 -4.1 8.02e-01 -6.6 1.00e+00 1.00e+00h 1 65 2.0806432e+00 9.50e-04 2.23e-03 -6.1 1.28e+01 -7.1 9.84e-01 9.83e-01h 1 66 2.0810629e+00 9.40e-04 1.06e-01 -4.0 2.44e+01 -7.5 1.00e+00 3.48e-01f 1 67 2.0829527e+00 1.22e-03 1.22e-02 -4.0 1.60e+01 -8.0 1.00e+00 1.00e+00h 1 68 2.0826874e+00 3.01e-08 9.81e-03 -4.1 1.42e-02 -0.2 1.00e+00 1.00e+00h 1 69 2.0823777e+00 2.19e-07 5.86e-03 -4.0 2.45e-02 -0.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0821294e+00 1.22e-07 2.92e-03 -4.1 3.57e-02 -1.1 1.00e+00 1.00e+00h 1 71 2.0820469e+00 6.15e-08 1.74e-03 -4.0 7.46e-02 -1.6 1.00e+00 1.00e+00h 1 72 2.0817423e+00 8.04e-07 6.11e-04 -4.1 8.42e-02 -2.1 1.00e+00 1.00e+00h 1 73 2.0819509e+00 2.73e-07 3.14e-04 -4.0 3.17e-02 -2.6 1.00e+00 1.00e+00h 1 74 2.0817995e+00 1.67e-07 2.53e-04 -4.1 1.08e-02 -3.0 1.00e+00 1.00e+00h 1 75 2.0811796e+00 4.06e-06 6.82e-02 -6.1 4.71e-02 -3.5 8.29e-01 1.00e+00h 1 76 2.0810971e+00 1.01e-06 3.04e-05 -6.1 1.07e-01 -4.0 1.00e+00 1.00e+00h 1 77 2.0821779e+00 3.22e-05 2.39e-03 -4.0 2.24e-01 -4.5 1.00e+00 1.00e+00f 1 78 2.0817693e+00 1.79e-05 7.52e-02 -4.1 1.91e+00 -4.9 8.11e-01 9.06e-01H 1 79 2.0817187e+00 1.61e-05 1.26e+00 -4.1 7.87e-01 -4.5 6.37e-01 1.42e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0818501e+00 1.89e-04 5.78e-04 -4.1 1.00e+00 -5.0 1.00e+00 1.00e+00h 1 81 2.0811338e+00 5.25e-05 1.44e-01 -6.1 5.08e-01 -4.6 7.86e-01 1.00e+00h 1 82 2.0809191e+00 2.91e-05 1.72e-03 -6.1 1.32e+00 -5.0 7.48e-01 1.00e+00h 1 83 2.0810007e+00 2.07e-05 2.34e+00 -4.0 4.62e+00 -4.6 4.84e-01 1.08e-01f 1 84 2.0819871e+00 3.74e-03 3.22e-01 -4.0 3.55e+01 -5.1 2.07e-01 1.13e-01f 3 85 2.0819652e+00 4.93e-03 2.98e-02 -4.2 8.88e+00 -5.6 1.00e+00 1.00e+00h 1 86 2.0814679e+00 6.80e-04 2.73e-01 -4.2 9.24e-01 -6.0 1.00e+00 8.05e-01h 1 87 2.0814162e+00 9.97e-04 2.31e-03 -4.2 4.51e+00 -6.5 1.00e+00 1.00e+00f 1 88 2.0813778e+00 3.71e-05 2.04e-04 -4.2 1.20e+00 -7.0 1.00e+00 1.00e+00h 1 89 2.0806625e+00 7.91e-04 3.04e-03 -6.3 1.50e+01 -7.5 9.87e-01 8.92e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0818519e+00 3.69e-03 4.97e-03 -4.0 3.39e+01 -8.0 1.00e+00 1.00e+00f 1 91 2.0816249e+00 2.23e-04 6.80e-04 -4.1 9.62e+00 -8.4 1.00e+00 1.00e+00h 1 92 2.0806165e+00 3.13e-03 2.95e-04 -6.1 3.79e+01 -8.9 9.76e-01 9.53e-01h 1 93 2.0818772e+00 5.58e-03 9.80e-04 -4.0 5.27e+01 -9.4 1.00e+00 1.00e+00f 1 94 2.0816084e+00 4.08e-04 2.57e-04 -4.1 1.71e+01 -9.9 1.00e+00 1.00e+00h 1 95 2.0805977e+00 3.44e-03 1.44e-04 -6.1 4.12e+01 -10.3 9.77e-01 9.66e-01h 1 96 2.0814290e+00 3.88e-03 6.10e-03 -4.0 5.87e+01 -10.8 1.00e+00 6.54e-01f 1 97 2.0815159e+00 1.03e-04 2.35e-04 -4.1 1.18e+01 -11.3 1.00e+00 1.00e+00h 1 98 2.0805875e+00 2.93e-03 1.25e-04 -6.2 3.82e+01 -11.8 9.79e-01 9.69e-01h 1 99 2.0807281e+00 2.68e-03 1.66e-02 -4.0 6.25e+01 -12.2 1.00e+00 1.12e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0813599e+00 1.13e-03 2.00e-04 -4.2 2.08e+01 -12.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0813599221514076e+00 2.0813599221514076e+00 Dual infeasibility......: 1.9996694850289736e-04 1.9996694850289736e-04 Constraint violation....: 1.1300855062685855e-03 1.1300855062685855e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 8.6657898318654510e-05 8.6657898318654510e-05 Overall NLP error.......: 1.1300855062685855e-03 1.1300855062685855e-03 Number of objective function evaluations = 121 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 121 Number of inequality constraint evaluations = 121 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 24.762 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 = 0.863 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 1.0744665e-02 9.02e-01 3.52e+267 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.5511016e-02 9.02e-01 1.97e+00 -1.5 1.75e+267 -2.0 5.62e-268 5.62e-268s 2 2 1.5268480e+00 9.83e-08 1.47e+01 0.3 3.80e+00 -1.6 7.47e-02 1.00e+00f 1 3 1.5266528e+00 9.83e-08 2.19e-02 -4.0 1.78e-04 -1.1 9.90e-01 1.00e+00h 1 4 2.7927290e-02 1.15e-10 2.13e-02 -1.7 8.99e-01 -1.6 1.00e+00 1.00e+00f 1 5 2.7814239e-02 1.15e-10 4.91e-04 -4.0 6.15e-03 -2.1 9.93e-01 1.00e+00h 1 6 2.1876417e-02 1.91e-13 1.62e-04 -3.7 6.15e-02 -2.6 1.00e+00 1.00e+00h 1 7 2.1722752e-02 1.00e-13 2.11e-06 -5.6 2.40e-03 -3.1 1.00e+00 1.00e+00h 1 8 2.5635080e-03 5.05e-14 8.29e-05 -4.0 2.83e-01 -3.5 1.00e+00 1.00e+00f 1 9 6.5842427e-04 4.17e-14 4.75e-05 -4.1 4.86e-01 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 6.6810428e-04 2.44e-14 3.12e-07 -6.1 9.60e-03 -4.5 1.00e+00 1.00e+00h 1 11 9.5759454e-04 6.66e-16 2.51e-08 -9.2 2.40e-03 -5.0 9.98e-01 1.00e+00h 1 12 1.5417069e-03 2.22e-16 2.81e-08 -9.2 7.81e-03 -5.4 1.00e+00 5.00e-01h 2 13 1.5417069e-03 2.22e-16 2.78e-08 -9.2 2.91e-03 -5.0 1.00e+00 3.73e-09h 29 14 3.1828289e-03 3.89e-16 2.73e-08 -9.2 8.60e-03 -5.5 1.00e+00 1.00e+00H 1 15 3.1828289e-03 2.22e-16 2.69e-08 -9.2 3.18e-03 -5.1 1.00e+00 1.49e-08h 27 16 3.1828289e-03 1.11e-16 2.64e-08 -9.2 9.35e-03 -5.5 1.00e+00 2.27e-13h 43 17 3.8831727e-03 5.55e-16 2.59e-08 -9.2 3.46e-03 -5.1 1.00e+00 1.00e+00s 50 18 6.1222007e-03 5.55e-16 2.51e-08 -9.2 1.01e-02 -5.6 1.00e+00 1.00e+00s 50 19 6.9897030e-03 4.44e-16 2.44e-08 -9.2 3.70e-03 -5.2 1.00e+00 1.00e+00s 50 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 9.4656771e-03 3.33e-16 2.34e-08 -9.2 1.07e-02 -5.6 1.00e+00 1.00e+00s 50 21 1.0319502e-02 3.33e-16 2.23e-08 -9.2 3.87e-03 -5.2 1.00e+00 1.00e+00s 50 22 1.2456470e-02 4.44e-16 2.10e-08 -9.2 1.10e-02 -5.7 1.00e+00 1.00e+00s 50 23 1.3078792e-02 3.33e-16 2.07e-08 -9.2 3.92e-03 -5.3 1.00e+00 1.00e+00s 50 Cannot call restoration phase at point that is almost feasible (violation 3.330669e-16). Abort in line search due to no other fall back. Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 1.3078792254813402e-10 1.3078792254813402e-02 Dual infeasibility......: 2.0705688133669188e-08 2.0705688133669189e+00 Constraint violation....: 3.3306690738754696e-16 3.3306690738754696e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 6.3159039847795573e-10 6.3159039847795570e-02 Overall NLP error.......: 9.9999368421101531e-05 9.9999368421101535e+03 Number of objective function evaluations = 180 Number of objective gradient evaluations = 25 Number of equality constraint evaluations = 180 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 = 24 Total seconds in IPOPT = 1.665 EXIT: Error in step computation! 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 3.4743212e+00 3.10e+00 5.20e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.2274865e+00 2.69e+00 7.69e-01 -0.4 1.33e+01 -2.0 1.71e-01 1.34e-01h 1 2 2.8452884e+00 2.09e+00 3.27e+00 -0.9 3.46e+00 -0.7 1.56e-01 2.20e-01f 1 3 2.4804561e+00 1.52e+00 2.62e+00 -0.8 2.32e+00 -0.2 3.66e-01 2.73e-01f 1 4 2.0838356e+00 9.15e-01 3.71e+00 -0.5 2.17e+00 0.2 3.47e-01 3.99e-01f 1 5 1.9546202e+00 6.09e-01 2.11e+00 -0.3 3.75e+00 -0.3 4.38e-01 3.43e-01f 1 6 1.9589351e+00 2.43e-01 8.27e+00 -1.0 9.60e-01 0.1 2.84e-01 5.95e-01h 1 7 1.8958971e+00 2.95e-01 3.15e+00 -4.0 1.34e+00 -0.3 5.06e-01 1.00e+00h 1 8 1.7555509e+00 4.90e-02 4.96e-01 -1.3 7.56e-01 -0.8 9.52e-01 1.00e+00f 1 9 1.5194979e+00 6.17e-03 3.25e-01 -1.9 3.83e-01 -1.3 6.67e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.3795761e+00 8.23e-03 4.66e-02 -2.1 1.16e+00 -1.8 9.85e-01 8.06e-01h 1 11 1.2289902e+00 2.07e-01 3.57e-02 -2.8 7.17e-01 -2.3 9.32e-01 1.00e+00h 1 12 1.2237357e+00 1.68e-01 3.24e-02 -2.9 2.38e+00 -2.7 8.94e-01 1.00e+00h 1 13 1.2384626e+00 1.64e-01 1.38e+00 -0.9 3.44e+01 -3.2 2.16e-01 9.89e-03f 1 14 1.4432773e+00 1.91e-01 1.18e+00 -1.8 2.10e+01 -3.7 9.89e-01 3.05e-01h 1 15 1.4557938e+00 1.99e+00 7.35e-01 -1.8 7.62e+00 -4.2 4.84e-01 8.58e-01f 1 16 1.4840775e+00 1.89e+00 9.50e-02 -1.8 7.01e+00 -4.6 8.51e-01 1.00e+00h 1 17 1.4054843e+00 2.44e-01 1.17e-01 -1.8 5.52e+00 -5.1 1.00e+00 1.00e+00h 1 18 1.4007730e+00 2.78e-02 2.12e-03 -1.8 7.96e-01 -5.6 1.00e+00 1.00e+00h 1 19 1.2848851e+00 1.97e-02 8.05e-02 -2.7 2.85e-01 -6.1 6.29e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1895866e+00 4.08e-01 6.33e-02 -2.8 1.44e+00 -6.5 9.92e-01 1.00e+00h 1 21 1.1722059e+00 4.48e-02 2.08e-01 -4.0 3.51e+01 -7.0 1.00e+00 1.00e+00h 1 22 1.1880170e+00 3.00e+00 3.45e-02 -2.9 6.59e+01 -7.5 1.00e+00 1.00e+00h 1 23 1.1968553e+00 2.94e-01 1.42e-01 -2.9 4.12e+01 -8.0 1.00e+00 1.00e+00h 1 24 1.1828409e+00 1.93e-01 1.39e-01 -2.9 3.94e+01 -8.5 1.00e+00 2.25e-01h 2 25 1.1845372e+00 3.68e-02 1.29e-04 -2.9 1.06e+01 -8.9 1.00e+00 1.00e+00h 1 26 1.1541924e+00 2.36e+00 4.17e-01 -3.8 5.35e+01 -9.4 1.00e+00 9.94e-01h 1 27 1.1601251e+00 6.71e-02 6.47e-02 -3.5 4.67e+02 -9.9 1.00e+00 5.00e-01h 2 28 1.1601788e+00 6.67e-02 2.73e-02 -3.6 3.27e+02 -10.4 1.00e+00 3.12e-02h 6 29 1.1601935e+00 6.62e-02 2.81e-02 -3.8 3.30e+02 -10.8 1.00e+00 3.12e-02h 6 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.1601964e+00 6.58e-02 3.05e-02 -3.9 3.32e+02 -11.3 1.00e+00 3.12e-02h 6 31 1.1579773e+00 1.54e+00 2.72e-01 -4.0 3.29e+02 -11.8 1.00e+00 1.00e+00h 1 32 1.1609314e+00 1.08e-01 4.08e-02 -4.0 2.28e+02 -12.3 1.00e+00 1.00e+00h 1 33 1.1605262e+00 1.05e-03 3.49e-04 -4.1 8.20e+00 -12.8 1.00e+00 1.00e+00h 1 34 1.1608387e+00 7.37e-03 7.25e-04 -4.0 3.63e+01 -13.2 1.00e+00 1.00e+00h 1 35 1.1605319e+00 6.09e-03 6.04e-04 -4.1 3.27e+01 -13.7 1.00e+00 1.00e+00h 1 36 1.1605403e+00 2.81e-05 3.90e-06 -4.1 1.82e+00 -14.2 1.00e+00 1.00e+00h 1 37 1.1608415e+00 5.43e-03 5.37e-04 -4.0 3.12e+01 -14.7 1.00e+00 1.00e+00h 1 38 1.1605317e+00 6.26e-03 6.26e-04 -4.1 3.30e+01 -15.1 1.00e+00 1.00e+00h 1 39 1.1605403e+00 2.88e-05 4.01e-06 -4.1 1.84e+00 -15.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 1.1595996e+00 4.69e-02 1.94e-02 -6.1 1.24e+02 -16.1 9.95e-01 7.40e-01h 1 41 1.1608074e+00 4.34e-02 4.53e-03 -4.0 9.23e+01 -16.6 1.00e+00 1.00e+00f 1 42 1.1605636e+00 1.83e-04 2.83e-05 -4.1 3.34e+00 -17.0 1.00e+00 1.00e+00h 1 43 1.1596074e+00 4.92e-02 1.98e-02 -6.1 1.27e+02 -17.5 9.94e-01 7.38e-01h 1 44 1.1593493e+00 2.93e-05 1.52e-03 -6.1 8.65e+00 -18.0 6.03e-01 1.00e+00h 1 45 1.1594043e+00 2.02e-05 1.11e-01 -4.0 1.00e+02 -18.5 1.00e+00 3.14e-02f 1 46 1.1607143e+00 7.36e-02 6.96e-03 -4.0 1.25e+02 -19.0 1.00e+00 1.00e+00f 1 47 1.1605230e+00 3.46e-03 2.04e-04 -4.1 3.06e+01 -19.4 1.00e+00 1.00e+00h 1 48 1.1605280e+00 1.43e-05 1.89e-06 -4.1 1.36e+00 -19.9 1.00e+00 1.00e+00h 1 49 1.1608409e+00 5.81e-03 5.74e-04 -4.0 3.23e+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 50 1.1605318e+00 6.19e-03 6.18e-04 -4.1 3.28e+01 -20.0 1.00e+00 1.00e+00h 1 51 1.1605404e+00 2.86e-05 3.97e-06 -4.1 1.83e+00 -20.0 1.00e+00 1.00e+00h 1 52 1.1595997e+00 4.69e-02 1.94e-02 -6.1 1.24e+02 -20.0 9.95e-01 7.40e-01h 1 53 1.1593465e+00 2.75e-05 1.30e-03 -6.1 8.27e+00 -20.0 6.41e-01 1.00e+00h 1 54 1.1593976e+00 1.33e-05 1.42e-01 -4.0 1.00e+02 -20.0 1.00e+00 2.82e-02f 1 55 1.1607121e+00 6.91e-02 6.56e-03 -4.0 1.21e+02 -20.0 1.00e+00 1.00e+00f 1 56 1.1605241e+00 2.43e-03 1.29e-04 -4.1 2.66e+01 -20.0 1.00e+00 1.00e+00h 1 57 1.1605274e+00 1.06e-05 1.34e-06 -4.1 1.21e+00 -20.0 1.00e+00 1.00e+00h 1 58 1.1608409e+00 5.83e-03 5.76e-04 -4.0 3.24e+01 -20.0 1.00e+00 1.00e+00h 1 59 1.1605318e+00 6.18e-03 6.17e-04 -4.1 3.28e+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 1.1605404e+00 2.86e-05 3.97e-06 -4.1 1.83e+00 -20.0 1.00e+00 1.00e+00h 1 61 1.1595997e+00 4.69e-02 1.94e-02 -6.1 1.24e+02 -20.0 9.95e-01 7.40e-01h 1 62 1.1593465e+00 2.75e-05 1.30e-03 -6.1 8.27e+00 -20.0 6.41e-01 1.00e+00h 1 63 1.1593281e+00 7.38e-06 2.23e-06 -6.1 4.55e-03 -20.0 1.00e+00 1.00e+00h 1 64 1.1593888e+00 4.34e-05 3.29e-01 -4.0 1.00e+02 -20.0 1.00e+00 3.06e-02f 1 65 1.1600521e+00 1.43e-02 1.40e-03 -4.3 5.52e+01 -20.0 1.00e+00 1.00e+00f 1 66 1.1601022e+00 5.67e-06 1.54e-06 -4.3 4.56e-01 -20.0 1.00e+00 1.00e+00h 1 67 1.1608196e+00 2.19e-02 2.13e-03 -4.0 6.51e+01 -20.0 1.00e+00 1.00e+00h 1 68 1.1605400e+00 2.88e-03 2.53e-04 -4.1 2.42e+01 -20.0 1.00e+00 1.00e+00h 1 69 1.1605431e+00 1.55e-05 1.93e-06 -4.1 1.45e+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 1.1596006e+00 4.72e-02 1.95e-02 -6.1 1.24e+02 -20.0 9.95e-01 7.39e-01h 1 71 1.1593466e+00 2.78e-05 1.31e-03 -6.1 8.32e+00 -20.0 6.43e-01 1.00e+00h 1 72 1.1593282e+00 7.43e-06 2.24e-06 -6.1 4.63e-03 -20.0 1.00e+00 1.00e+00h 1 73 1.1593289e+00 7.42e-07 1.18e-07 -6.1 8.63e-04 -20.0 1.00e+00 1.00e+00h 1 74 1.1593894e+00 4.21e-05 2.88e-01 -4.0 1.00e+02 -20.0 1.00e+00 3.01e-02f 1 75 1.1600442e+00 1.37e-02 1.35e-03 -4.3 5.42e+01 -20.0 1.00e+00 1.00e+00f 1 76 1.1600963e+00 7.26e-06 1.45e-06 -4.3 3.43e-01 -20.0 1.00e+00 1.00e+00h 1 77 1.1594581e+00 1.55e-02 7.03e-03 -6.4 6.61e+01 -20.0 9.74e-01 8.30e-01h 1 78 1.1593220e+00 1.48e-05 6.99e-06 -6.4 2.77e+00 -20.0 1.00e+00 1.00e+00h 1 79 1.1593727e+00 5.65e-05 4.49e-01 -4.0 1.01e+02 -20.0 1.00e+00 2.55e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.1600575e+00 1.45e-02 1.42e-03 -4.3 5.56e+01 -20.0 1.00e+00 1.00e+00f 1 81 1.1600993e+00 7.82e-06 1.84e-06 -4.3 2.42e-01 -20.0 1.00e+00 1.00e+00h 1 82 1.1594589e+00 1.57e-02 7.12e-03 -6.4 6.65e+01 -20.0 9.74e-01 8.30e-01h 1 83 1.1593220e+00 1.37e-05 6.76e-06 -6.4 2.79e+00 -20.0 1.00e+00 1.00e+00h 1 84 1.1593737e+00 5.39e-05 4.37e-01 -4.0 1.01e+02 -20.0 1.00e+00 2.59e-02f 1 85 1.1600561e+00 1.44e-02 1.42e-03 -4.3 5.55e+01 -20.0 1.00e+00 1.00e+00f 1 86 1.1600987e+00 7.94e-06 1.79e-06 -4.3 1.93e-01 -20.0 1.00e+00 1.00e+00h 1 87 1.1594587e+00 1.57e-02 7.10e-03 -6.4 6.64e+01 -20.0 9.74e-01 8.30e-01h 1 88 1.1593220e+00 1.37e-05 6.77e-06 -6.4 2.79e+00 -20.0 1.00e+00 1.00e+00h 1 89 1.1593736e+00 5.41e-05 4.37e-01 -4.0 1.01e+02 -20.0 1.00e+00 2.59e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 1.1600561e+00 1.44e-02 1.42e-03 -4.3 5.55e+01 -20.0 1.00e+00 1.00e+00f 1 91 1.1600987e+00 7.94e-06 1.79e-06 -4.3 1.95e-01 -20.0 1.00e+00 1.00e+00h 1 92 1.1594587e+00 1.57e-02 7.10e-03 -6.4 6.64e+01 -20.0 9.74e-01 8.30e-01h 1 93 1.1593220e+00 1.37e-05 6.76e-06 -6.4 2.79e+00 -20.0 1.00e+00 1.00e+00h 1 94 1.1593736e+00 5.41e-05 4.37e-01 -4.0 1.01e+02 -20.0 1.00e+00 2.59e-02f 1 95 1.1600561e+00 1.44e-02 1.42e-03 -4.3 5.55e+01 -20.0 1.00e+00 1.00e+00f 1 96 1.1600987e+00 7.94e-06 1.79e-06 -4.3 1.95e-01 -20.0 1.00e+00 1.00e+00h 1 97 1.1594587e+00 1.57e-02 7.10e-03 -6.4 6.64e+01 -20.0 9.74e-01 8.30e-01h 1 98 1.1593220e+00 1.37e-05 6.76e-06 -6.4 2.79e+00 -20.0 1.00e+00 1.00e+00h 1 99 1.1593216e+00 8.08e-07 1.23e-07 -6.4 1.30e-03 -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 1.1593651e+00 3.31e-05 4.72e-01 -4.0 1.01e+02 -20.0 1.00e+00 2.14e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 1.1593650847416921e+00 1.1593650847416921e+00 Dual infeasibility......: 4.7216793333790774e-01 4.7216793333790774e-01 Constraint violation....: 3.3071531091583006e-05 3.3071531091583006e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.6422903800500946e-04 1.6422903800500946e-04 Overall NLP error.......: 4.7216793333790774e-01 4.7216793333790774e-01 Number of objective function evaluations = 132 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 132 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 19.353 EXIT: Maximum Number of Iterations Exceeded. 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 1.2973407e+00 8.70e-01 1.10e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4260306e+00 8.23e-01 1.12e+00 -4.0 4.37e+01 -2.0 5.74e-02 5.41e-02h 1 2 1.3467417e+00 2.38e-01 3.31e+00 -1.7 2.35e+00 -2.5 7.72e-01 1.00e+00h 1 3 1.3840276e+00 6.83e-02 5.54e-01 -1.0 2.94e-01 -0.2 1.00e+00 7.13e-01f 1 4 1.3246449e+00 5.54e-02 9.82e-01 -3.1 1.80e+01 - 2.46e-01 1.90e-01h 3 5 1.7192767e+00 9.79e-02 1.88e+00 -1.7 2.40e-01 -0.7 9.22e-01 1.00e+00h 1 6 2.1277674e+00 9.83e-02 2.30e+00 -0.3 2.05e+01 -1.2 3.83e-01 4.11e-02f 2 7 2.1129316e+00 2.80e-02 2.05e+00 -1.5 7.49e-01 -1.7 6.12e-01 1.00e+00h 1 8 1.6869060e+00 2.28e-02 1.39e+00 -1.6 8.74e-01 -0.3 9.96e-01 2.63e-01f 1 9 1.1569660e+00 1.54e-02 5.14e-01 -2.6 3.30e-01 -0.8 1.00e+00 7.79e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0966412e+00 1.06e-03 8.08e-02 -3.6 1.89e+00 - 1.00e+00 9.27e-01h 1 11 1.0917355e+00 4.85e-06 9.47e-02 -4.0 3.00e+00 - 1.00e+00 1.00e+00h 1 12 1.0909944e+00 6.60e-10 3.56e-03 -4.0 5.74e-01 - 1.00e+00 1.00e+00h 1 13 1.0910387e+00 3.80e-18 1.18e-05 -4.0 3.42e-02 - 1.00e+00 1.00e+00h 1 14 1.0910386e+00 8.88e-16 2.93e-10 -4.0 1.70e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 14 (scaled) (unscaled) Objective...............: 1.0910385779850555e+00 1.0910385779850555e+00 Dual infeasibility......: 2.9294817941350089e-10 2.9294817941350089e-10 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000120e-04 1.0000000000000120e-04 Overall NLP error.......: 2.9294817941350089e-10 2.9294817941350089e-10 Number of objective function evaluations = 20 Number of objective gradient evaluations = 15 Number of equality constraint evaluations = 20 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 15 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 14 Total seconds in IPOPT = 15.897 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 5.6915352e+00 2.14e+00 6.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5749942e+00 1.53e-01 4.32e+00 -2.0 1.86e+00 0.0 1.63e-01 9.24e-01f 1 Hello, world! 2 2.4928328e+00 9.50e-02 5.06e+00 -1.0 4.33e-01 0.4 8.84e-01 3.78e-01f 1 Hello, world! 3 2.7214508e+00 5.07e-03 1.06e+00 -1.1 2.64e-01 -0.1 1.00e+00 1.00e+00f 1 Hello, world! 4 2.3978461e+00 1.95e-02 3.23e-01 -1.4 1.88e-01 -0.5 9.42e-01 9.20e-01h 1 Hello, world! 5 2.2188880e+00 7.13e-03 1.58e-01 -2.2 1.07e-01 -1.0 9.94e-01 6.35e-01h 1 Hello, world! 6 2.0970402e+00 1.14e-03 3.91e-02 -3.4 7.64e-02 -1.5 9.96e-01 9.37e-01h 1 Hello, world! 7 2.0907956e+00 2.47e-05 1.17e-02 -4.0 1.64e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908962e+00 1.09e-07 3.02e-05 -4.0 4.62e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908954e+00 2.02e-09 1.69e-05 -4.0 1.39e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908917e+00 7.39e-10 1.68e-05 -4.0 4.13e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908816e+00 5.97e-09 1.63e-05 -4.0 1.21e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908544e+00 4.35e-08 4.66e-05 -4.0 3.42e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907814e+00 2.89e-07 2.04e-04 -4.0 9.53e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905629e+00 2.75e-06 3.47e-04 -4.0 2.77e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0904749e+00 4.23e-07 3.21e-04 -4.0 1.13e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0901268e+00 8.58e-07 2.97e-03 -4.0 4.11e+00 -5.4 1.00e+00 8.09e-01H 1 Hello, world! 17 2.0894785e+00 5.17e-05 1.17e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 18 2.0887385e+00 4.94e-05 7.44e-02 -4.0 1.57e+01 -5.4 1.00e+00 2.78e-01h 1 Hello, world! 19 2.0878591e+00 5.20e-05 1.34e-02 -4.0 1.20e+01 -5.9 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 20 2.0864631e+00 1.13e-04 4.30e-02 -4.0 3.01e+01 -6.4 1.00e+00 5.49e-01h 1 Hello, world! 21 2.0835558e+00 8.93e-04 4.55e-02 -4.0 5.19e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0826711e+00 2.54e-04 1.30e-02 -4.0 6.36e+01 -7.3 1.00e+00 6.51e-01h 1 Hello, world! 23 2.0824084e+00 3.77e-04 1.52e-02 -4.0 1.48e+02 -7.8 9.24e-01 1.00e+00h 1 Hello, world! 24 2.0826496e+00 3.39e-04 8.65e-03 -4.0 1.88e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0824338e+00 3.58e-04 2.29e-03 -4.0 5.15e+01 -6.9 7.06e-01 1.00e+00h 1 Hello, world! 26 2.0914968e+00 1.76e-06 6.59e-02 -4.0 2.76e+01 -7.4 1.00e+00 1.00e+00H 1 Hello, world! 27 2.0897659e+00 9.41e-08 5.51e-02 -4.1 2.03e-02 0.4 1.00e+00 1.00e+00f 1 Hello, world! 28 2.0870828e+00 4.69e-07 4.03e-02 -3.9 4.35e-02 -0.0 1.00e+00 1.00e+00f 1 Hello, world! 29 2.0844492e+00 1.36e-06 2.22e-02 -3.9 6.80e-02 -0.5 9.98e-01 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0829147e+00 3.11e-06 8.56e-03 -4.0 8.76e-02 -1.0 1.00e+00 1.00e+00f 1 Hello, world! 31 2.0825932e+00 9.94e-07 1.72e-03 -4.0 4.06e-02 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0825825e+00 3.99e-08 4.81e-04 -4.0 4.06e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0825733e+00 1.05e-07 2.62e-04 -4.0 7.24e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0825295e+00 1.34e-06 9.59e-04 -4.0 1.28e-01 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0824354e+00 1.18e-06 5.13e-02 -4.0 2.61e-01 -2.5 1.00e+00 2.99e-01h 2 Hello, world! 36 2.0822875e+00 2.36e-06 4.03e-01 -4.0 5.18e-01 -3.0 1.00e+00 1.36e-01h 2 Hello, world! 37 2.0821313e+00 5.37e-06 4.18e-04 -4.0 1.13e-01 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0821312e+00 4.02e-07 1.19e-05 -4.0 3.72e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0821357e+00 1.75e-08 4.64e-06 -4.0 1.14e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821499e+00 5.20e-07 9.85e-06 -4.0 3.52e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0820112e+00 2.43e-05 1.15e-04 -4.1 9.00e-01 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0822173e+00 1.45e-04 8.27e-04 -4.0 4.00e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0957553e+00 4.82e-05 3.87e-01 -4.1 3.41e+01 -6.3 2.17e-01 1.00e+00H 1 Hello, world! 44 2.0858488e+00 7.66e-09 4.84e-02 -4.1 1.35e-01 -0.5 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0825475e+00 4.67e-07 7.83e-03 -4.1 1.22e-01 -0.9 1.00e+00 1.00e+00f 1 Hello, world! 46 2.0824441e+00 3.14e-07 1.60e-03 -4.1 4.09e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0823279e+00 1.21e-06 8.49e-04 -4.1 6.55e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0823982e+00 6.22e-08 7.26e-05 -4.1 1.67e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0817479e+00 3.03e-06 2.18e-02 -6.1 3.76e-02 -2.8 8.48e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0826607e+00 6.09e-06 9.86e-04 -4.0 5.27e-02 -3.3 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0826606927146210e+00 2.0826606927146210e+00 Dual infeasibility......: 9.8562687476174381e-04 9.8562687476174381e-04 Constraint violation....: 6.0904783190929290e-06 6.0904783190929290e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.5151306041284263e-04 1.5151306041284263e-04 Overall NLP error.......: 9.8562687476174381e-04 9.8562687476174381e-04 Number of objective function evaluations = 60 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 60 Number of inequality constraint evaluations = 60 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 20.737 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 5.6915352e+00 2.14e+00 6.91e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.5749942e+00 1.53e-01 4.32e+00 -2.0 1.86e+00 0.0 1.63e-01 9.24e-01f 1 Hello, world! 2 2.4928328e+00 9.50e-02 5.06e+00 -1.0 4.33e-01 0.4 8.84e-01 3.78e-01f 1 Hello, world! 3 2.7214508e+00 5.07e-03 1.06e+00 -1.1 2.64e-01 -0.1 1.00e+00 1.00e+00f 1 Hello, world! 4 2.3978461e+00 1.95e-02 3.23e-01 -1.4 1.88e-01 -0.5 9.42e-01 9.20e-01h 1 Hello, world! 5 2.2188880e+00 7.13e-03 1.58e-01 -2.2 1.07e-01 -1.0 9.94e-01 6.35e-01h 1 Hello, world! 6 2.0970402e+00 1.14e-03 3.91e-02 -3.4 7.64e-02 -1.5 9.96e-01 9.37e-01h 1 Hello, world! 7 2.0907956e+00 2.47e-05 1.17e-02 -4.0 1.64e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0908962e+00 1.09e-07 3.02e-05 -4.0 4.62e-03 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0908954e+00 2.02e-09 1.69e-05 -4.0 1.39e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908917e+00 7.39e-10 1.68e-05 -4.0 4.13e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908816e+00 5.97e-09 1.63e-05 -4.0 1.21e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908544e+00 4.35e-08 4.66e-05 -4.0 3.42e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907814e+00 2.89e-07 2.04e-04 -4.0 9.53e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905629e+00 2.75e-06 3.47e-04 -4.0 2.77e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0904749e+00 4.23e-07 3.21e-04 -4.0 1.13e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 16 2.0901268e+00 8.58e-07 2.97e-03 -4.0 4.11e+00 -5.4 1.00e+00 8.09e-01H 1 Hello, world! 17 2.0894785e+00 5.17e-05 1.17e-02 -4.0 1.18e+01 -5.8 1.00e+00 1.00e+00f 1 Hello, world! 18 2.0887385e+00 4.94e-05 7.44e-02 -4.0 1.57e+01 -5.4 1.00e+00 2.78e-01h 1 Hello, world! 19 2.0878591e+00 5.20e-05 1.34e-02 -4.0 1.20e+01 -5.9 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 20 2.0864631e+00 1.13e-04 4.30e-02 -4.0 3.01e+01 -6.4 1.00e+00 5.49e-01h 1 Hello, world! 21 2.0835558e+00 8.93e-04 4.55e-02 -4.0 5.19e+01 -6.8 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0826711e+00 2.54e-04 1.30e-02 -4.0 6.36e+01 -7.3 1.00e+00 6.51e-01h 1 Hello, world! 23 2.0824084e+00 3.77e-04 1.52e-02 -4.0 1.48e+02 -7.8 9.24e-01 1.00e+00h 1 Hello, world! 24 2.0826496e+00 3.39e-04 8.65e-03 -4.0 1.88e+01 -6.5 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0824338e+00 3.58e-04 2.29e-03 -4.0 5.15e+01 -6.9 7.06e-01 1.00e+00h 1 Hello, world! 26 2.0914968e+00 1.76e-06 6.59e-02 -4.0 2.76e+01 -7.4 1.00e+00 1.00e+00H 1 Hello, world! 27 2.0897659e+00 9.41e-08 5.51e-02 -4.1 2.03e-02 0.4 1.00e+00 1.00e+00f 1 Hello, world! 28 2.0870828e+00 4.69e-07 4.03e-02 -3.9 4.35e-02 -0.0 1.00e+00 1.00e+00f 1 Hello, world! 29 2.0844492e+00 1.36e-06 2.22e-02 -3.9 6.80e-02 -0.5 9.98e-01 1.00e+00f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0829147e+00 3.11e-06 8.56e-03 -4.0 8.76e-02 -1.0 1.00e+00 1.00e+00f 1 Hello, world! 31 2.0825932e+00 9.94e-07 1.72e-03 -4.0 4.06e-02 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 32 2.0825825e+00 3.99e-08 4.81e-04 -4.0 4.06e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0825733e+00 1.05e-07 2.62e-04 -4.0 7.24e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 34 2.0825295e+00 1.34e-06 9.59e-04 -4.0 1.28e-01 -2.9 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0824354e+00 1.18e-06 5.13e-02 -4.0 2.61e-01 -2.5 1.00e+00 2.99e-01h 2 Hello, world! 36 2.0822875e+00 2.36e-06 4.03e-01 -4.0 5.18e-01 -3.0 1.00e+00 1.36e-01h 2 Hello, world! 37 2.0821313e+00 5.37e-06 4.18e-04 -4.0 1.13e-01 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 38 2.0821312e+00 4.02e-07 1.19e-05 -4.0 3.72e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0821357e+00 1.75e-08 4.64e-06 -4.0 1.14e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0821499e+00 5.20e-07 9.85e-06 -4.0 3.52e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0820112e+00 2.43e-05 1.15e-04 -4.1 9.00e-01 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 42 2.0822173e+00 1.45e-04 8.27e-04 -4.0 4.00e+00 -5.8 1.00e+00 1.00e+00h 1 Hello, world! 43 2.0957553e+00 4.82e-05 3.87e-01 -4.1 3.41e+01 -6.3 2.17e-01 1.00e+00H 1 Hello, world! 44 2.0858488e+00 7.66e-09 4.84e-02 -4.1 1.35e-01 -0.5 1.00e+00 1.00e+00f 1 Hello, world! 45 2.0825475e+00 4.67e-07 7.83e-03 -4.1 1.22e-01 -0.9 1.00e+00 1.00e+00f 1 Hello, world! 46 2.0824441e+00 3.14e-07 1.60e-03 -4.1 4.09e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0823279e+00 1.21e-06 8.49e-04 -4.1 6.55e-02 -1.9 1.00e+00 1.00e+00h 1 Hello, world! 48 2.0823982e+00 6.22e-08 7.26e-05 -4.1 1.67e-02 -2.4 1.00e+00 1.00e+00h 1 Hello, world! 49 2.0817479e+00 3.03e-06 2.18e-02 -6.1 3.76e-02 -2.8 8.48e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0826607e+00 6.09e-06 9.86e-04 -4.0 5.27e-02 -3.3 1.00e+00 1.00e+00f 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0826606927146210e+00 2.0826606927146210e+00 Dual infeasibility......: 9.8562687476174381e-04 9.8562687476174381e-04 Constraint violation....: 6.0904783190929290e-06 6.0904783190929290e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.5151306041284263e-04 1.5151306041284263e-04 Overall NLP error.......: 9.8562687476174381e-04 9.8562687476174381e-04 Number of objective function evaluations = 60 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 60 Number of inequality constraint evaluations = 60 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.837 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 2.9024171e+00 3.03e+00 1.06e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8477822e+00 4.71e-02 2.39e-01 -1.0 1.89e+00 - 1.00e+00 1.00e+00f 1 2 2.2006330e+00 5.05e-03 4.46e-01 -4.0 8.19e-02 - 6.87e-01 1.00e+00h 1 3 2.1034980e+00 7.93e-04 2.46e-02 -2.9 5.59e-02 - 1.00e+00 1.00e+00h 1 4 2.0909053e+00 1.34e-04 2.39e-03 -4.0 6.59e-02 - 1.00e+00 9.94e-01h 1 5 2.0909019e+00 2.14e-05 8.28e-05 -4.0 4.38e-01 - 1.00e+00 1.00e+00h 1 6 2.0908972e+00 1.41e-09 3.46e-08 -4.0 1.07e-01 - 1.00e+00 1.00e+00h 1 7 2.0908972e+00 4.40e-13 1.04e-12 -4.0 2.54e-03 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 7 (scaled) (unscaled) Objective...............: 2.0908971978624002e+00 2.0908971978624002e+00 Dual infeasibility......: 1.0376820930302344e-12 1.0376820930302344e-12 Constraint violation....: 4.4030800056341080e-13 4.4030800056341080e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000003582700422e-04 1.0000003582700422e-04 Overall NLP error.......: 3.5827004218696133e-11 3.5827004218696133e-11 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 = 18.271 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 3.9528411e+00 1.57e+00 5.60e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.3259292e+00 1.57e+00 1.94e+01 1.5 2.87e+02 0.0 6.12e-03 3.64e-03f 1 2 3.0193512e+00 1.06e+00 1.31e+01 0.1 4.82e+00 -0.5 3.23e-01 3.25e-01f 1 3 2.7132301e+00 9.73e-01 1.23e+01 -1.2 2.71e+01 -1.0 1.30e-01 7.85e-02h 1 4 2.8166746e+00 6.60e-01 1.54e+02 -0.5 2.78e+00 0.4 6.55e-02 3.11e-01f 1 5 2.7740707e+00 4.73e-01 1.12e+02 -1.0 8.44e-01 0.8 2.73e-01 2.84e-01f 1 6 2.7371003e+00 2.41e-01 5.75e+01 -1.2 5.90e-01 1.2 4.75e-01 4.90e-01h 1 7 2.9572487e+00 1.13e-02 1.34e+01 -0.3 2.97e-01 1.7 1.00e+00 1.00e+00f 1 8 2.9346606e+00 6.84e-04 5.27e-01 -0.9 2.69e-02 1.2 9.97e-01 1.00e+00h 1 9 2.7670490e+00 1.40e-03 2.29e-01 -1.7 5.35e-02 0.7 9.94e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.4305689e+00 1.19e-02 3.39e-01 -1.7 1.49e-01 0.2 7.70e-01 9.73e-01f 1 11 2.1428442e+00 1.14e-02 3.47e-01 -2.1 2.19e-01 -0.3 9.82e-01 9.60e-01f 1 12 2.1116282e+00 1.54e-03 1.52e-01 -2.7 2.26e-02 -0.7 1.00e+00 8.69e-01h 1 13 2.0916818e+00 1.98e-05 6.52e-03 -4.0 1.47e-02 -1.2 1.00e+00 1.00e+00h 1 14 2.0909056e+00 1.47e-07 1.52e-04 -4.0 1.52e-03 -1.7 1.00e+00 1.00e+00h 1 15 2.0909033e+00 2.37e-09 1.98e-05 -4.0 2.90e-03 -2.2 1.00e+00 1.00e+00h 1 16 2.0909024e+00 2.65e-11 1.98e-05 -4.0 8.68e-03 -2.6 1.00e+00 1.00e+00h 1 17 2.0908999e+00 2.47e-10 1.98e-05 -4.0 2.60e-02 -3.1 1.00e+00 1.00e+00h 1 18 2.0908924e+00 2.20e-09 1.97e-05 -4.0 7.76e-02 -3.6 1.00e+00 1.00e+00h 1 19 2.0908702e+00 1.90e-08 1.94e-05 -4.0 2.29e-01 -4.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0908067e+00 1.53e-07 5.88e-05 -4.0 6.57e-01 -4.5 1.00e+00 1.00e+00h 1 21 2.0906406e+00 9.92e-07 4.16e-04 -4.0 1.73e+00 -5.0 1.00e+00 1.00e+00h 1 22 2.0903078e+00 3.38e-06 1.95e-03 -4.0 3.59e+00 -5.5 1.00e+00 1.00e+00h 1 23 2.0900031e+00 6.09e-06 3.42e-03 -4.0 4.95e+00 -6.0 1.00e+00 1.00e+00h 1 24 2.0898908e+00 3.25e-06 2.03e-03 -4.0 6.81e+00 -6.5 1.00e+00 1.00e+00h 1 25 2.0898331e+00 1.50e-06 1.44e-03 -4.0 1.13e+01 -6.9 1.00e+00 1.00e+00h 1 26 2.0898253e+00 1.45e-06 1.21e-03 -4.0 1.10e+01 -7.4 1.00e+00 1.00e+00h 1 27 2.0898225e+00 1.17e-06 2.78e-04 -4.0 5.74e+00 -7.9 1.00e+00 1.00e+00h 1 28 2.0898219e+00 5.32e-08 1.00e-05 -4.0 9.54e-01 -8.4 1.00e+00 1.00e+00h 1 29 2.0898219e+00 2.02e-10 4.64e-08 -4.0 8.49e-02 -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 30 2.0898218e+00 6.52e-14 3.82e-11 -4.0 2.80e-03 -9.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0898218497937351e+00 2.0898218497937351e+00 Dual infeasibility......: 3.8171909724901351e-11 3.8171909724901351e-11 Constraint violation....: 6.5170091545496689e-14 6.5170091545496689e-14 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000040e-04 1.0000000000000040e-04 Overall NLP error.......: 3.8171909724901351e-11 3.8171909724901351e-11 Number of objective function evaluations = 31 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 31 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 18.403 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 4.3017135e+00 2.92e+00 4.52e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.0958993e+00 2.62e+00 2.39e+00 -0.2 2.16e+00 0.0 6.77e-02 1.02e-01f 1 2 3.8944431e+00 2.33e+00 1.76e+01 -1.5 3.75e+00 -0.5 6.95e-02 1.10e-01h 1 3 3.9949361e+00 2.28e+00 4.06e+01 0.3 3.27e+01 -1.0 3.57e-02 1.98e-02f 1 4 4.0397008e+00 2.24e+00 4.68e+03 0.4 2.46e+01 -0.5 8.30e-01 2.10e-02h 1 5 4.6167093e+00 2.49e+00 3.64e+02 1.4 5.86e+01 -1.0 5.67e-01 1.44e-01f 1 6 4.5758813e+00 2.46e+00 1.64e+03 0.8 1.85e+02 -1.5 2.41e-01 1.29e-02h 1 7 4.4890589e+00 2.24e+00 7.27e+03 1.1 3.68e+01 -2.0 4.47e-01 9.21e-02h 1 8 4.4914878e+00 2.23e+00 7.70e+03 -4.0 3.38e+03 -2.4 6.29e-03 3.98e-03h 4 9 4.5824099e+00 2.13e+00 5.77e+03 0.8 6.74e+01 1.6 5.75e-02 4.30e-02f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 4.5711691e+00 2.12e+00 8.77e+03 -4.0 2.01e+01 1.1 4.64e-02 6.14e-03h 1 11 4.5701871e+00 2.10e+00 2.66e+04 0.8 2.52e+01 0.6 2.19e-01 5.91e-03h 1 12 4.7133510e+00 1.99e+00 1.61e+05 1.0 1.01e+02 0.2 1.00e+00 5.23e-02h 1 13 4.7499101e+00 1.99e+00 1.31e+05 -4.0 9.72e+03 -0.3 1.61e-03 5.82e-04h 4 14 4.7613346e+00 1.99e+00 4.55e+06 2.4 5.90e+01 1.0 1.00e+00 1.26e-03h 1 15 4.8920697e+00 1.97e+00 5.41e+06 2.5 1.20e+03 0.5 1.48e-02 8.88e-03f 2 16 5.0210938e+00 1.96e+00 9.91e+06 2.5 7.63e+01 0.1 2.47e-02 6.28e-03h 1 17 5.0256416e+00 1.96e+00 3.16e+08 2.5 2.68e+01 -0.4 3.17e-01 2.14e-03h 1 18 5.0308065e+00 1.94e+00 1.64e+10 2.5 1.19e+01 -0.9 5.54e-01 5.78e-03h 1 19 5.0354242e+00 1.94e+00 3.26e+12 2.5 1.20e+01 -1.4 1.00e+00 5.01e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 5.0354728e+00 1.94e+00 2.48e+16 2.5 1.18e+01 -1.8 3.85e-01 5.04e-05h 1 21r 5.0354728e+00 1.94e+00 9.84e+02 2.5 0.00e+00 -2.3 0.00e+00 2.52e-07R 2 22r 4.4275361e+00 5.54e-01 6.79e+02 -3.6 3.67e+01 - 4.21e-01 1.55e-01f 1 23r 4.4275361e+00 5.54e-01 9.99e+02 -0.3 0.00e+00 -2.8 0.00e+00 3.53e-07R 2 24r 3.7671218e+00 3.18e-01 9.98e+02 1.7 5.11e+02 - 1.27e-03 1.70e-03f 1 25 3.6244683e+00 2.27e-01 1.57e+00 -2.6 1.99e+00 -3.3 6.12e-01 2.85e-01h 1 26 3.6330722e+00 2.26e-01 1.41e+02 -1.4 5.79e+00 -3.7 2.95e-01 4.07e-03h 1 27 3.7193459e+00 2.26e-01 1.33e+04 0.7 3.22e+02 -4.2 9.24e-01 1.16e-03f 2 28 3.7554667e+00 2.26e-01 8.39e+04 0.5 8.27e+01 -4.7 9.84e-03 8.48e-04h 2 29 3.8007473e+00 2.26e-01 2.51e+06 0.5 6.24e+01 -5.2 3.44e-02 1.11e-03h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 3.8012142e+00 2.26e-01 1.07e+11 0.5 2.30e+01 -5.7 1.00e+00 2.21e-05h 1 31r 3.8012142e+00 2.26e-01 9.98e+02 0.5 0.00e+00 -6.1 0.00e+00 3.08e-07R 3 32r 3.7262427e+00 2.72e-01 8.75e+02 1.9 2.00e+01 - 4.21e-01 2.47e-02f 1 33r 3.7041070e+00 2.04e-01 7.96e+02 1.2 1.74e+00 - 3.76e-01 1.24e-01f 1 34r 3.8182782e+00 2.23e-01 3.05e+02 0.9 1.56e+00 - 1.00e+00 6.41e-01f 1 35r 3.9995857e+00 2.07e-01 3.01e+01 0.0 8.27e-01 - 9.94e-01 9.05e-01f 1 36r 4.1631209e+00 1.99e-01 4.91e+01 -0.7 4.85e-02 2.0 9.81e-01 6.02e-01f 1 37 4.1633088e+00 1.99e-01 1.45e+03 -4.0 1.11e+00 -6.6 5.59e-01 3.82e-04h 1 38 4.1774929e+00 1.99e-01 2.46e+06 0.7 2.08e+02 -7.1 1.00e+00 3.25e-04f 2 39 4.1807292e+00 1.99e-01 8.18e+07 0.7 4.01e+01 -7.6 1.18e-02 8.71e-05h 3 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 4.1832403e+00 1.99e-01 1.19e+10 0.7 3.98e+01 -8.0 3.88e-02 6.61e-05h 3 41 4.1872875e+00 1.99e-01 1.83e+12 0.7 3.96e+01 -8.5 3.09e-02 1.00e-04h 2 42 4.1913141e+00 1.99e-01 1.81e+15 0.7 3.93e+01 -9.0 1.02e-01 1.02e-04h 1 43r 4.1913141e+00 1.99e-01 9.99e+02 0.7 0.00e+00 -9.5 0.00e+00 2.60e-07R 3 44r 4.2093611e+00 1.99e-01 4.22e+02 -0.6 4.17e-02 - 9.97e-01 5.77e-01f 1 45r 4.5191175e+00 1.99e-01 1.19e+00 -0.8 1.81e-01 - 1.00e+00 9.97e-01f 1 46r 4.4763958e+00 1.99e-01 7.33e+00 -1.9 1.49e-01 - 9.97e-01 9.35e-01f 1 47r 4.3491868e+00 1.99e-01 4.02e-02 -2.9 8.11e-02 - 1.00e+00 1.00e+00f 1 48r 4.2948871e+00 1.99e-01 1.49e-03 -4.0 2.91e-02 - 1.00e+00 1.00e+00f 1 49r 4.3160958e+00 1.99e-01 2.30e-05 -4.0 1.53e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50r 4.3183812e+00 1.99e-01 6.79e-08 -4.0 9.16e-04 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 4.3183746375924770e+00 4.3183746375924770e+00 Dual infeasibility......: 2.0175516544740928e+00 2.0175516544740928e+00 Constraint violation....: 1.9875045033638838e-01 1.9875045033638838e-01 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000020060373e-04 1.0000000020060373e-04 Overall NLP error.......: 2.0175516544740928e+00 2.0175516544740928e+00 Number of objective function evaluations = 87 Number of objective gradient evaluations = 41 Number of equality constraint evaluations = 87 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 56 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 51 Total seconds in IPOPT = 19.663 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 4.3827493e+00 4.46e+00 9.80e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.3327121e+00 1.31e+00 1.97e+00 -0.8 2.80e+00 0.0 7.98e-01 7.07e-01f 1 2 2.7031497e+00 3.29e-02 1.14e+00 -1.2 8.95e-01 -0.5 8.75e-01 1.00e+00f 1 3 2.5100989e+00 1.72e-02 5.90e-01 -1.3 2.87e-01 -1.0 9.53e-01 5.82e-01h 1 4 2.2251375e+00 1.48e-02 1.07e-01 -2.0 2.25e-01 -1.4 9.92e-01 1.00e+00h 1 5 2.1226636e+00 4.57e-03 1.25e-01 -3.4 2.21e-01 -1.9 9.93e-01 6.92e-01h 1 6 2.0913296e+00 1.13e-04 3.92e-03 -4.0 2.27e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909308e+00 9.54e-07 2.91e-04 -4.0 1.75e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909270e+00 1.33e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909138e+00 6.90e-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 2.0908739e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907544e+00 5.60e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903969e+00 5.07e-06 2.26e-05 -4.0 3.64e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0893312e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861985e+00 4.34e-04 1.81e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796411e+00 2.53e-03 8.60e-02 -4.0 8.73e+01 -6.7 1.00e+00 7.60e-01h 1 16 2.0812916e+00 1.56e-04 1.94e-01 -4.0 6.78e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778485e+00 5.89e-03 2.73e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0781301e+00 1.58e-02 3.86e-02 -3.7 1.52e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0767338e+00 1.30e-02 1.93e-02 -3.8 2.85e+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 2.0758558e+00 1.01e-02 2.12e-02 -3.9 4.19e+02 -9.1 1.00e+00 9.91e-01h 1 21 2.0757735e+00 6.20e-03 8.52e-03 -4.0 1.41e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756812e+00 3.85e-04 3.93e-04 -4.0 6.08e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 5.32e-06 6.99e-06 -4.0 2.34e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 4.96e-08 1.53e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.61e-09 1.53e-07 -4.0 5.28e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.92e-11 3.09e-09 -4.0 9.31e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122096985e+00 2.0756712122096985e+00 Dual infeasibility......: 3.0908149047158360e-09 3.0908149047158360e-09 Constraint violation....: 7.9152573384533298e-11 7.9152573384533298e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 3.0908149047158360e-09 3.0908149047158360e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 20.522 EXIT: Optimal Solution Found. Difference in Jacobian NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/BBXIC/src/constraints/_constraints.jl:202 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:781 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#32#33"{typeof(Main.var"##180".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/BBXIC/src/constraints/_constraints.jl:202 NonlinearKnotPointConstraint - single variable with vector syntax: Test Failed at /home/pkgeval/.julia/packages/DirectTrajOpt/BBXIC/src/constraints/_constraints.jl:202 Expression: all(isapprox.(triu(μ∂²g), triu(μ∂²g_finite_diff), atol = atol)) Evaluated: all(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10 … 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 110, 110, 110, 110, 110, 110, 110, 110, 110, 110], Bool[1, 1, 1, 1, 1, 1, 1, 1, 1, 1 … 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 110, 110)) Stacktrace: [1] macro expansion @ /opt/julia/share/julia/stdlib/v1.14/Test/src/Test.jl:781 [inlined] [2] test_constraint(constraint::NonlinearKnotPointConstraint{DirectTrajOpt.Constraints.var"#32#33"{typeof(Main.var"##180".g)}}, traj::NamedTrajectories.StructNamedTrajectory.NamedTrajectory{Float64, (:x, :u, :du, :ddu, :Δt), NTuple{5, Int64}, (:u, :Δt), Tuple{Tuple{Vector{Float64}, Vector{Float64}}, Tuple{Vector{Float64}, Vector{Float64}}}, (:x, :u), Tuple{Vector{Float64}, Vector{Float64}}, (:u,), Tuple{Vector{Float64}}, (:x,), Tuple{Vector{Float64}}, (:x, :u, :du, :ddu, :Δt), NTuple{5, UnitRange{Int64}}, NTuple{5, Symbol}, Tuple{Symbol, Symbol, Symbol}, Tuple{Symbol, Symbol}, (), Tuple{}, (), Tuple{}, Tuple{}}; show_jacobian_diff::Bool, show_hessian_diff::Bool, test_equality::Bool, atol::Float64, rtol::Float64) @ DirectTrajOpt.Constraints ~/.julia/packages/DirectTrajOpt/BBXIC/src/constraints/_constraints.jl:202 Test Summary: | Pass Fail Total Time Package | 191 2 193 14m29.8s src/constraints/linear/all_equal_constraint.jl | 2 2 1m36.7s src/constraints/linear/symmetry_constraint.jl | 20 20 56.5s src/constraints/linear/equality_constraint.jl | 3 3 1m07.2s src/objectives/_objectives.jl | 19 19 13.6s src/objectives/knot_point_objectives.jl | 6 6 5.5s src/solvers/ipopt_solver/solver.jl | 9 9 1m40.7s src/integrators/time_dependent_bilinear_integrator.jl | 3 3 2m06.3s src/constraints/nonlinear/global_knot_point_constraint.jl | 2 2 16.9s src/integrators/derivative_integrator.jl | 3 3 13.6s src/objectives/regularizers.jl | 3 3 5.4s src/constraints/linear/time_consistency_constraint.jl | 19 19 10.5s src/constraints/linear/total_constraint.jl | 2 2 39.8s src/integrators/bilinear_integrator.jl | 3 3 28.8s src/solvers/ipopt_solver/evaluator.jl | 5 5 56.5s src/solvers/ipopt_solver/callbacks.jl | 2 2 29.0s src/objectives/global_objectives.jl | 6 6 16.1s src/constraints/linear/bounds_constraint.jl | 60 60 1m22.5s src/constraints/nonlinear/knot_point_constraint.jl | 22 2 24 1m32.3s NonlinearKnotPointConstraint - single variable | 2 2 11.5s NonlinearKnotPointConstraint - single variable with vector syntax | 3 2 5 20.3s NonlinearKnotPointConstraint - multiple variables concatenated | 2 2 11.7s NonlinearKnotPointConstraint - multiple variables separate arguments | 2 2 12.5s NonlinearKnotPointConstraint - three variables separate arguments | 2 2 8.8s NonlinearKnotPointConstraint - inequality vs equality | 7 7 17.8s NonlinearKnotPointConstraint - subset of times | 4 4 9.8s src/constraints/nonlinear/global_constraint.jl | 2 2 11.7s ERROR: LoadError: Some tests did not pass: 191 passed, 2 failed, 0 errored, 0 broken. in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/BBXIC/test/runtests.jl:6 Testing failed after 1507.11s ERROR: LoadError: Package DirectTrajOpt errored during testing Stacktrace: [1] pkgerror(msg::String) @ Pkg.Types /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Types.jl:68 [2] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, julia_args::Cmd, test_args::Cmd, test_fn::Nothing, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool) @ Pkg.Operations /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:3122 [3] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/Operations.jl:2987 [inlined] [4] test(ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}; coverage::Bool, test_fn::Nothing, julia_args::Cmd, test_args::Cmd, force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool, kwargs::@Kwargs{io::IOContext{IO}}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:572 [5] kwcall(::@NamedTuple{julia_args::Cmd, io::IOContext{IO}}, ::typeof(Pkg.API.test), ctx::Pkg.Types.Context, pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:548 [6] test(pkgs::Vector{PackageSpec}; io::IOContext{IO}, kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:172 [7] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkgs::Vector{PackageSpec}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:161 [8] test(pkgs::Vector{String}; kwargs::@Kwargs{julia_args::Cmd}) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [9] test @ /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:160 [inlined] [10] kwcall(::@NamedTuple{julia_args::Cmd}, ::typeof(Pkg.API.test), pkg::String) @ Pkg.API /opt/julia/share/julia/stdlib/v1.14/Pkg/src/API.jl:159 [11] top-level scope @ /PkgEval.jl/scripts/evaluate.jl:237 [12] include(mod::Module, _path::String) @ Base ./Base.jl:309 [13] exec_options(opts::Base.JLOptions) @ Base ./client.jl:344 [14] _start() @ Base ./client.jl:585 in expression starting at /PkgEval.jl/scripts/evaluate.jl:228 PkgEval failed after 2361.96s: package has test failures